--- /dev/null
+# 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.
+#
+# Authors: keir@google.com (Keir Mierle)
+# alexs.mac@gmail.com (Alex Stewart)
+
+cmake_minimum_required(VERSION 2.8.0)
+cmake_policy(VERSION 2.8)
+
+cmake_policy(SET CMP0003 NEW)
+if (POLICY CMP0042)
+ cmake_policy(SET CMP0042 NEW)
+endif()
+
+project(Ceres C CXX)
+
+# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
+# used. Always use the project-specific variants (generated by CMake):
+# <PROJECT_NAME_MATCHING_CASE>_[SOURCE/BINARY]_DIR, e.g.
+# Ceres_SOURCE_DIR (note, *not* CERES_SOURCE_DIR) instead, as these will
+# always point to the correct directories for the Ceres project, even if
+# it is nested inside another source tree, whereas the 'generic'
+# CMake variables refer to the *first* project() declaration, i.e. the
+# top-level project, not Ceres, if Ceres is nested.
+
+# Make CMake aware of the cmake folder for local FindXXX scripts,
+# append rather than set in case the user has passed their own
+# additional paths via -D.
+list(APPEND CMAKE_MODULE_PATH "${Ceres_SOURCE_DIR}/cmake")
+include(UpdateCacheVariable)
+
+# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
+include(AddGerritCommitHook)
+add_gerrit_commit_hook(${Ceres_SOURCE_DIR} ${Ceres_BINARY_DIR})
+
+# On OS X, add the Homebrew prefix to the set of prefixes searched by
+# CMake in find_path & find_library. This should ensure that we can
+# still build Ceres even if Homebrew is installed in a non-standard
+# location (not /usr/local).
+if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+ find_program(HOMEBREW_EXECUTABLE brew)
+ mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
+ if (HOMEBREW_EXECUTABLE)
+ # Detected a Homebrew install, query for its install prefix.
+ execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
+ OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ message(STATUS "Detected Homebrew with install prefix: "
+ "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
+ list(APPEND CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}")
+ endif()
+endif()
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
+# Set postfixes for generated libraries based on buildtype.
+set(CMAKE_RELEASE_POSTFIX "")
+set(CMAKE_DEBUG_POSTFIX "-debug")
+
+# Read the Ceres version from the source, such that we only ever have a single
+# definition of the Ceres version.
+include(ReadCeresVersionFromSource)
+read_ceres_version_from_source(${Ceres_SOURCE_DIR})
+
+enable_testing()
+
+option(MINIGLOG "Use a stripped down version of glog." OFF)
+option(GFLAGS "Enable Google Flags." ON)
+option(SUITESPARSE "Enable SuiteSparse." ON)
+option(CXSPARSE "Enable CXSparse." ON)
+option(LAPACK "Enable use of LAPACK." ON)
+# Template specializations for the Schur complement based solvers. If
+# compile time, binary size or compiler performance is an issue, you
+# may consider disabling this.
+option(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON)
+option(CUSTOM_BLAS
+ "Use handcoded BLAS routines (usually faster) instead of Eigen."
+ ON)
+# Multithreading using OpenMP
+option(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON)
+# Enable the use of Eigen as a sparse linear algebra library for
+# solving the nonlinear least squares problems. Enabling this
+# option will result in an LGPL licensed version of Ceres Solver
+# as the Simplicial Cholesky factorization in Eigen is licensed under the LGPL.
+# This does not affect the covariance estimation algorithm, as it
+# depends on the sparse QR factorization algorithm, which is licensed
+# under the MPL.
+OPTION(EIGENSPARSE
+ "Enable Eigen as a sparse linear algebra library, WARNING: results in an LGPL licensed Ceres." OFF)
+if (NOT MSVC)
+ # Ceres does not use C++11 internally, however it does use shared_ptr
+ # (required) and unordered_map (if available), both of which were present in
+ # previous iterations of what became C++11. GCC & Clang can have both TR1 &
+ # C++11 versions of both shared_ptr & unordered_map and by default on Linux,
+ # we will detect the TR1 versions if they exist, as they do NOT require
+ # -std=c++11 to be passed when compiling Ceres, and any client code that uses
+ # Ceres. This will result in conflicts if the client code uses C++11.
+ # Enabling this option forces the use of the C++11 versions (& -std=c++11) if
+ # available.
+ #
+ # This option is not available on Windows when using MSVC, as there, any new
+ # (C++11 etc) features available are on by default and there is no analogue to
+ # -std=c++11. It will however be available for MinGW & CygWin, which can
+ # support -std=c++11.
+ option(CXX11 "Enable use of C++11 headers if available (requires client code use C++11)." OFF)
+endif(NOT MSVC)
+option(EXPORT_BUILD_DIR
+ "Export build directory using CMake (enables external use without install)." OFF)
+option(BUILD_TESTING "Enable tests" ON)
+option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
+option(BUILD_EXAMPLES "Build examples" ON)
+option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
+if (MSVC)
+ option(MSVC_USE_STATIC_CRT
+ "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
+
+ if (BUILD_TESTING AND BUILD_SHARED_LIBS)
+ message(
+ "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
+ " are incompatible with MSVC.")
+ update_cache_variable(BUILD_TESTING OFF)
+ endif (BUILD_TESTING AND BUILD_SHARED_LIBS)
+endif (MSVC)
+# Allow user to specify a suffix for the library install directory, the only
+# really sensible option (other than "") being "64", such that:
+# ${CMAKE_INSTALL_PREFIX}/lib -> ${CMAKE_INSTALL_PREFIX}/lib64.
+#
+# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
+# install native libraries to lib64 rather than lib. Most distros seem to
+# follow this convention with a couple notable exceptions (Debian-based and
+# Arch-based distros) which we try to detect here.
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ NOT DEFINED LIB_SUFFIX AND
+ NOT CMAKE_CROSSCOMPILING AND
+ CMAKE_SIZEOF_VOID_P EQUAL "8" AND
+ NOT EXISTS "/etc/debian_version" AND
+ NOT EXISTS "/etc/arch-release")
+ message("-- Detected non-Debian/Arch-based 64-bit Linux distribution. "
+ "Defaulting to library install directory: lib${LIB_SUFFIX}. You can "
+ "override this by specifying LIB_SUFFIX.")
+ set(LIB_SUFFIX "64")
+endif ()
+# Only create the cache variable (for the CMake GUI) after attempting to detect
+# the suffix *if not specified by the user* (NOT DEFINED LIB_SUFFIX in if())
+# s/t the user could override our autodetected suffix with "" if desired.
+set(LIB_SUFFIX "${LIB_SUFFIX}" CACHE STRING
+ "Suffix of library install directory (to support lib/lib64)." FORCE)
+
+# IOS is defined iff using the iOS.cmake CMake toolchain to build a static
+# library for iOS.
+if (IOS)
+ message(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")
+
+ # Ceres requires at least iOS 7.0+.
+ if (IOS_DEPLOYMENT_TARGET VERSION_LESS 7.0)
+ message(FATAL_ERROR "Unsupported iOS version: ${IOS_DEPLOYMENT_TARGET}, Ceres "
+ "requires at least iOS version 7.0")
+ endif()
+
+ update_cache_variable(MINIGLOG ON)
+ message(STATUS "Building for iOS: Forcing use of miniglog instead of glog.")
+
+ update_cache_variable(SUITESPARSE OFF)
+ update_cache_variable(CXSPARSE OFF)
+ update_cache_variable(GFLAGS OFF)
+ update_cache_variable(OPENMP OFF)
+ # Apple claims that the BLAS call dsyrk_ is a private API, and will not allow
+ # you to submit to the Apple Store if the symbol is present.
+ update_cache_variable(LAPACK OFF)
+ message(STATUS "Building for iOS: SuiteSparse, CXSparse, LAPACK, gflags, "
+ "and OpenMP are not available.")
+
+ update_cache_variable(BUILD_EXAMPLES OFF)
+ message(STATUS "Building for iOS: Will not build examples.")
+endif (IOS)
+
+unset(CERES_COMPILE_OPTIONS)
+
+# Eigen.
+find_package(Eigen REQUIRED)
+if (EIGEN_FOUND)
+ if (EIGEN_VERSION VERSION_LESS 3.1.0)
+ message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
+ "that Eigen/SparseCore be available, detected version of Eigen is: "
+ "${EIGEN_VERSION}")
+ endif (EIGEN_VERSION VERSION_LESS 3.1.0)
+
+ message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
+ # Ensure that only MPL2 licensed code is part of the default build.
+ message("")
+ message(" ===============================================================")
+ if (EIGENSPARSE)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
+ message(" Enabling the use of Eigen as a sparse linear algebra library ")
+ message(" for solving the nonlinear least squares problems. Enabling ")
+ message(" this option results in an LGPL licensed version of ")
+ message(" Ceres Solver as the Simplicial Cholesky factorization in Eigen")
+ message(" is licensed under the LGPL. ")
+
+ if (EIGEN_VERSION VERSION_LESS 3.2.2)
+ message(" WARNING:")
+ message("")
+ message(" Your version of Eigen is older than version 3.2.2.")
+ message(" The performance of SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR")
+ message(" linear solvers will suffer. ")
+ endif (EIGEN_VERSION VERSION_LESS 3.2.2)
+
+ else (EIGENSPARSE)
+ message(" Disabling the use of Eigen as a sparse linear algebra library.")
+ message(" This does not affect the covariance estimation algorithm ")
+ message(" which can still use the EIGEN_SPARSE_QR algorithm.")
+ add_definitions(-DEIGEN_MPL2_ONLY)
+ endif (EIGENSPARSE)
+ message(" ===============================================================")
+ message("")
+endif (EIGEN_FOUND)
+
+# LAPACK (& BLAS).
+if (LAPACK)
+ find_package(LAPACK QUIET)
+ if (LAPACK_FOUND)
+ message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+ else (LAPACK_FOUND)
+ message("-- Did not find LAPACK library, disabling LAPACK support.")
+ endif (LAPACK_FOUND)
+
+ find_package(BLAS QUIET)
+ if (BLAS_FOUND)
+ message("-- Found BLAS library: ${BLAS_LIBRARIES}")
+ else (BLAS_FOUND)
+ message("-- Did not find BLAS library, disabling LAPACK support.")
+ endif (BLAS_FOUND)
+
+ if (NOT (LAPACK_FOUND AND BLAS_FOUND))
+ update_cache_variable(LAPACK OFF)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
+ endif (NOT (LAPACK_FOUND AND BLAS_FOUND))
+else (LAPACK)
+ message("-- Building without LAPACK.")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
+endif (LAPACK)
+
+# SuiteSparse.
+if (SUITESPARSE AND NOT LAPACK)
+ # If user has disabled LAPACK, but left SUITESPARSE ON, turn it OFF,
+ # LAPACK controls whether Ceres will be linked, directly or indirectly
+ # via SuiteSparse to LAPACK.
+ message("-- Disabling SuiteSparse as use of LAPACK has been disabled, "
+ "turn ON LAPACK to enable (optional) building with SuiteSparse.")
+ update_cache_variable(SUITESPARSE OFF)
+endif (SUITESPARSE AND NOT LAPACK)
+if (SUITESPARSE)
+ # By default, if SuiteSparse and all dependencies are found, Ceres is
+ # built with SuiteSparse support.
+
+ # Check for SuiteSparse and dependencies.
+ find_package(SuiteSparse)
+ if (SUITESPARSE_FOUND)
+ # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
+ # Ubuntu 13.10 cannot be used to link shared libraries.
+ if (BUILD_SHARED_LIBS AND
+ SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
+ message(FATAL_ERROR "You are attempting to build Ceres as a shared "
+ "library on Ubuntu using a system package install of SuiteSparse "
+ "3.4.0. This package is broken and does not support the "
+ "construction of shared libraries (you can still build Ceres as "
+ "a static library). If you wish to build a shared version of Ceres "
+ "you should uninstall the system install of SuiteSparse "
+ "(libsuitesparse-dev) and perform a source install of SuiteSparse "
+ "(we recommend that you use the latest version), "
+ "see http://ceres-solver.org/building.html for more information.")
+ endif (BUILD_SHARED_LIBS AND
+ SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
+
+ # By default, if all of SuiteSparse's dependencies are found, Ceres is
+ # built with SuiteSparse support.
+ message("-- Found SuiteSparse ${SUITESPARSE_VERSION}, "
+ "building with SuiteSparse.")
+ else (SUITESPARSE_FOUND)
+ # Disable use of SuiteSparse if it cannot be found and continue.
+ message("-- Did not find all SuiteSparse dependencies, disabling "
+ "SuiteSparse support.")
+ update_cache_variable(SUITESPARSE OFF)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+ endif (SUITESPARSE_FOUND)
+else (SUITESPARSE)
+ message("-- Building without SuiteSparse.")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+endif (SUITESPARSE)
+
+# CXSparse.
+if (CXSPARSE)
+ # Don't search with REQUIRED as we can continue without CXSparse.
+ find_package(CXSparse)
+ if (CXSPARSE_FOUND)
+ # By default, if CXSparse and all dependencies are found, Ceres is
+ # built with CXSparse support.
+ message("-- Found CXSparse version: ${CXSPARSE_VERSION}, "
+ "building with CXSparse.")
+ else (CXSPARSE_FOUND)
+ # Disable use of CXSparse if it cannot be found and continue.
+ message("-- Did not find CXSparse, Building without CXSparse.")
+ update_cache_variable(CXSPARSE OFF)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
+ endif (CXSPARSE_FOUND)
+else (CXSPARSE)
+ message("-- Building without CXSparse.")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
+ # Mark as advanced (remove from default GUI view) the CXSparse search
+ # variables in case user enabled CXSPARSE, FindCXSparse did not find it, so
+ # made search variables visible in GUI for user to set, but then user disables
+ # CXSPARSE instead of setting them.
+ mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
+ CXSPARSE_LIBRARY)
+endif (CXSPARSE)
+
+# Ensure that the user understands they have disabled all sparse libraries.
+if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
+ message(" ===============================================================")
+ message(" Compiling without any sparse library: SuiteSparse, CXSparse ")
+ message(" & Eigen (Sparse) are all disabled or unavailable. No sparse ")
+ message(" linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
+ message(" will be available when Ceres is used.")
+ message(" ===============================================================")
+endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
+
+# GFlags.
+if (GFLAGS)
+ # Don't search with REQUIRED as we can continue without gflags.
+ find_package(Gflags)
+ if (GFLAGS_FOUND)
+ message("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}, "
+ "in namespace: ${GFLAGS_NAMESPACE}")
+ add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
+ else (GFLAGS_FOUND)
+ message("-- Did not find Google Flags (gflags), Building without gflags "
+ "- no tests or tools will be built!")
+ update_cache_variable(GFLAGS OFF)
+ endif (GFLAGS_FOUND)
+else (GFLAGS)
+ message("-- Google Flags disabled; no tests or tools will be built!")
+ # Mark as advanced (remove from default GUI view) the gflags search
+ # variables in case user enabled GFLAGS, FindGflags did not find it, so
+ # made search variables visible in GUI for user to set, but then user disables
+ # GFLAGS instead of setting them.
+ mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
+ GFLAGS_LIBRARY
+ GFLAGS_NAMESPACE)
+endif (GFLAGS)
+
+# MiniGLog.
+if (MINIGLOG)
+ message("-- Compiling minimal glog substitute into Ceres.")
+ set(GLOG_INCLUDE_DIRS internal/ceres/miniglog)
+ set(MINIGLOG_MAX_LOG_LEVEL 2 CACHE STRING "The maximum message severity level to be logged")
+ add_definitions("-DMAX_LOG_LEVEL=${MINIGLOG_MAX_LOG_LEVEL}")
+ message("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}")
+ message("-- Max log level for minimal glog substitute: ${MINIGLOG_MAX_LOG_LEVEL}")
+
+ # Mark as advanced (remove from default GUI view) the glog search
+ # variables in case user disables MINIGLOG, FindGlog did not find it, so
+ # made search variables visible in GUI for user to set, but then user enables
+ # MINIGLOG instead of setting them.
+ mark_as_advanced(FORCE GLOG_INCLUDE_DIR
+ GLOG_LIBRARY)
+else (MINIGLOG)
+ unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
+ # Don't search with REQUIRED so that configuration continues if not found and
+ # we can output an error messages explaining MINIGLOG option.
+ find_package(Glog)
+ if (NOT GLOG_FOUND)
+ message(FATAL_ERROR "Can't find Google Log (glog). Please set either: "
+ "glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & "
+ "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog "
+ "implementation.")
+ endif(NOT GLOG_FOUND)
+ # By default, assume gflags was found, updating the message if it was not.
+ set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+ " Assuming glog was built with gflags support as gflags was found. "
+ "This will make gflags a public dependency of Ceres.")
+ if (NOT GFLAGS_FOUND)
+ set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+ " Assuming glog was NOT built with gflags support as gflags was "
+ "not found. If glog was built with gflags, please set the "
+ "gflags search locations such that it can be found by Ceres. "
+ "Otherwise, Ceres may fail to link due to missing gflags symbols.")
+ endif(NOT GFLAGS_FOUND)
+ message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
+endif (MINIGLOG)
+
+if (NOT SCHUR_SPECIALIZATIONS)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
+ message("-- Disabling Schur specializations (faster compiles)")
+endif (NOT SCHUR_SPECIALIZATIONS)
+
+if (NOT CUSTOM_BLAS)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS)
+ message("-- Disabling custom blas")
+endif (NOT CUSTOM_BLAS)
+
+if (OPENMP)
+ # Find quietly, as we can continue without OpenMP if it is not found.
+ find_package(OpenMP QUIET)
+ if (OPENMP_FOUND)
+ message("-- Building with OpenMP.")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+ if (UNIX)
+ # At least on Linux, we need pthreads to be enabled for mutex to
+ # compile. This may not work on Windows or Android.
+ find_package(Threads REQUIRED)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_PTHREAD)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_RWLOCK)
+ endif (UNIX)
+ else (OPENMP_FOUND)
+ message("-- Failed to find OpenMP, disabling. This is expected on "
+ "Clang < 3.8, and at least Xcode <= 7.")
+ update_cache_variable(OPENMP OFF)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
+ endif (OPENMP_FOUND)
+else (OPENMP)
+ message("-- Building without OpenMP (disabling multithreading).")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
+endif (OPENMP)
+
+# Initialise CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles with the
+# contents of CMAKE_CXX_FLAGS such that if the user has passed extra flags
+# they are used when discovering shared_ptr/unordered_map.
+set(CMAKE_REQUIRED_FLAGS ${CMAKE_CXX_FLAGS})
+
+include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
+if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
+ # Update CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles to include
+ # -std=c++11 s/t we will detect the C++11 versions of unordered_map &
+ # shared_ptr if they exist.
+ set(CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} -std=c++11")
+endif (CXX11 AND COMPILER_HAS_CXX11_FLAG)
+
+# Set the Ceres compile definitions for the unordered_map configuration.
+include(FindUnorderedMap)
+find_unordered_map()
+if (UNORDERED_MAP_FOUND)
+ if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
+ endif(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ endif(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP)
+ endif(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+else (UNORDERED_MAP_FOUND)
+ message("-- Replacing unordered_map/set with map/set (warning: slower!), "
+ "try enabling CXX11 option if you expect C++11 to be available.")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
+endif()
+
+# Set the Ceres compile definitions for the shared_ptr configuration.
+include(FindSharedPtr)
+find_shared_ptr()
+if (SHARED_PTR_FOUND)
+ if (SHARED_PTR_TR1_MEMORY_HEADER)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_MEMORY_HEADER)
+ endif (SHARED_PTR_TR1_MEMORY_HEADER)
+ if (SHARED_PTR_TR1_NAMESPACE)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_SHARED_PTR)
+ endif (SHARED_PTR_TR1_NAMESPACE)
+else (SHARED_PTR_FOUND)
+ message(FATAL_ERROR "Unable to find shared_ptr, try enabling CXX11 option "
+ "if you expect C++11 to be available.")
+endif (SHARED_PTR_FOUND)
+
+# To ensure that CXX11 accurately reflects whether we are using C++11,
+# check if it is required given where the potentially C++11 features Ceres
+# uses were found, and disable it if C++11 is not being used.
+if (CXX11)
+ if (NOT HAVE_SHARED_PTR_IN_STD_NAMESPACE AND
+ NOT HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ message("-- Failed to find C++11 components in C++11 locations & "
+ "namespaces, disabling CXX11.")
+ update_cache_variable(CXX11 OFF)
+ else()
+ message(" ==============================================================")
+ message(" Compiling Ceres using C++11. This will result in a version ")
+ message(" of Ceres that will require the use of C++11 in client code.")
+ message(" ==============================================================")
+ list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11)
+ if (COMPILER_HAS_CXX11_FLAG AND
+ CMAKE_VERSION VERSION_LESS "2.8.12")
+ # For CMake versions > 2.8.12, the C++11 dependency is rolled into the
+ # Ceres target, and all dependent targets, but for older versions of CMake
+ # the flag must be specified explicitly both for Ceres and the
+ # examples/tests.
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ endif()
+ endif()
+endif(CXX11)
+
+include_directories(
+ include
+ internal
+ internal/ceres
+ ${GLOG_INCLUDE_DIRS})
+# Eigen SparseQR generates various compiler warnings related to unused and
+# uninitialised local variables. To avoid having to individually suppress these
+# warnings around the #include statments for Eigen headers across all GCC/Clang
+# versions, we tell CMake to treat Eigen headers as system headers. This
+# results in all compiler warnings from them being suppressed.
+#
+# Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
+# used by clients after find_package(Ceres) does not identify Eigen as
+# as system headers.
+include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
+
+if (SUITESPARSE)
+ include_directories(${SUITESPARSE_INCLUDE_DIRS})
+endif (SUITESPARSE)
+
+if (CXSPARSE)
+ include_directories(${CXSPARSE_INCLUDE_DIRS})
+endif (CXSPARSE)
+
+if (GFLAGS)
+ include_directories(${GFLAGS_INCLUDE_DIRS})
+endif (GFLAGS)
+
+if (BUILD_SHARED_LIBS)
+ message("-- Building Ceres as a shared library.")
+ # The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in
+ # CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled
+ # not when it is used as it controls the CERES_EXPORT macro which provides
+ # dllimport/export support in MSVC.
+ add_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
+ list(APPEND CERES_COMPILE_OPTIONS CERES_USING_SHARED_LIBRARY)
+else (BUILD_SHARED_LIBS)
+ message("-- Building Ceres as a static library.")
+endif (BUILD_SHARED_LIBS)
+
+# Change the default build type from Debug to Release, while still
+# supporting overriding the build type.
+#
+# The CACHE STRING logic here and elsewhere is needed to force CMake
+# to pay attention to the value of these variables.
+if (NOT CMAKE_BUILD_TYPE)
+ message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
+ set(CMAKE_BUILD_TYPE Release CACHE STRING
+ "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+ FORCE)
+else (NOT CMAKE_BUILD_TYPE)
+ if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+ message("\n=================================================================================")
+ message("\n-- Build type: Debug. Performance will be terrible!")
+ message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
+ message("\n=================================================================================")
+ endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
+endif (NOT CMAKE_BUILD_TYPE)
+
+# Set the default Ceres flags to an empty string.
+set (CERES_CXX_FLAGS)
+
+if (CMAKE_BUILD_TYPE STREQUAL "Release")
+ if (CMAKE_COMPILER_IS_GNUCXX)
+ # Linux
+ if (CMAKE_SYSTEM_NAME MATCHES "Linux")
+ if (NOT GCC_VERSION VERSION_LESS 4.2)
+ set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
+ endif (NOT GCC_VERSION VERSION_LESS 4.2)
+ endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
+ # Mac OS X
+ if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+ set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3")
+ # Use of -fast only applicable for Apple's GCC
+ # Assume this is being used if GCC version < 4.3 on OSX
+ execute_process(COMMAND ${CMAKE_C_COMPILER}
+ ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
+ OUTPUT_VARIABLE GCC_VERSION
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ if (GCC_VERSION VERSION_LESS 4.3)
+ set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast")
+ endif (GCC_VERSION VERSION_LESS 4.3)
+ endif (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+ endif (CMAKE_COMPILER_IS_GNUCXX)
+endif (CMAKE_BUILD_TYPE STREQUAL "Release")
+
+set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")
+
+if (MINGW)
+ # MinGW produces code that segfaults when performing matrix multiplications
+ # in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
+ # which works.
+ #
+ # [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
+ message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
+ "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
+ string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
+ update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
+endif (MINGW)
+
+# After the tweaks for the compile settings, disable some warnings on MSVC.
+if (MSVC)
+ # On MSVC, math constants are not included in <cmath> or <math.h> unless
+ # _USE_MATH_DEFINES is defined [1]. As we use M_PI in the examples, ensure
+ # that _USE_MATH_DEFINES is defined before the first inclusion of <cmath>.
+ #
+ # [1] https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx
+ add_definitions("-D_USE_MATH_DEFINES")
+ # Disable signed/unsigned int conversion warnings.
+ add_definitions("/wd4018")
+ # Disable warning about using struct/class for the same symobl.
+ add_definitions("/wd4099")
+ # Disable warning about the insecurity of using "std::copy".
+ add_definitions("/wd4996")
+ # Disable performance warning about int-to-bool conversion.
+ add_definitions("/wd4800")
+ # Disable performance warning about fopen insecurity.
+ add_definitions("/wd4996")
+ # Disable warning about int64 to int32 conversion. Disabling
+ # this warning may not be correct; needs investigation.
+ # TODO(keir): Investigate these warnings in more detail.
+ add_definitions("/wd4244")
+ # It's not possible to use STL types in DLL interfaces in a portable and
+ # reliable way. However, that's what happens with Google Log and Google Flags
+ # on Windows. MSVC gets upset about this and throws warnings that we can't do
+ # much about. The real solution is to link static versions of Google Log and
+ # Google Test, but that seems tricky on Windows. So, disable the warning.
+ add_definitions("/wd4251")
+
+ # Google Flags doesn't have their DLL import/export stuff set up correctly,
+ # which results in linker warnings. This is irrelevant for Ceres, so ignore
+ # the warnings.
+ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
+
+ # Update the C/CXX flags for MSVC to use either the static or shared
+ # C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT.
+ list(APPEND C_CXX_FLAGS
+ CMAKE_CXX_FLAGS
+ CMAKE_CXX_FLAGS_DEBUG
+ CMAKE_CXX_FLAGS_RELEASE
+ CMAKE_CXX_FLAGS_MINSIZEREL
+ CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+
+ foreach(FLAG_VAR ${C_CXX_FLAGS})
+ if (MSVC_USE_STATIC_CRT)
+ # Use static CRT.
+ if (${FLAG_VAR} MATCHES "/MD")
+ string(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}")
+ endif (${FLAG_VAR} MATCHES "/MD")
+ else (MSVC_USE_STATIC_CRT)
+ # Use shared, not static, CRT.
+ if (${FLAG_VAR} MATCHES "/MT")
+ string(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}")
+ endif (${FLAG_VAR} MATCHES "/MT")
+ endif (MSVC_USE_STATIC_CRT)
+ endforeach()
+
+ # Tuple sizes of 10 are used by Gtest.
+ add_definitions("-D_VARIADIC_MAX=10")
+
+ include(CheckIfUnderscorePrefixedBesselFunctionsExist)
+ check_if_underscore_prefixed_bessel_functions_exist(
+ HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ if (HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ list(APPEND CERES_COMPILE_OPTIONS
+ CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ endif()
+endif (MSVC)
+
+if (UNIX)
+ # GCC is not strict enough by default, so enable most of the warnings.
+ set(CMAKE_CXX_FLAGS
+ "${CMAKE_CXX_FLAGS} -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
+endif (UNIX)
+
+# Use a larger inlining threshold for Clang, since it hobbles Eigen,
+# resulting in an unreasonably slow version of the blas routines. The
+# -Qunused-arguments is needed because CMake passes the inline
+# threshold to the linker and clang complains about it and dies.
+if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+ set(CMAKE_CXX_FLAGS
+ "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600")
+
+ # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage'
+ # option, so check for its presence before adding it to the default flags set.
+ include(CheckCXXCompilerFlag)
+ check_cxx_compiler_flag("-Wno-return-type-c-linkage"
+ HAVE_RETURN_TYPE_C_LINKAGE)
+ if (HAVE_RETURN_TYPE_C_LINKAGE)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage")
+ endif(HAVE_RETURN_TYPE_C_LINKAGE)
+endif ()
+
+# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents
+# compilation of Ceres.
+if (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+ execute_process(COMMAND ${CMAKE_CXX_COMPILER}
+ ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
+ OUTPUT_VARIABLE CLANG_VERSION
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ # Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions.
+ if (CLANG_VERSION VERSION_GREATER 4.0 AND
+ CLANG_VERSION VERSION_LESS 4.2)
+ message(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode "
+ "4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a "
+ "bug that prevents compilation of Ceres, please update to "
+ "Xcode >= 4.6.3.")
+ endif (CLANG_VERSION VERSION_GREATER 4.0 AND
+ CLANG_VERSION VERSION_LESS 4.2)
+endif (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+
+# Configure the Ceres config.h compile options header using the current
+# compile options and put the configured header into the Ceres build
+# directory. Note that the ceres/internal subdir in <build>/config where
+# the configured config.h is placed is important, because Ceres will be
+# built against this configured header, it needs to have the same relative
+# include path as it would if it were in the source tree (or installed).
+list(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS)
+include(CreateCeresConfig)
+create_ceres_config("${CERES_COMPILE_OPTIONS}"
+ ${Ceres_BINARY_DIR}/config/ceres/internal)
+# Force the location containing the configured config.h to the front of the
+# include_directories list (by default it is appended to the back) to ensure
+# that if the user has an installed version of Ceres in the same location as one
+# of the dependencies (e.g. /usr/local) that we find the config.h we just
+# configured, not the (older) installed config.h.
+include_directories(BEFORE ${Ceres_BINARY_DIR}/config)
+
+add_subdirectory(internal/ceres)
+
+if (BUILD_DOCUMENTATION)
+ set(CERES_DOCS_INSTALL_DIR "share/doc/ceres" CACHE STRING
+ "Ceres docs install path relative to CMAKE_INSTALL_PREFIX")
+
+ find_package(Sphinx QUIET)
+ if (NOT SPHINX_FOUND)
+ message("-- Failed to find Sphinx, disabling build of documentation.")
+ update_cache_variable(BUILD_DOCUMENTATION OFF)
+ else()
+ # Generate the User's Guide (html).
+ # The corresponding target is ceres_docs, but is included in ALL.
+ message("-- Build the HTML documentation.")
+ add_subdirectory(docs)
+ endif()
+endif (BUILD_DOCUMENTATION)
+
+if (BUILD_EXAMPLES)
+ message("-- Build the examples.")
+ add_subdirectory(examples)
+else (BUILD_EXAMPLES)
+ message("-- Do not build any example.")
+endif (BUILD_EXAMPLES)
+
+# Setup installation of Ceres public headers.
+file(GLOB CERES_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
+install(FILES ${CERES_HDRS} DESTINATION include/ceres)
+
+file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
+install(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
+
+# Also setup installation of Ceres config.h configured with the current
+# build options into the installed headers directory.
+install(FILES ${Ceres_BINARY_DIR}/config/ceres/internal/config.h
+ DESTINATION include/ceres/internal)
+
+if (MINIGLOG)
+ # Install miniglog header if being used as logging #includes appear in
+ # installed public Ceres headers.
+ install(FILES ${Ceres_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
+ DESTINATION include/ceres/internal/miniglog/glog)
+endif (MINIGLOG)
+
+# Ceres supports two mechanisms by which it can be detected & imported into
+# client code which uses CMake via find_package(Ceres):
+#
+# 1) Installation (e.g. to /usr/local), using CMake's install() function.
+#
+# 2) (Optional) Export of the current build directory into the local CMake
+# package registry, using CMake's export() function. This allows use of
+# Ceres from other projects without requiring installation.
+#
+# In both cases, we need to generate a configured CeresConfig.cmake which
+# includes additional autogenerated files which in concert create an imported
+# target for Ceres in a client project when find_package(Ceres) is invoked.
+# The key distinctions are where this file is located, and whether client code
+# references installed copies of the compiled Ceres headers/libraries,
+# (option #1: installation), or the originals in the source/build directories
+# (option #2: export of build directory).
+#
+# NOTE: If Ceres is both exported and installed, provided that the installation
+# path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
+# the installed version is preferred.
+
+# Build the list of Ceres components for CeresConfig.cmake from the current set
+# of compile options.
+include(CeresCompileOptionsToComponents)
+ceres_compile_options_to_components("${CERES_COMPILE_OPTIONS}"
+ CERES_COMPILED_COMPONENTS)
+
+# Create a CeresConfigVersion.cmake file containing the version information,
+# used by both export() & install().
+configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
+ "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
+
+# Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent.
+
+# Set the install path for the installed CeresConfig.cmake configuration file
+# relative to CMAKE_INSTALL_PREFIX.
+if (WIN32)
+ set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
+else ()
+ set(RELATIVE_CMAKECONFIG_INSTALL_DIR lib${LIB_SUFFIX}/cmake/Ceres)
+endif ()
+
+# This "exports" for installation all targets which have been put into the
+# export set "CeresExport". This generates a CeresTargets.cmake file which,
+# when read in by a client project as part of find_package(Ceres) creates
+# imported library targets for Ceres (with dependency relations) which can be
+# used in target_link_libraries() calls in the client project to use Ceres.
+install(EXPORT CeresExport
+ DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake)
+
+# Save the relative path from the installed CeresConfig.cmake file to the
+# install prefix. We do not save an absolute path in case the installed package
+# is subsequently relocated after installation (on Windows).
+file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
+ ${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR}
+ ${CMAKE_INSTALL_PREFIX})
+
+# Configure a CeresConfig.cmake file for an installed version of Ceres from the
+# template, reflecting the current build options.
+#
+# NOTE: The -install suffix is necessary to distinguish the install version from
+# the exported version, which must be named CeresConfig.cmake in
+# Ceres_BINARY_DIR to be detected. The suffix is removed when
+# it is installed.
+set(SETUP_CERES_CONFIG_FOR_INSTALLATION TRUE)
+configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
+ "${Ceres_BINARY_DIR}/CeresConfig-install.cmake" @ONLY)
+
+# Install the configuration files into the same directory as the autogenerated
+# CeresTargets.cmake file. We include the find_package() scripts for libraries
+# whose headers are included in the public API of Ceres and should thus be
+# present in CERES_INCLUDE_DIRS.
+install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
+ RENAME CeresConfig.cmake
+ DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
+ "${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
+ "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
+ "${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
+ DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+
+# Create an uninstall target to remove all installed files.
+configure_file("${Ceres_SOURCE_DIR}/cmake/uninstall.cmake.in"
+ "${Ceres_BINARY_DIR}/cmake/uninstall.cmake"
+ @ONLY)
+add_custom_target(uninstall
+ COMMAND ${CMAKE_COMMAND} -P ${Ceres_BINARY_DIR}/cmake/uninstall.cmake)
+
+# Install method #2: Put Ceres build into local CMake registry.
+#
+# Optionally export the Ceres build directory into the local CMake package
+# registry (~/.cmake/packages on *nix & OS X). This allows the detection &
+# use of Ceres without requiring that it be installed.
+if (EXPORT_BUILD_DIR)
+ message("-- Export Ceres build directory to local CMake package registry.")
+
+ # Save the relative path from the build directory to the source directory.
+ file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
+ ${Ceres_BINARY_DIR}
+ ${Ceres_SOURCE_DIR})
+
+ # Analogously to install(EXPORT ...), export the Ceres target from the build
+ # directory as a package called Ceres into the local CMake package registry.
+ export(TARGETS ceres FILE ${Ceres_BINARY_DIR}/CeresTargets.cmake)
+ export(PACKAGE ${CMAKE_PROJECT_NAME})
+
+ # Configure a CeresConfig.cmake file for the export of the Ceres build
+ # directory from the template, reflecting the current build options.
+ set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE)
+ configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
+ "${Ceres_BINARY_DIR}/CeresConfig.cmake" @ONLY)
+
+endif (EXPORT_BUILD_DIR)
--- /dev/null
+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.
--- /dev/null
+Ceres Solver
+============
+
+Ceres Solver is an open source C++ library for modeling and solving
+large, complicated optimization problems. It is a feature rich, mature
+and performant library which has been used in production at Google
+since 2010. Ceres Solver can solve two kinds of problems.
+
+1. Non-linear Least Squares problems with bounds constraints.
+2. General unconstrained optimization problems.
+
+Please see [ceres-solver.org](http://ceres-solver.org/) for more
+information.
+
+WARNING - Do not make GitHub pull requests!
+-------------------------------------------
+
+Ceres development happens on
+[Gerrit](https://ceres-solver.googlesource.com/), including both
+repository hosting and code reviews. The GitHub Repository is a
+continuously updated mirror which is primarily meant for issue
+tracking. Please see our [Contributing to Ceres Guide](http://ceres-solver.org/contributing.html) for more details.
+
+The upstream Gerrit repository is
+
+ https://ceres-solver.googlesource.com/ceres-solver
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 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: alexs.mac@gmail.com (Alex Stewart)
+
+# Adds Ceres' C++11 requirements to a target such that they are exported when
+# the target is exported (if the version of CMake supports it).
+#
+# add_ceres_cxx11_requirements_to_target( [target1 [target2 [...]]] )
+function(add_ceres_cxx11_requirements_to_target)
+ include(CheckCXXCompilerFlag)
+ check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
+
+ foreach(TARGET ${ARGN})
+ if (NOT TARGET ${TARGET})
+ message(FATAL_ERROR "Specified target to append Ceres C++11 requirements "
+ "to: ${TARGET} is not a declared CMake target.")
+ endif()
+
+ if (COMPILER_HAS_CXX11_FLAG)
+ # IMPORTANT: It is not sufficient to specify the
+ # CXX_STANDARD/CXX_STANDARD_REQUIRED target properties
+ # as these target properties are NOT exported.
+ if (CMAKE_VERSION VERSION_LESS "2.8.12")
+ # CMake version < 2.8.12 does not support target_compile_options(), warn
+ # user that they will have to add compile flags to their own projects
+ # manually.
+ message(WARNING "-- Warning: Detected CMake version: ${CMAKE_VERSION} "
+ "< 2.8.12, which is the minimum required for compile options to be "
+ "included in an exported CMake target and the detected. compiler "
+ "requires -std=c++11. The client is responsible for adding "
+ "-std=c++11 when linking against: ${TARGET}.")
+ elseif (COMMAND target_compile_features)
+ # CMake >= 3.1, use new target_compile_features() to specify Ceres'
+ # C++11 requirements as used in the public API. This assumes that
+ # C++11 STL features are available if the specified features are
+ # available. We do not use the cxx_std_11 feature to specify this as
+ # this did not come in until CMake 3.8.
+ #
+ # The reason to prefer using target_compile_features() if it exists is
+ # that this handles 'upgrading' of the C++ standard required more
+ # gracefully, e.g. if a client of Ceres requires C++14, but Ceres was
+ # compiled against C++11 then target_compile_options() may not work as
+ # expected.
+ target_compile_features(
+ ${TARGET} PUBLIC cxx_alignas cxx_alignof cxx_constexpr)
+ else()
+ # CMake version >= 2.8.12 && < 3.1 supports target_compile_options()
+ # but not target_compile_features(). For these intermediary versions,
+ # we use target_compile_options() to manually specify the C++11 flag and
+ # export it for client targets that depend on the target iff they are
+ # NOT compiling for C. We check for not C, rather than C++ as
+ # LINKER_LANGUAGE is often NOTFOUND and then uses the default (C++).
+ target_compile_options(${TARGET} PUBLIC
+ $<$<NOT:$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>>:-std=c++11>)
+ endif()
+ endif()
+ endforeach()
+endfunction()
--- /dev/null
+# 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.
+#
+# Authors: keir@google.com (Keir Mierle)
+# alexs.mac@gmail.com (Alex Stewart)
+
+# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
+function(ADD_GERRIT_COMMIT_HOOK SOURCE_DIR BINARY_DIR)
+ if (NOT (EXISTS ${SOURCE_DIR} AND IS_DIRECTORY ${SOURCE_DIR}))
+ message(FATAL_ERROR "Specified SOURCE_DIR: ${SOURCE_DIR} does not exist, "
+ "or is not a directory, cannot add Gerrit commit hook.")
+ endif()
+ if (NOT (EXISTS ${BINARY_DIR} AND IS_DIRECTORY ${BINARY_DIR}))
+ message(FATAL_ERROR "Specified BINARY_DIR: ${BINARY_DIR} does not exist, "
+ "or is not a directory, cannot add Gerrit commit hook.")
+ endif()
+ unset (LOCAL_GIT_DIRECTORY)
+ if (EXISTS ${SOURCE_DIR}/.git)
+ if (IS_DIRECTORY ${SOURCE_DIR}/.git)
+ # .git directory can be found on Unix based system, or on Windows with
+ # Git Bash (shipped with msysgit).
+ set (LOCAL_GIT_DIRECTORY ${SOURCE_DIR}/.git)
+ else(IS_DIRECTORY ${SOURCE_DIR}/.git)
+ # .git is a file, this means Ceres is a git submodule of another project
+ # and our .git file contains the path to the git directory which manages
+ # Ceres, so we should add the gerrit hook there.
+ file(READ ${SOURCE_DIR}/.git GIT_SUBMODULE_FILE_CONTENTS)
+ # Strip any trailing newline characters, s/t we get a valid path.
+ string(REGEX REPLACE "gitdir:[ ]*([^$].*)[\n].*" "${SOURCE_DIR}/\\1"
+ GIT_SUBMODULE_GIT_DIRECTORY_PATH "${GIT_SUBMODULE_FILE_CONTENTS}")
+ get_filename_component(GIT_SUBMODULE_GIT_DIRECTORY_PATH
+ "${GIT_SUBMODULE_GIT_DIRECTORY_PATH}" ABSOLUTE)
+ if (EXISTS ${GIT_SUBMODULE_GIT_DIRECTORY_PATH}
+ AND IS_DIRECTORY ${GIT_SUBMODULE_GIT_DIRECTORY_PATH})
+ set(LOCAL_GIT_DIRECTORY "${GIT_SUBMODULE_GIT_DIRECTORY_PATH}")
+ endif()
+ endif()
+ else (EXISTS ${SOURCE_DIR}/.git)
+ # TODO(keir) Add proper Windows support.
+ endif (EXISTS ${SOURCE_DIR}/.git)
+
+ if (EXISTS ${LOCAL_GIT_DIRECTORY})
+ if (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+ message(STATUS "Detected Ceres being used as a git submodule, adding "
+ "commit hook for Gerrit to: ${LOCAL_GIT_DIRECTORY}")
+ # Download the hook only if it is not already present.
+ file(DOWNLOAD https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
+ ${BINARY_DIR}/commit-msg)
+
+ # Make the downloaded file executable, since it is not by default.
+ file(COPY ${BINARY_DIR}/commit-msg
+ DESTINATION ${LOCAL_GIT_DIRECTORY}/hooks/
+ FILE_PERMISSIONS
+ OWNER_READ OWNER_WRITE OWNER_EXECUTE
+ GROUP_READ GROUP_WRITE GROUP_EXECUTE
+ WORLD_READ WORLD_EXECUTE)
+ endif (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+ endif (EXISTS ${LOCAL_GIT_DIRECTORY})
+endfunction()
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+
+# Append item(s) to a property on a declared CMake target:
+#
+# append_target_property(target property item_to_append1
+# [... item_to_appendN])
+#
+# The set_target_properties() CMake function will overwrite the contents of the
+# specified target property. This function instead appends to it, so can
+# be called multiple times with the same target & property to iteratively
+# populate it.
+function(append_target_property TARGET PROPERTY)
+ if (NOT TARGET ${TARGET})
+ message(FATAL_ERROR "Invalid target: ${TARGET} cannot append: ${ARGN} "
+ "to property: ${PROPERTY}")
+ endif()
+ if (NOT PROPERTY)
+ message(FATAL_ERROR "Invalid property to update for target: ${TARGET}")
+ endif()
+ # Get the initial state of the specified property for the target s/t
+ # we can append to it (not overwrite it).
+ get_target_property(INITIAL_PROPERTY_STATE ${TARGET} ${PROPERTY})
+ if (NOT INITIAL_PROPERTY_STATE)
+ # Ensure that if the state is unset, we do not insert the XXX-NOTFOUND
+ # returned by CMake into the property.
+ set(INITIAL_PROPERTY_STATE "")
+ endif()
+ # Delistify (remove ; separators) the potentially set of items to append
+ # to the specified target property.
+ string(REPLACE ";" " " ITEMS_TO_APPEND "${ARGN}")
+ set_target_properties(${TARGET} PROPERTIES ${PROPERTY}
+ "${INITIAL_PROPERTY_STATE} ${ITEMS_TO_APPEND}")
+endfunction()
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 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.
+#
+# Authors: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Conditionally add a value to the output list based on whether the specified
+# value is found in the input list.
+function(update_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND VAR_TO_COPY_IF_NOT_FOUND)
+ list(FIND ${INPUT_LIST_VAR} "${ITEM_TO_FIND}" HAVE_ITEM)
+ # list(FIND ..) returns -1 if the element was not in the list, but CMake
+ # interprets if (VAR) to be true if VAR is any non-zero number, even
+ # negative ones, hence we have to explicitly check for >= 0.
+ if (HAVE_ITEM GREATER -1)
+ list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_FOUND}")
+ else()
+ list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_NOT_FOUND}")
+ endif()
+ set(${OUTPUT_LIST_VAR} ${${OUTPUT_LIST_VAR}} PARENT_SCOPE)
+endfunction()
+
+# Helpers for update_output_if_found() to improve legibility when dealing with
+# USE_XXX & NO_XXX option types in ceres_compile_options_to_components().
+macro(add_to_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND)
+ update_output_if_found(${INPUT_LIST_VAR}
+ ${OUTPUT_LIST_VAR}
+ "${ITEM_TO_FIND}"
+ "${VAR_TO_COPY_IF_FOUND}"
+ "") # Copy nothing if not found.
+endmacro()
+
+macro(add_to_output_if_not_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_NOT_FOUND)
+ update_output_if_found(${INPUT_LIST_VAR}
+ ${OUTPUT_LIST_VAR}
+ "${ITEM_TO_FIND}"
+ "" # Copy nothing if found
+ "${VAR_TO_COPY_IF_NOT_FOUND}")
+endmacro()
+
+# Convert the Ceres compile options specified by: CURRENT_CERES_COMPILE_OPTIONS
+# into the correponding list of Ceres components (names), which may be used in:
+# find_package(Ceres COMPONENTS <XXX>).
+function(ceres_compile_options_to_components CURRENT_CERES_COMPILE_OPTIONS CERES_COMPONENTS_VAR)
+ # To enable users to specify that they want *a* sparse linear algebra backend
+ # without having to specify explicitly which one, for each sparse library we
+ # add the 'meta-module': SparseLinearAlgebraLibrary in addition to their own
+ # module name.
+ add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_USE_EIGEN_SPARSE "EigenSparse;SparseLinearAlgebraLibrary")
+ add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_NO_LAPACK "LAPACK")
+ add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_NO_SUITESPARSE "SuiteSparse;SparseLinearAlgebraLibrary")
+ add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_NO_CXSPARSE "CXSparse;SparseLinearAlgebraLibrary")
+ add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_RESTRICT_SCHUR_SPECIALIZATION "SchurSpecializations")
+ add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_USE_CXX11 "C++11")
+ add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+ CERES_USE_OPENMP "OpenMP")
+ # Remove duplicates of SparseLinearAlgebraLibrary if multiple sparse backends
+ # are present.
+ list(REMOVE_DUPLICATES ${CERES_COMPONENTS_VAR})
+ set(${CERES_COMPONENTS_VAR} "${${CERES_COMPONENTS_VAR}}" PARENT_SCOPE)
+endfunction()
--- /dev/null
+# 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.
+#
+# Authors: pablo.speciale@gmail.com (Pablo Speciale)
+# alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Config file for Ceres Solver - Find Ceres & dependencies.
+#
+# This file is used by CMake when find_package(Ceres) is invoked and either
+# the directory containing this file either is present in CMAKE_MODULE_PATH
+# (if Ceres was installed), or exists in the local CMake package registry if
+# the Ceres build directory was exported.
+#
+# This module defines the following variables:
+#
+# Ceres_FOUND / CERES_FOUND: True if Ceres has been successfully
+# found. Both variables are set as although
+# FindPackage() only references Ceres_FOUND
+# in Config mode, given the conventions for
+# <package>_FOUND when FindPackage() is
+# called in Module mode, users could
+# reasonably expect to use CERES_FOUND
+# instead.
+#
+# CERES_VERSION: Version of Ceres found.
+#
+# CERES_INCLUDE_DIRS: Include directories for Ceres and the
+# dependencies which appear in the Ceres public
+# API and are thus required to use Ceres.
+#
+# CERES_LIBRARIES: Libraries for Ceres and all
+# dependencies against which Ceres was
+# compiled. This will not include any optional
+# dependencies that were disabled when Ceres was
+# compiled.
+#
+# The following variables are also defined for legacy compatibility
+# only. Any new code should not use them as they do not conform to
+# the standard CMake FindPackage naming conventions.
+#
+# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}.
+
+# Called if we failed to find Ceres or any of its required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(CERES_REPORT_NOT_FOUND REASON_MSG)
+ # FindPackage() only references Ceres_FOUND, and requires it to be
+ # explicitly set FALSE to denote not found (not merely undefined).
+ set(Ceres_FOUND FALSE)
+ set(CERES_FOUND FALSE)
+ unset(CERES_INCLUDE_DIRS)
+ unset(CERES_LIBRARIES)
+
+ # Reset the CMake module path to its state when this script was called.
+ set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
+ # FindPackage() use the camelcase library name, not uppercase.
+ if (Ceres_FIND_QUIETLY)
+ message(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ elseif (Ceres_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+ # that prevents generation, but continues configuration.
+ message(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(CERES_REPORT_NOT_FOUND)
+
+# ceres_pretty_print_cmake_list( OUTPUT_VAR [item1 [item2 ... ]] )
+#
+# Sets ${OUTPUT_VAR} in the caller's scope to a human-readable string
+# representation of the list passed as the remaining arguments formed
+# as: "[item1, item2, ..., itemN]".
+function(ceres_pretty_print_cmake_list OUTPUT_VAR)
+ string(REPLACE ";" ", " PRETTY_LIST_STRING "[${ARGN}]")
+ set(${OUTPUT_VAR} "${PRETTY_LIST_STRING}" PARENT_SCOPE)
+endfunction()
+
+# The list of (optional) components this version of Ceres was compiled with.
+set(CERES_COMPILED_COMPONENTS "@CERES_COMPILED_COMPONENTS@")
+
+# If Ceres was not installed, then by definition it was exported
+# from a build directory.
+set(CERES_WAS_INSTALLED @SETUP_CERES_CONFIG_FOR_INSTALLATION@)
+
+# Record the state of the CMake module path when this script was
+# called so that we can ensure that we leave it in the same state on
+# exit as it was on entry, but modify it locally.
+set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
+
+# Get the (current, i.e. installed) directory containing this file.
+get_filename_component(CERES_CURRENT_CONFIG_DIR
+ "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+if (CERES_WAS_INSTALLED)
+ # Reset CMake module path to the installation directory of this
+ # script, thus we will use the FindPackage() scripts shipped with
+ # Ceres to find Ceres' dependencies, even if the user has equivalently
+ # named FindPackage() scripts in their project.
+ set(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_DIR})
+
+ # Build the absolute root install directory as a relative path
+ # (determined when Ceres was configured & built) from the current
+ # install directory for this this file. This allows for the install
+ # tree to be relocated, after Ceres was built, outside of CMake.
+ get_filename_component(CURRENT_ROOT_INSTALL_DIR
+ ${CERES_CURRENT_CONFIG_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+ ABSOLUTE)
+ if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+ ceres_report_not_found(
+ "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+ "determined from relative path from CeresConfig.cmake install location: "
+ "${CERES_CURRENT_CONFIG_DIR}, does not exist. Either the install "
+ "directory was deleted, or the install tree was only partially relocated "
+ "outside of CMake after Ceres was built.")
+ endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+
+ # Set the include directories for Ceres (itself).
+ set(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include")
+ if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+ ceres_report_not_found(
+ "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+ "determined from relative path from CeresConfig.cmake install location: "
+ "${CERES_CURRENT_CONFIG_DIR}, does not contain Ceres headers. "
+ "Either the install directory was deleted, or the install tree was only "
+ "partially relocated outside of CMake after Ceres was built.")
+ endif (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+ list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
+
+else(CERES_WAS_INSTALLED)
+ # Ceres was exported from the build tree.
+ set(CERES_EXPORTED_BUILD_DIR ${CERES_CURRENT_CONFIG_DIR})
+ get_filename_component(CERES_EXPORTED_SOURCE_DIR
+ ${CERES_EXPORTED_BUILD_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+ ABSOLUTE)
+ if (NOT EXISTS ${CERES_EXPORTED_SOURCE_DIR})
+ ceres_report_not_found(
+ "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
+ "determined from relative path from CeresConfig.cmake exported build "
+ "directory: ${CERES_EXPORTED_BUILD_DIR} does not exist.")
+ endif()
+
+ # Reset CMake module path to the cmake directory in the Ceres source
+ # tree which was exported, thus we will use the FindPackage() scripts shipped
+ # with Ceres to find Ceres' dependencies, even if the user has equivalently
+ # named FindPackage() scripts in their project.
+ set(CMAKE_MODULE_PATH ${CERES_EXPORTED_SOURCE_DIR}/cmake)
+
+ # Set the include directories for Ceres (itself).
+ set(CERES_INCLUDE_DIR "${CERES_EXPORTED_SOURCE_DIR}/include")
+ if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+ ceres_report_not_found(
+ "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
+ "determined from relative path from CeresConfig.cmake exported build "
+ "directory: ${CERES_EXPORTED_BUILD_DIR}, does not contain Ceres headers.")
+ endif (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+ list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
+
+ # Append the path to the configured config.h in the exported build directory
+ # to the Ceres include directories.
+ set(CERES_CONFIG_FILE
+ ${CERES_EXPORTED_BUILD_DIR}/config/ceres/internal/config.h)
+ if (NOT EXISTS ${CERES_CONFIG_FILE})
+ ceres_report_not_found(
+ "Ceres exported build directory: ${CERES_EXPORTED_BUILD_DIR}, "
+ "does not contain required configured Ceres config.h, it is not here: "
+ "${CERES_CONFIG_FILE}.")
+ endif (NOT EXISTS ${CERES_CONFIG_FILE})
+ list(APPEND CERES_INCLUDE_DIRS ${CERES_EXPORTED_BUILD_DIR}/config)
+endif(CERES_WAS_INSTALLED)
+
+# Set the version.
+set(CERES_VERSION @CERES_VERSION@ )
+
+# Eigen.
+# Flag set during configuration and build of Ceres.
+set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
+set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@)
+# Append the locations of Eigen when Ceres was built to the search path hints.
+if (EIGEN_WAS_BUILT_WITH_CMAKE)
+ set(Eigen3_DIR @Eigen3_DIR@)
+ set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+else()
+ list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
+endif()
+# Search quietly to control the timing of the error message if not found. The
+# search should be for an exact match, but for usability reasons do a soft
+# match and reject with an explanation below.
+find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
+if (EIGEN_FOUND)
+ if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
+ # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
+ # specified version. However, only version = is supported. Improve
+ # usability by explaining why we don't accept non-exact version matching.
+ ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
+ "found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
+ "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
+ "bugs by triggering violations of the One Definition Rule. See the "
+ "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
+ "for more details")
+ endif ()
+ message(STATUS "Found required Ceres dependency: "
+ "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
+else (EIGEN_FOUND)
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
+ "EIGEN_INCLUDE_DIR.")
+endif (EIGEN_FOUND)
+list(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+
+# Glog.
+# Flag set during configuration and build of Ceres.
+set(CERES_USES_MINIGLOG @MINIGLOG@)
+set(CERES_USES_GFLAGS @GFLAGS@)
+if (CERES_USES_MINIGLOG)
+ set(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
+ if (NOT CERES_WAS_INSTALLED)
+ # When Ceres was exported from the build tree, the miniglog headers
+ # will be in Ceres internal source directory, not in the public headers
+ # directory (they are copied with the public headers when installed).
+ set(MINIGLOG_INCLUDE_DIR
+ ${CERES_EXPORTED_SOURCE_DIR}/internal/ceres/miniglog)
+ endif()
+ if (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
+ ceres_report_not_found(
+ "Failed to find miniglog headers in expected include directory: "
+ "${MINIGLOG_INCLUDE_DIR}, but Ceres was compiled with MINIGLOG enabled "
+ "(in place of glog).")
+ endif (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
+ list(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR})
+ # Output message at standard log level (not the lower STATUS) so that
+ # the message is output in GUI during configuration to warn user.
+ message("-- Found Ceres compiled with miniglog substitute "
+ "for glog, beware this will likely cause problems if glog is later linked.")
+else (CERES_USES_MINIGLOG)
+ # Append the locations of glog when Ceres was built to the search path hints.
+ set(GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
+ if (GLOG_WAS_BUILT_WITH_CMAKE)
+ set(glog_DIR @glog_DIR@)
+ set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+ else()
+ list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
+ get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
+ list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
+ endif()
+
+ # Search quietly s/t we control the timing of the error message if not found.
+ find_package(Glog QUIET)
+ if (GLOG_FOUND)
+ message(STATUS "Found required Ceres dependency: glog")
+ else (GLOG_FOUND)
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: glog. Searched using GLOG_INCLUDE_DIR_HINTS: "
+ "${GLOG_INCLUDE_DIR_HINTS} and glog_DIR: ${glog_DIR}.")
+ endif (GLOG_FOUND)
+ list(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
+
+ # gflags is only a public dependency of Ceres via glog, thus is not required
+ # if Ceres was built with MINIGLOG.
+ if (CERES_USES_GFLAGS)
+ # If gflags was found as an imported CMake target, we need to call
+ # find_packge(Gflags) again here, as imported CMake targets are not
+ # re-exported. Without this, the 'gflags-shared' target name which is
+ # present in CERES_LIBRARIES in this case would not be defined, and so
+ # CMake will assume it is a library name (which it is not) and fail to link.
+ #
+ # Append the locations of gflags when Ceres was built to the search path
+ # hints.
+ set(GFLAGS_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION@)
+ if (GFLAGS_WAS_BUILT_WITH_CMAKE)
+ set(gflags_DIR @gflags_DIR@)
+ set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
+ else()
+ list(APPEND GFLAGS_INCLUDE_DIR_HINTS @GFLAGS_INCLUDE_DIR@)
+ get_filename_component(CERES_BUILD_GFLAGS_LIBRARY_DIR @GFLAGS_LIBRARY@ PATH)
+ list(APPEND GFLAGS_LIBRARY_DIR_HINTS ${CERES_BUILD_GFLAGS_LIBRARY_DIR})
+ endif()
+
+ # Search quietly s/t we control the timing of the error message if not found.
+ find_package(Gflags QUIET)
+ if (GFLAGS_FOUND)
+ message(STATUS "Found required Ceres dependency: gflags")
+ else()
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: gflags. Searched using GFLAGS_INCLUDE_DIR_HINTS: "
+ "${GFLAGS_INCLUDE_DIR_HINTS} and gflags_DIR: ${gflags_DIR}.")
+ endif()
+ list(APPEND CERES_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR_HINTS})
+ endif()
+endif (CERES_USES_MINIGLOG)
+
+# Import exported Ceres targets, if they have not already been imported.
+if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+ include(${CERES_CURRENT_CONFIG_DIR}/CeresTargets.cmake)
+endif (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+# Set the expected XX_LIBRARIES variable for FindPackage().
+set(CERES_LIBRARIES ceres)
+
+# Make user aware of any compile flags that will be added to their targets
+# which use Ceres (i.e. flags exported in the Ceres target). Only CMake
+# versions >= 2.8.12 support target_compile_options().
+if (TARGET ${CERES_LIBRARIES} AND
+ NOT CMAKE_VERSION VERSION_LESS "2.8.12")
+ get_target_property(CERES_INTERFACE_COMPILE_OPTIONS
+ ${CERES_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
+
+ if (CERES_WAS_INSTALLED)
+ set(CERES_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
+ else()
+ set(CERES_LOCATION "${CERES_EXPORTED_BUILD_DIR}")
+ endif()
+
+ # Check for -std=c++11 flags.
+ if (CERES_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
+ message(STATUS "Ceres version ${CERES_VERSION} detected here: "
+ "${CERES_LOCATION} was built with C++11. Ceres target will add "
+ "C++11 flags to compile options for targets using it.")
+ endif()
+endif()
+
+# Set legacy include directories variable for backwards compatibility.
+set(CERES_INCLUDES ${CERES_INCLUDE_DIRS})
+
+# Reset CMake module path to its state when this script was called.
+set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+# Build the detected Ceres version string to correctly capture whether it
+# was installed, or exported.
+ceres_pretty_print_cmake_list(CERES_COMPILED_COMPONENTS_STRING
+ ${CERES_COMPILED_COMPONENTS})
+if (CERES_WAS_INSTALLED)
+ set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+ "installed in: ${CURRENT_ROOT_INSTALL_DIR} with components: "
+ "${CERES_COMPILED_COMPONENTS_STRING}")
+else (CERES_WAS_INSTALLED)
+ set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+ "exported from build directory: ${CERES_EXPORTED_BUILD_DIR} with "
+ "components: ${CERES_COMPILED_COMPONENTS_STRING}")
+endif()
+
+# If the user called this script through find_package() whilst specifying
+# particular Ceres components that should be found via:
+# find_package(Ceres COMPONENTS XXX YYY), check the requested components against
+# those with which Ceres was compiled. In this case, we should only report
+# Ceres as found if all the requested components have been found.
+if (Ceres_FIND_COMPONENTS)
+ foreach (REQUESTED_COMPONENT ${Ceres_FIND_COMPONENTS})
+ list(FIND CERES_COMPILED_COMPONENTS ${REQUESTED_COMPONENT} HAVE_REQUESTED_COMPONENT)
+ # list(FIND ..) returns -1 if the element was not in the list, but CMake
+ # interprets if (VAR) to be true if VAR is any non-zero number, even
+ # negative ones, hence we have to explicitly check for >= 0.
+ if (HAVE_REQUESTED_COMPONENT EQUAL -1)
+ # Check for the presence of all requested components before reporting
+ # not found, such that we report all of the missing components rather
+ # than just the first.
+ list(APPEND MISSING_CERES_COMPONENTS ${REQUESTED_COMPONENT})
+ endif()
+ endforeach()
+ if (MISSING_CERES_COMPONENTS)
+ ceres_pretty_print_cmake_list(REQUESTED_CERES_COMPONENTS_STRING
+ ${Ceres_FIND_COMPONENTS})
+ ceres_pretty_print_cmake_list(MISSING_CERES_COMPONENTS_STRING
+ ${MISSING_CERES_COMPONENTS})
+ ceres_report_not_found("Missing requested Ceres components: "
+ "${MISSING_CERES_COMPONENTS_STRING} (components requested: "
+ "${REQUESTED_CERES_COMPONENTS_STRING}). Detected "
+ "${CERES_DETECTED_VERSION_STRING}.")
+ endif()
+endif()
+
+# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have
+# found Ceres and all required dependencies.
+message(STATUS "Found " ${CERES_DETECTED_VERSION_STRING})
+
+# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to
+# TRUE by FindPackage() if this file is found and run, and after which
+# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set
+# to FALSE.
+set(CERES_FOUND TRUE)
--- /dev/null
+# 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: pablo.speciale@gmail.com (Pablo Speciale)
+#
+# FIND_PACKAGE() searches for a <package>Config.cmake file and an associated
+# <package>Version.cmake file, which it loads to check the version number.
+#
+# This file can be used with CONFIGURE_FILE() to generate such a file for a
+# project with very basic logic.
+#
+# It sets PACKAGE_VERSION_EXACT if the current version string and the requested
+# version string are exactly the same and it sets PACKAGE_VERSION_COMPATIBLE
+# if the current version is >= requested version.
+
+set(PACKAGE_VERSION @CERES_VERSION@)
+
+if ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE TRUE)
+ if ("${PACKAGE_FIND_VERSION}" STREQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT TRUE)
+ endif ("${PACKAGE_FIND_VERSION}" STREQUAL "${PACKAGE_VERSION}")
+endif ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 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: alexs.mac@gmail.com (Alex Stewart)
+
+# Microsoft deprecated the POSIX Bessel functions: j[0,1,n]() in favour
+# of _j[0,1,n](), it appears since at least MSVC 2005 [1]. This function
+# checks if the underscore prefixed versions of the Bessel functions are
+# defined, and sets ${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR} to
+# TRUE if they do.
+#
+# [1] https://msdn.microsoft.com/en-us/library/ms235384(v=vs.100).aspx
+function(check_if_underscore_prefixed_bessel_functions_exist
+ HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR)
+ include(CheckCXXSourceCompiles)
+ check_cxx_source_compiles(
+ "#include <math.h>
+ int main(int argc, char * argv[]) {
+ double result;
+ result = _j0(1.2345);
+ result = _j1(1.2345);
+ result = _jn(2, 1.2345);
+ return 0;
+ }"
+ HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ set(${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR}
+ ${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS}
+ PARENT_SCOPE)
+endfunction()
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+
+# This must take place outside of CONFIGURE_CERES_CONFIG() in order that
+# we can determine where *this* file is, and thus the relative path to
+# config.h.in. Inside of CONFIGURE_CERES_CONFIG(), CMAKE_CURRENT_LIST_DIR
+# refers to the caller of CONFIGURE_CERES_CONFIG(), not this file.
+set(CERES_CONFIG_IN_FILE "${CMAKE_CURRENT_LIST_DIR}/config.h.in")
+
+# CreateCeresConfig.cmake - Create the config.h for Ceres.
+#
+# This function configures the Ceres config.h file based on the current
+# compile options and copies it into the specified location. It should be
+# called before Ceres is built so that the correct config.h is used when
+# Ceres is compiled.
+#
+# INPUTS:
+# CURRENT_CERES_COMPILE_OPTIONS: List of currently enabled Ceres compile
+# options. These are compared against the
+# full list of valid options, which are read
+# from config.h.in. Any options present
+# which are not part of the valid set will
+# invoke an error. Any valid option present
+# will be enabled in the resulting config.h,
+# all other options will be disabled.
+#
+# CERES_CONFIG_OUTPUT_DIRECTORY: Path to output directory in which to save
+# the configured config.h. Typically this
+# will be <src>/include/ceres/internal.
+
+function(CREATE_CERES_CONFIG CURRENT_CERES_COMPILE_OPTIONS CERES_CONFIG_OUTPUT_DIRECTORY)
+ # Create the specified output directory if it does not exist.
+ if (NOT EXISTS "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+ message(STATUS "Creating configured Ceres config.h output directory: "
+ "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+ file(MAKE_DIRECTORY "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+ endif()
+ if (EXISTS "${CERES_CONFIG_OUTPUT_DIRECTORY}" AND
+ NOT IS_DIRECTORY "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+ message(FATAL_ERROR "Ceres Bug: Specified CERES_CONFIG_OUTPUT_DIRECTORY: "
+ "${CERES_CONFIG_OUTPUT_DIRECTORY} exists, but is not a directory.")
+ endif()
+
+ # Read all possible configurable compile options from config.h.in, this avoids
+ # us having to hard-code in this file what the valid options are.
+ file(READ ${CERES_CONFIG_IN_FILE} CERES_CONFIG_IN_CONTENTS)
+ string(REGEX MATCHALL "@[^@ $]+@"
+ ALL_CONFIGURABLE_CERES_OPTIONS "${CERES_CONFIG_IN_CONTENTS}")
+ # Removing @ symbols at beginning and end of each option.
+ string(REPLACE "@" ""
+ ALL_CONFIGURABLE_CERES_OPTIONS "${ALL_CONFIGURABLE_CERES_OPTIONS}")
+
+ # Ensure that there are no repetitions in the current compile options.
+ list(REMOVE_DUPLICATES CURRENT_CERES_COMPILE_OPTIONS)
+
+ foreach (CERES_OPTION ${ALL_CONFIGURABLE_CERES_OPTIONS})
+ # Try and find the option in the list of current compile options, if it
+ # is present, then the option is enabled, otherwise it is disabled.
+ list(FIND CURRENT_CERES_COMPILE_OPTIONS ${CERES_OPTION} OPTION_ENABLED)
+
+ # list(FIND ..) returns -1 if the element was not in the list, but CMake
+ # interprets if (VAR) to be true if VAR is any non-zero number, even
+ # negative ones, hence we have to explicitly check for >= 0.
+ if (OPTION_ENABLED GREATER -1)
+ message(STATUS "Enabling ${CERES_OPTION} in Ceres config.h")
+ set(${CERES_OPTION} "#define ${CERES_OPTION}")
+
+ # Remove the item from the list of current options so that we can identify
+ # any options that were in CURRENT_CERES_COMPILE_OPTIONS, but not in
+ # ALL_CONFIGURABLE_CERES_OPTIONS (which is an error).
+ list(REMOVE_ITEM CURRENT_CERES_COMPILE_OPTIONS ${CERES_OPTION})
+ else()
+ set(${CERES_OPTION} "// #define ${CERES_OPTION}")
+ endif()
+ endforeach()
+
+ # CURRENT_CERES_COMPILE_OPTIONS should now be an empty list, any elements
+ # remaining were not present in ALL_CONFIGURABLE_CERES_OPTIONS read from
+ # config.h.in.
+ if (CURRENT_CERES_COMPILE_OPTIONS)
+ message(FATAL_ERROR "Ceres Bug: CURRENT_CERES_COMPILE_OPTIONS contained "
+ "the following options which were not present in config.h.in: "
+ "${CURRENT_CERES_COMPILE_OPTIONS}")
+ endif()
+
+ configure_file(${CERES_CONFIG_IN_FILE}
+ "${CERES_CONFIG_OUTPUT_DIRECTORY}/config.h" @ONLY)
+endfunction()
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindCXSparse.cmake - Find CXSparse libraries & dependencies.
+#
+# This module defines the following variables which should be referenced
+# by the caller to use the library.
+#
+# CXSPARSE_FOUND: TRUE iff CXSparse and all dependencies have been found.
+# CXSPARSE_INCLUDE_DIRS: Include directories for CXSparse.
+# CXSPARSE_LIBRARIES: Libraries for CXSparse and all dependencies.
+#
+# CXSPARSE_VERSION: Extracted from cs.h.
+# CXSPARSE_MAIN_VERSION: Equal to 3 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUB_VERSION: Equal to 1 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUBSUB_VERSION: Equal to 2 if CXSPARSE_VERSION = 3.1.2
+#
+# The following variables control the behaviour of this module:
+#
+# CXSPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for CXSparse includes,
+# e.g: /timbuktu/include.
+# CXSPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for CXSparse libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead). These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# CXSPARSE_INCLUDE_DIR: Include directory for CXSparse, not including the
+# include directory of any dependencies.
+# CXSPARSE_LIBRARY: CXSparse library, not including the libraries of any
+# dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindCXSparse was invoked.
+macro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+endmacro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find CXSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(CXSPARSE_REPORT_NOT_FOUND REASON_MSG)
+ unset(CXSPARSE_FOUND)
+ unset(CXSPARSE_INCLUDE_DIRS)
+ unset(CXSPARSE_LIBRARIES)
+ # Make results of search visible in the CMake GUI if CXSparse has not
+ # been found so that user does not have to toggle to advanced view.
+ mark_as_advanced(CLEAR CXSPARSE_INCLUDE_DIR
+ CXSPARSE_LIBRARY)
+
+ cxsparse_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (CXSparse_FIND_QUIETLY)
+ message(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+ elseif (CXSparse_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(CXSPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set CXSPARSE_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(CXSPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also CXSPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+#
+# TODO: Add standard Windows search locations for CXSparse.
+list(APPEND CXSPARSE_CHECK_INCLUDE_DIRS
+ /usr/local/include
+ /usr/local/homebrew/include # Mac OS X
+ /opt/local/var/macports/software # Mac OS X.
+ /opt/local/include
+ /usr/include)
+list(APPEND CXSPARSE_CHECK_LIBRARY_DIRS
+ /usr/local/lib
+ /usr/local/homebrew/lib # Mac OS X.
+ /opt/local/lib
+ /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND CXSPARSE_CHECK_PATH_SUFFIXES
+ suitesparse) # Linux/Windows
+
+# Search supplied hint directories first if supplied.
+find_path(CXSPARSE_INCLUDE_DIR
+ NAMES cs.h
+ HINTS ${CXSPARSE_INCLUDE_DIR_HINTS}
+ PATHS ${CXSPARSE_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_INCLUDE_DIR OR
+ NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+ cxsparse_report_not_found(
+ "Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR "
+ "to directory containing cs.h")
+endif (NOT CXSPARSE_INCLUDE_DIR OR
+ NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+
+find_library(CXSPARSE_LIBRARY NAMES cxsparse
+ HINTS ${CXSPARSE_LIBRARY_DIR_HINTS}
+ PATHS ${CXSPARSE_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_LIBRARY OR
+ NOT EXISTS ${CXSPARSE_LIBRARY})
+ cxsparse_report_not_found(
+ "Could not find CXSparse library, set CXSPARSE_LIBRARY "
+ "to full path to libcxsparse.")
+endif (NOT CXSPARSE_LIBRARY OR
+ NOT EXISTS ${CXSPARSE_LIBRARY})
+
+# Mark internally as found, then verify. CXSPARSE_REPORT_NOT_FOUND() unsets
+# if called.
+set(CXSPARSE_FOUND TRUE)
+
+# Extract CXSparse version from cs.h
+if (CXSPARSE_INCLUDE_DIR)
+ set(CXSPARSE_VERSION_FILE ${CXSPARSE_INCLUDE_DIR}/cs.h)
+ if (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+ cxsparse_report_not_found(
+ "Could not find file: ${CXSPARSE_VERSION_FILE} "
+ "containing version information in CXSparse install located at: "
+ "${CXSPARSE_INCLUDE_DIR}.")
+ else (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+ file(READ ${CXSPARSE_INCLUDE_DIR}/cs.h CXSPARSE_VERSION_FILE_CONTENTS)
+
+ string(REGEX MATCH "#define CS_VER [0-9]+"
+ CXSPARSE_MAIN_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1"
+ CXSPARSE_MAIN_VERSION "${CXSPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define CS_SUBVER [0-9]+"
+ CXSPARSE_SUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1"
+ CXSPARSE_SUB_VERSION "${CXSPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define CS_SUBSUB [0-9]+"
+ CXSPARSE_SUBSUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1"
+ CXSPARSE_SUBSUB_VERSION "${CXSPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 3.;1.;2 nonsense.
+ set(CXSPARSE_VERSION "${CXSPARSE_MAIN_VERSION}.${CXSPARSE_SUB_VERSION}.${CXSPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+endif (CXSPARSE_INCLUDE_DIR)
+
+# Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and
+# thus FIND_LIBRARY was not called, but specified library is invalid, otherwise
+# we would report CXSparse as found.
+# TODO: This regex for CXSparse library is pretty primitive, we use lowercase
+# for comparison to handle Windows using CamelCase library names, could
+# this check be better?
+string(TOLOWER "${CXSPARSE_LIBRARY}" LOWERCASE_CXSPARSE_LIBRARY)
+if (CXSPARSE_LIBRARY AND
+ EXISTS ${CXSPARSE_LIBRARY} AND
+ NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+ cxsparse_report_not_found(
+ "Caller defined CXSPARSE_LIBRARY: "
+ "${CXSPARSE_LIBRARY} does not match CXSparse.")
+endif (CXSPARSE_LIBRARY AND
+ EXISTS ${CXSPARSE_LIBRARY} AND
+ NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+
+# Set standard CMake FindPackage variables if found.
+if (CXSPARSE_FOUND)
+ set(CXSPARSE_INCLUDE_DIRS ${CXSPARSE_INCLUDE_DIR})
+ set(CXSPARSE_LIBRARIES ${CXSPARSE_LIBRARY})
+endif (CXSPARSE_FOUND)
+
+cxsparse_reset_find_library_prefix()
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CXSparse
+ REQUIRED_VARS CXSPARSE_INCLUDE_DIRS CXSPARSE_LIBRARIES
+ VERSION_VAR CXSPARSE_VERSION)
+
+# Only mark internal variables as advanced if we found CXSparse, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (CXSPARSE_FOUND)
+ mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
+ CXSPARSE_LIBRARY)
+endif (CXSPARSE_FOUND)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindEigen.cmake - Find Eigen library, version >= 3.
+#
+# This module defines the following variables:
+#
+# EIGEN_FOUND: TRUE iff Eigen is found.
+# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
+# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
+# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
+# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
+# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
+# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
+# found was built & installed /
+# exported as a CMake package.
+#
+# The following variables control the behaviour of this module:
+#
+# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+# then prefer using an exported CMake configuration
+# generated by Eigen over searching for the
+# Eigen components manually. Otherwise (FALSE)
+# ignore any exported Eigen CMake configurations and
+# always perform a manual search for the components.
+# Default: TRUE iff user does not define this variable
+# before we are called, and does NOT specify
+# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
+# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for eigen includes, e.g: /timbuktu/eigen3.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead). These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
+# include directory of any dependencies.
+
+# Called if we failed to find Eigen or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
+ unset(EIGEN_FOUND)
+ unset(EIGEN_INCLUDE_DIRS)
+ unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
+ # Make results of search visible in the CMake GUI if Eigen has not
+ # been found so that user does not have to toggle to advanced view.
+ mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (Eigen_FIND_QUIETLY)
+ message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+ elseif (Eigen_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(EIGEN_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set EIGEN_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(EIGEN_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# Eigen CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer an exported configuration if available.
+if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
+ AND NOT EIGEN_INCLUDE_DIR_HINTS)
+ message(STATUS "No preference for use of exported Eigen CMake configuration "
+ "set, and no hints for include directory provided. "
+ "Defaulting to preferring an installed/exported Eigen CMake configuration "
+ "if available.")
+ set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
+ # Try to find an exported CMake configuration for Eigen.
+ #
+ # We search twice, s/t we can invert the ordering of precedence used by
+ # find_package() for exported package build directories, and installed
+ # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+ # respectively in [1].
+ #
+ # By default, exported build directories are (in theory) detected first, and
+ # this is usually the case on Windows. However, on OS X & Linux, the install
+ # path (/usr/local) is typically present in the PATH environment variable
+ # which is checked in item 4) in [1] (i.e. before both of the above, unless
+ # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
+ # packages are usually detected in preference to exported package build
+ # directories.
+ #
+ # To ensure a more consistent response across all OSs, and as users usually
+ # want to prefer an installed version of a package over a locally built one
+ # where both exist (esp. as the exported build directory might be removed
+ # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+ # means any build directories exported by the user are ignored, and thus
+ # installed directories are preferred. If this fails to find the package
+ # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+ # exported build directories will now be detected.
+ #
+ # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+ # is item 5) in [1]), to not preferentially use projects that were built
+ # recently with the CMake GUI to ensure that we always prefer an installed
+ # version if available.
+ #
+ # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+ find_package(Eigen3 QUIET
+ NO_MODULE
+ NO_CMAKE_PACKAGE_REGISTRY
+ NO_CMAKE_BUILDS_PATH)
+ if (EIGEN3_FOUND)
+ message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
+ else()
+ # Failed to find an installed version of Eigen, repeat search allowing
+ # exported build directories.
+ message(STATUS "Failed to find installed Eigen CMake configuration, "
+ "searching for Eigen build directories exported with CMake.")
+ # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
+ # do not want to treat projects built with the CMake GUI preferentially.
+ find_package(Eigen3 QUIET
+ NO_MODULE
+ NO_CMAKE_BUILDS_PATH)
+ if (EIGEN3_FOUND)
+ message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
+ endif()
+ endif()
+ if (EIGEN3_FOUND)
+ set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
+ set(EIGEN_FOUND ${EIGEN3_FOUND})
+ set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
+ "Eigen include directory" FORCE)
+ else()
+ message(STATUS "Failed to find an installed/exported CMake configuration "
+ "for Eigen, will perform search for installed Eigen components.")
+ endif()
+endif()
+
+if (NOT EIGEN_FOUND)
+ # Search user-installed locations first, so that we prefer user installs
+ # to system installs where both exist.
+ list(APPEND EIGEN_CHECK_INCLUDE_DIRS
+ /usr/local/include
+ /usr/local/homebrew/include # Mac OS X
+ /opt/local/var/macports/software # Mac OS X.
+ /opt/local/include
+ /usr/include)
+ # Additional suffixes to try appending to each search path.
+ list(APPEND EIGEN_CHECK_PATH_SUFFIXES
+ eigen3 # Default root directory for Eigen.
+ Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
+ Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
+
+ # Search supplied hint directories first if supplied.
+ find_path(EIGEN_INCLUDE_DIR
+ NAMES Eigen/Core
+ HINTS ${EIGEN_INCLUDE_DIR_HINTS}
+ PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
+
+ if (NOT EIGEN_INCLUDE_DIR OR
+ NOT EXISTS ${EIGEN_INCLUDE_DIR})
+ eigen_report_not_found(
+ "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
+ "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
+ endif (NOT EIGEN_INCLUDE_DIR OR
+ NOT EXISTS ${EIGEN_INCLUDE_DIR})
+
+ # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
+ # if called.
+ set(EIGEN_FOUND TRUE)
+endif()
+
+# Extract Eigen version from Eigen/src/Core/util/Macros.h
+if (EIGEN_INCLUDE_DIR)
+ set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
+ if (NOT EXISTS ${EIGEN_VERSION_FILE})
+ eigen_report_not_found(
+ "Could not find file: ${EIGEN_VERSION_FILE} "
+ "containing version information in Eigen install located at: "
+ "${EIGEN_INCLUDE_DIR}.")
+ else (NOT EXISTS ${EIGEN_VERSION_FILE})
+ file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
+
+ string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
+ EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
+ EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
+
+ string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
+ EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
+ EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
+
+ string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
+ EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
+ EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+ set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
+ endif (NOT EXISTS ${EIGEN_VERSION_FILE})
+endif (EIGEN_INCLUDE_DIR)
+
+# Set standard CMake FindPackage variables if found.
+if (EIGEN_FOUND)
+ set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+endif (EIGEN_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen
+ REQUIRED_VARS EIGEN_INCLUDE_DIRS
+ VERSION_VAR EIGEN_VERSION)
+
+# Only mark internal variables as advanced if we found Eigen, otherwise
+# leave it visible in the standard GUI for the user to set manually.
+if (EIGEN_FOUND)
+ mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
+ Eigen3_DIR) # Autogenerated by find_package(Eigen3)
+endif (EIGEN_FOUND)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindGflags.cmake - Find Google gflags logging library.
+#
+# This module will attempt to find gflags, either via an exported CMake
+# configuration (generated by gflags >= 2.1 which are built with CMake), or
+# by performing a standard search for all gflags components. The order of
+# precedence for these two methods of finding gflags is controlled by:
+# GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION.
+#
+# This module defines the following variables:
+#
+# GFLAGS_FOUND: TRUE iff gflags is found.
+# GFLAGS_INCLUDE_DIRS: Include directories for gflags.
+# GFLAGS_LIBRARIES: Libraries required to link gflags.
+# GFLAGS_NAMESPACE: The namespace in which gflags is defined. In versions of
+# gflags < 2.1, this was google, for versions >= 2.1 it is
+# by default gflags, although can be configured when building
+# gflags to be something else (i.e. google for legacy
+# compatibility).
+# FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION: True iff the version of gflags
+# found was built & installed /
+# exported as a CMake package.
+#
+# The following variables control the behaviour of this module when an exported
+# gflags CMake configuration is not found.
+#
+# GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+# then prefer using an exported CMake configuration
+# generated by gflags >= 2.1 over searching for the
+# gflags components manually. Otherwise (FALSE)
+# ignore any exported gflags CMake configurations and
+# always perform a manual search for the components.
+# Default: TRUE iff user does not define this variable
+# before we are called, and does NOT specify either
+# GFLAGS_INCLUDE_DIR_HINTS or GFLAGS_LIBRARY_DIR_HINTS
+# otherwise FALSE.
+# GFLAGS_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for gflags includes, e.g: /timbuktu/include.
+# GFLAGS_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for gflags libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead). These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# GFLAGS_INCLUDE_DIR: Include directory for gflags, not including the
+# include directory of any dependencies.
+# GFLAGS_LIBRARY: gflags library, not including the libraries of any
+# dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when FindGflags was
+# invoked, necessary for MSVC.
+macro(GFLAGS_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif()
+endmacro(GFLAGS_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find gflags or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(GFLAGS_REPORT_NOT_FOUND REASON_MSG)
+ unset(GFLAGS_FOUND)
+ unset(GFLAGS_INCLUDE_DIRS)
+ unset(GFLAGS_LIBRARIES)
+ # Do not use unset, as we want to keep GFLAGS_NAMESPACE in the cache,
+ # but simply clear its value.
+ set(GFLAGS_NAMESPACE "" CACHE STRING
+ "gflags namespace (google or gflags)" FORCE)
+
+ # Make results of search visible in the CMake GUI if gflags has not
+ # been found so that user does not have to toggle to advanced view.
+ mark_as_advanced(CLEAR GFLAGS_INCLUDE_DIR
+ GFLAGS_LIBRARY
+ GFLAGS_NAMESPACE)
+
+ gflags_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (Gflags_FIND_QUIETLY)
+ message(STATUS "Failed to find gflags - " ${REASON_MSG} ${ARGN})
+ elseif (Gflags_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find gflags - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find gflags - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(GFLAGS_REPORT_NOT_FOUND)
+
+# Verify that all variable names passed as arguments are defined (can be empty
+# but must be defined) or raise a fatal error.
+macro(GFLAGS_CHECK_VARS_DEFINED)
+ foreach(CHECK_VAR ${ARGN})
+ if (NOT DEFINED ${CHECK_VAR})
+ message(FATAL_ERROR "Ceres Bug: ${CHECK_VAR} is not defined.")
+ endif()
+ endforeach()
+endmacro(GFLAGS_CHECK_VARS_DEFINED)
+
+# Use check_cxx_source_compiles() to compile trivial test programs to determine
+# the gflags namespace. This works on all OSs except Windows. If using Visual
+# Studio, it fails because msbuild forces check_cxx_source_compiles() to use
+# CMAKE_BUILD_TYPE=Debug for the test project, which usually breaks detection
+# because MSVC requires that the test project use the same build type as gflags,
+# which would normally be built in Release.
+#
+# Defines: GFLAGS_NAMESPACE in the caller's scope with the detected namespace,
+# which is blank (empty string, will test FALSE is CMake conditionals)
+# if detection failed.
+function(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE)
+ # Verify that all required variables are defined.
+ gflags_check_vars_defined(
+ GFLAGS_INCLUDE_DIR GFLAGS_LIBRARY)
+ # Ensure that GFLAGS_NAMESPACE is always unset on completion unless
+ # we explicitly set if after having the correct namespace.
+ set(GFLAGS_NAMESPACE "" PARENT_SCOPE)
+
+ include(CheckCXXSourceCompiles)
+ # Setup include path & link library for gflags for CHECK_CXX_SOURCE_COMPILES.
+ set(CMAKE_REQUIRED_INCLUDES ${GFLAGS_INCLUDE_DIR})
+ set(CMAKE_REQUIRED_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+ # First try the (older) google namespace. Note that the output variable
+ # MUST be unique to the build type as otherwise the test is not repeated as
+ # it is assumed to have already been performed.
+ check_cxx_source_compiles(
+ "#include <gflags/gflags.h>
+ int main(int argc, char * argv[]) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ return 0;
+ }"
+ GFLAGS_IN_GOOGLE_NAMESPACE)
+ if (GFLAGS_IN_GOOGLE_NAMESPACE)
+ set(GFLAGS_NAMESPACE google PARENT_SCOPE)
+ return()
+ endif()
+
+ # Try (newer) gflags namespace instead. Note that the output variable
+ # MUST be unique to the build type as otherwise the test is not repeated as
+ # it is assumed to have already been performed.
+ set(CMAKE_REQUIRED_INCLUDES ${GFLAGS_INCLUDE_DIR})
+ set(CMAKE_REQUIRED_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+ check_cxx_source_compiles(
+ "#include <gflags/gflags.h>
+ int main(int argc, char * argv[]) {
+ gflags::ParseCommandLineFlags(&argc, &argv, true);
+ return 0;
+ }"
+ GFLAGS_IN_GFLAGS_NAMESPACE)
+ if (GFLAGS_IN_GFLAGS_NAMESPACE)
+ set(GFLAGS_NAMESPACE gflags PARENT_SCOPE)
+ return()
+ endif (GFLAGS_IN_GFLAGS_NAMESPACE)
+endfunction(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE)
+
+# Use regex on the gflags headers to attempt to determine the gflags namespace.
+# Checks both gflags.h (contained namespace on versions < 2.1.2) and
+# gflags_declare.h, which contains the namespace on versions >= 2.1.2.
+# In general, this method should only be used when
+# GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE() cannot be used, or has
+# failed.
+#
+# Defines: GFLAGS_NAMESPACE in the caller's scope with the detected namespace,
+# which is blank (empty string, will test FALSE is CMake conditionals)
+# if detection failed.
+function(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_REGEX)
+ # Verify that all required variables are defined.
+ gflags_check_vars_defined(GFLAGS_INCLUDE_DIR)
+ # Ensure that GFLAGS_NAMESPACE is always undefined on completion unless
+ # we explicitly set if after having the correct namespace.
+ set(GFLAGS_NAMESPACE "" PARENT_SCOPE)
+
+ # Scan gflags.h to identify what namespace gflags was built with. On
+ # versions of gflags < 2.1.2, gflags.h was configured with the namespace
+ # directly, on >= 2.1.2, gflags.h uses the GFLAGS_NAMESPACE #define which
+ # is defined in gflags_declare.h, we try each location in turn.
+ set(GFLAGS_HEADER_FILE ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+ if (NOT EXISTS ${GFLAGS_HEADER_FILE})
+ gflags_report_not_found(
+ "Could not find file: ${GFLAGS_HEADER_FILE} "
+ "containing namespace information in gflags install located at: "
+ "${GFLAGS_INCLUDE_DIR}.")
+ endif()
+ file(READ ${GFLAGS_HEADER_FILE} GFLAGS_HEADER_FILE_CONTENTS)
+
+ string(REGEX MATCH "namespace [A-Za-z]+"
+ GFLAGS_NAMESPACE "${GFLAGS_HEADER_FILE_CONTENTS}")
+ string(REGEX REPLACE "namespace ([A-Za-z]+)" "\\1"
+ GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}")
+
+ if (NOT GFLAGS_NAMESPACE)
+ gflags_report_not_found(
+ "Failed to extract gflags namespace from header file: "
+ "${GFLAGS_HEADER_FILE}.")
+ endif (NOT GFLAGS_NAMESPACE)
+
+ if (GFLAGS_NAMESPACE STREQUAL "google" OR
+ GFLAGS_NAMESPACE STREQUAL "gflags")
+ # Found valid gflags namespace from gflags.h.
+ set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" PARENT_SCOPE)
+ return()
+ endif()
+
+ # Failed to find gflags namespace from gflags.h, gflags is likely a new
+ # version, check gflags_declare.h, which in newer versions (>= 2.1.2) contains
+ # the GFLAGS_NAMESPACE #define, which is then referenced in gflags.h.
+ set(GFLAGS_DECLARE_FILE ${GFLAGS_INCLUDE_DIR}/gflags/gflags_declare.h)
+ if (NOT EXISTS ${GFLAGS_DECLARE_FILE})
+ gflags_report_not_found(
+ "Could not find file: ${GFLAGS_DECLARE_FILE} "
+ "containing namespace information in gflags install located at: "
+ "${GFLAGS_INCLUDE_DIR}.")
+ endif()
+ file(READ ${GFLAGS_DECLARE_FILE} GFLAGS_DECLARE_FILE_CONTENTS)
+
+ string(REGEX MATCH "#define GFLAGS_NAMESPACE [A-Za-z]+"
+ GFLAGS_NAMESPACE "${GFLAGS_DECLARE_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define GFLAGS_NAMESPACE ([A-Za-z]+)" "\\1"
+ GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}")
+
+ if (NOT GFLAGS_NAMESPACE)
+ gflags_report_not_found(
+ "Failed to extract gflags namespace from declare file: "
+ "${GFLAGS_DECLARE_FILE}.")
+ endif (NOT GFLAGS_NAMESPACE)
+
+ if (GFLAGS_NAMESPACE STREQUAL "google" OR
+ GFLAGS_NAMESPACE STREQUAL "gflags")
+ # Found valid gflags namespace from gflags.h.
+ set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" PARENT_SCOPE)
+ return()
+ endif()
+endfunction(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_REGEX)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set GFLAGS_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(GFLAGS_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# gflags CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer a gflags exported configuration if available.
+if (NOT DEFINED GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION
+ AND NOT GFLAGS_INCLUDE_DIR_HINTS
+ AND NOT GFLAGS_LIBRARY_DIR_HINTS)
+ message(STATUS "No preference for use of exported gflags CMake configuration "
+ "set, and no hints for include/library directories provided. "
+ "Defaulting to preferring an installed/exported gflags CMake configuration "
+ "if available.")
+ set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION)
+ # Try to find an exported CMake configuration for gflags, as generated by
+ # gflags versions >= 2.1.
+ #
+ # We search twice, s/t we can invert the ordering of precedence used by
+ # find_package() for exported package build directories, and installed
+ # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+ # respectively in [1].
+ #
+ # By default, exported build directories are (in theory) detected first, and
+ # this is usually the case on Windows. However, on OS X & Linux, the install
+ # path (/usr/local) is typically present in the PATH environment variable
+ # which is checked in item 4) in [1] (i.e. before both of the above, unless
+ # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
+ # packages are usually detected in preference to exported package build
+ # directories.
+ #
+ # To ensure a more consistent response across all OSs, and as users usually
+ # want to prefer an installed version of a package over a locally built one
+ # where both exist (esp. as the exported build directory might be removed
+ # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+ # means any build directories exported by the user are ignored, and thus
+ # installed directories are preferred. If this fails to find the package
+ # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+ # exported build directories will now be detected.
+ #
+ # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+ # is item 5) in [1]), to not preferentially use projects that were built
+ # recently with the CMake GUI to ensure that we always prefer an installed
+ # version if available.
+ #
+ # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+ find_package(gflags QUIET
+ NO_MODULE
+ NO_CMAKE_PACKAGE_REGISTRY
+ NO_CMAKE_BUILDS_PATH)
+ if (gflags_FOUND)
+ message(STATUS "Found installed version of gflags: ${gflags_DIR}")
+ else(gflags_FOUND)
+ # Failed to find an installed version of gflags, repeat search allowing
+ # exported build directories.
+ message(STATUS "Failed to find installed gflags CMake configuration, "
+ "searching for gflags build directories exported with CMake.")
+ # Again pass NO_CMAKE_BUILDS_PATH, as we know that gflags is exported and
+ # do not want to treat projects built with the CMake GUI preferentially.
+ find_package(gflags QUIET
+ NO_MODULE
+ NO_CMAKE_BUILDS_PATH)
+ if (gflags_FOUND)
+ message(STATUS "Found exported gflags build directory: ${gflags_DIR}")
+ endif(gflags_FOUND)
+ endif(gflags_FOUND)
+
+ set(FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION ${gflags_FOUND})
+
+ # gflags v2.1 - 2.1.2 shipped with a bug in their gflags-config.cmake [1]
+ # whereby gflags_LIBRARIES = "gflags", but there was no imported target
+ # called "gflags", they were called: gflags[_nothreads]-[static/shared].
+ # As this causes linker errors when gflags is not installed in a location
+ # on the current library paths, detect if this problem is present and
+ # fix it.
+ #
+ # [1] https://github.com/gflags/gflags/issues/110
+ if (gflags_FOUND)
+ # NOTE: This is not written as additional conditions in the outer
+ # if (gflags_FOUND) as the NOT TARGET "${gflags_LIBRARIES}"
+ # condition causes problems if gflags is not found.
+ if (${gflags_VERSION} VERSION_LESS 2.1.3 AND
+ NOT TARGET "${gflags_LIBRARIES}")
+ message(STATUS "Detected broken gflags install in: ${gflags_DIR}, "
+ "version: ${gflags_VERSION} <= 2.1.2 which defines gflags_LIBRARIES = "
+ "${gflags_LIBRARIES} which is not an imported CMake target, see: "
+ "https://github.com/gflags/gflags/issues/110. Attempting to fix by "
+ "detecting correct gflags target.")
+ # Ordering here expresses preference for detection, specifically we do not
+ # want to use the _nothreads variants if the full library is available.
+ list(APPEND CHECK_GFLAGS_IMPORTED_TARGET_NAMES
+ gflags-shared gflags-static
+ gflags_nothreads-shared gflags_nothreads-static)
+ foreach(CHECK_GFLAGS_TARGET ${CHECK_GFLAGS_IMPORTED_TARGET_NAMES})
+ if (TARGET ${CHECK_GFLAGS_TARGET})
+ message(STATUS "Found valid gflags target: ${CHECK_GFLAGS_TARGET}, "
+ "updating gflags_LIBRARIES.")
+ set(gflags_LIBRARIES ${CHECK_GFLAGS_TARGET})
+ break()
+ endif()
+ endforeach()
+ if (NOT TARGET ${gflags_LIBRARIES})
+ message(STATUS "Failed to fix detected broken gflags install in: "
+ "${gflags_DIR}, version: ${gflags_VERSION} <= 2.1.2, none of the "
+ "imported targets for gflags: ${CHECK_GFLAGS_IMPORTED_TARGET_NAMES} "
+ "are defined. Will continue with a manual search for gflags "
+ "components. We recommend you build/install a version of gflags > "
+ "2.1.2 (or master).")
+ set(FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION FALSE)
+ endif()
+ endif()
+ endif()
+
+ if (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+ message(STATUS "Detected gflags version: ${gflags_VERSION}")
+ set(GFLAGS_FOUND ${gflags_FOUND})
+ set(GFLAGS_INCLUDE_DIR ${gflags_INCLUDE_DIR})
+ set(GFLAGS_LIBRARY ${gflags_LIBRARIES})
+
+ # gflags does not export the namespace in their CMake configuration, so
+ # use our function to determine what it should be, as it can be either
+ # gflags or google dependent upon version & configuration.
+ #
+ # NOTE: We use the regex method to determine the namespace here, as
+ # check_cxx_source_compiles() will not use imported targets, which
+ # is what gflags will be in this case.
+ gflags_check_gflags_namespace_using_regex()
+
+ if (NOT GFLAGS_NAMESPACE)
+ gflags_report_not_found(
+ "Failed to determine gflags namespace using regex for gflags "
+ "version: ${gflags_VERSION} exported here: ${gflags_DIR} using CMake.")
+ endif (NOT GFLAGS_NAMESPACE)
+ else (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+ message(STATUS "Failed to find an installed/exported CMake configuration "
+ "for gflags, will perform search for installed gflags components.")
+ endif (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+endif(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION)
+
+if (NOT GFLAGS_FOUND)
+ # Either failed to find an exported gflags CMake configuration, or user
+ # told us not to use one. Perform a manual search for all gflags components.
+
+ # Handle possible presence of lib prefix for libraries on MSVC, see
+ # also GFLAGS_RESET_FIND_LIBRARY_PREFIX().
+ if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+
+ # Search user-installed locations first, so that we prefer user installs
+ # to system installs where both exist.
+ list(APPEND GFLAGS_CHECK_INCLUDE_DIRS
+ /usr/local/include
+ /usr/local/homebrew/include # Mac OS X
+ /opt/local/var/macports/software # Mac OS X.
+ /opt/local/include
+ /usr/include)
+ list(APPEND GFLAGS_CHECK_PATH_SUFFIXES
+ gflags/include # Windows (for C:/Program Files prefix).
+ gflags/Include ) # Windows (for C:/Program Files prefix).
+
+ list(APPEND GFLAGS_CHECK_LIBRARY_DIRS
+ /usr/local/lib
+ /usr/local/homebrew/lib # Mac OS X.
+ /opt/local/lib
+ /usr/lib)
+ list(APPEND GFLAGS_CHECK_LIBRARY_SUFFIXES
+ gflags/lib # Windows (for C:/Program Files prefix).
+ gflags/Lib ) # Windows (for C:/Program Files prefix).
+
+ # Search supplied hint directories first if supplied.
+ find_path(GFLAGS_INCLUDE_DIR
+ NAMES gflags/gflags.h
+ HINTS ${GFLAGS_INCLUDE_DIR_HINTS}
+ PATHS ${GFLAGS_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${GFLAGS_CHECK_PATH_SUFFIXES})
+ if (NOT GFLAGS_INCLUDE_DIR OR
+ NOT EXISTS ${GFLAGS_INCLUDE_DIR})
+ gflags_report_not_found(
+ "Could not find gflags include directory, set GFLAGS_INCLUDE_DIR "
+ "to directory containing gflags/gflags.h")
+ endif (NOT GFLAGS_INCLUDE_DIR OR
+ NOT EXISTS ${GFLAGS_INCLUDE_DIR})
+
+ find_library(GFLAGS_LIBRARY NAMES gflags
+ HINTS ${GFLAGS_LIBRARY_DIR_HINTS}
+ PATHS ${GFLAGS_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${GFLAGS_CHECK_LIBRARY_SUFFIXES})
+ if (NOT GFLAGS_LIBRARY OR
+ NOT EXISTS ${GFLAGS_LIBRARY})
+ gflags_report_not_found(
+ "Could not find gflags library, set GFLAGS_LIBRARY "
+ "to full path to libgflags.")
+ endif (NOT GFLAGS_LIBRARY OR
+ NOT EXISTS ${GFLAGS_LIBRARY})
+
+ # gflags typically requires a threading library (which is OS dependent), note
+ # that this defines the CMAKE_THREAD_LIBS_INIT variable. If we are able to
+ # detect threads, we assume that gflags requires it.
+ find_package(Threads QUIET)
+ set(GFLAGS_LINK_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
+ # On Windows (including MinGW), the Shlwapi library is used by gflags if
+ # available.
+ if (WIN32)
+ include(CheckIncludeFileCXX)
+ check_include_file_cxx("shlwapi.h" HAVE_SHLWAPI)
+ if (HAVE_SHLWAPI)
+ list(APPEND GFLAGS_LINK_LIBRARIES shlwapi.lib)
+ endif(HAVE_SHLWAPI)
+ endif (WIN32)
+
+ # Mark internally as found, then verify. GFLAGS_REPORT_NOT_FOUND() unsets
+ # if called.
+ set(GFLAGS_FOUND TRUE)
+
+ # Identify what namespace gflags was built with.
+ if (GFLAGS_INCLUDE_DIR AND NOT GFLAGS_NAMESPACE)
+ # To handle Windows peculiarities / CMake bugs on MSVC we try two approaches
+ # to detect the gflags namespace:
+ #
+ # 1) Try to use check_cxx_source_compiles() to compile a trivial program
+ # with the two choices for the gflags namespace.
+ #
+ # 2) [In the event 1) fails] Use regex on the gflags headers to try to
+ # determine the gflags namespace. Whilst this is less robust than 1),
+ # it does avoid any interaction with msbuild.
+ gflags_check_gflags_namespace_using_try_compile()
+
+ if (NOT GFLAGS_NAMESPACE)
+ # Failed to determine gflags namespace using check_cxx_source_compiles()
+ # method, try and obtain it using regex on the gflags headers instead.
+ message(STATUS "Failed to find gflags namespace using using "
+ "check_cxx_source_compiles(), trying namespace regex instead, "
+ "this is expected on Windows.")
+ gflags_check_gflags_namespace_using_regex()
+
+ if (NOT GFLAGS_NAMESPACE)
+ gflags_report_not_found(
+ "Failed to determine gflags namespace either by "
+ "check_cxx_source_compiles(), or namespace regex.")
+ endif (NOT GFLAGS_NAMESPACE)
+ endif (NOT GFLAGS_NAMESPACE)
+ endif (GFLAGS_INCLUDE_DIR AND NOT GFLAGS_NAMESPACE)
+
+ # Make the GFLAGS_NAMESPACE a cache variable s/t the user can view it, and could
+ # overwrite it in the CMake GUI.
+ set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" CACHE STRING
+ "gflags namespace (google or gflags)" FORCE)
+
+ # gflags does not seem to provide any record of the version in its
+ # source tree, thus cannot extract version.
+
+ # Catch case when caller has set GFLAGS_NAMESPACE in the cache / GUI
+ # with an invalid value.
+ if (GFLAGS_NAMESPACE AND
+ NOT GFLAGS_NAMESPACE STREQUAL "google" AND
+ NOT GFLAGS_NAMESPACE STREQUAL "gflags")
+ gflags_report_not_found(
+ "Caller defined GFLAGS_NAMESPACE:"
+ " ${GFLAGS_NAMESPACE} is not valid, not google or gflags.")
+ endif ()
+ # Catch case when caller has set GFLAGS_INCLUDE_DIR in the cache / GUI and
+ # thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+ # invalid, otherwise we would report the library as found.
+ if (GFLAGS_INCLUDE_DIR AND
+ NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+ gflags_report_not_found(
+ "Caller defined GFLAGS_INCLUDE_DIR:"
+ " ${GFLAGS_INCLUDE_DIR} does not contain gflags/gflags.h header.")
+ endif (GFLAGS_INCLUDE_DIR AND
+ NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+ # TODO: This regex for gflags library is pretty primitive, we use lowercase
+ # for comparison to handle Windows using CamelCase library names, could
+ # this check be better?
+ string(TOLOWER "${GFLAGS_LIBRARY}" LOWERCASE_GFLAGS_LIBRARY)
+ if (GFLAGS_LIBRARY AND
+ NOT "${LOWERCASE_GFLAGS_LIBRARY}" MATCHES ".*gflags[^/]*")
+ gflags_report_not_found(
+ "Caller defined GFLAGS_LIBRARY: "
+ "${GFLAGS_LIBRARY} does not match gflags.")
+ endif (GFLAGS_LIBRARY AND
+ NOT "${LOWERCASE_GFLAGS_LIBRARY}" MATCHES ".*gflags[^/]*")
+
+ gflags_reset_find_library_prefix()
+
+endif(NOT GFLAGS_FOUND)
+
+# Set standard CMake FindPackage variables if found.
+if (GFLAGS_FOUND)
+ set(GFLAGS_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR})
+ set(GFLAGS_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+endif (GFLAGS_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Gflags DEFAULT_MSG
+ GFLAGS_INCLUDE_DIRS GFLAGS_LIBRARIES GFLAGS_NAMESPACE)
+
+# Only mark internal variables as advanced if we found gflags, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (GFLAGS_FOUND)
+ mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
+ GFLAGS_LIBRARY
+ GFLAGS_NAMESPACE
+ gflags_DIR) # Autogenerated by find_package(gflags)
+endif (GFLAGS_FOUND)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindGlog.cmake - Find Google glog logging library.
+#
+# This module defines the following variables:
+#
+# GLOG_FOUND: TRUE iff glog is found.
+# GLOG_INCLUDE_DIRS: Include directories for glog.
+# GLOG_LIBRARIES: Libraries required to link glog.
+# FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION: True iff the version of glog found
+# was built & installed / exported
+# as a CMake package.
+#
+# The following variables control the behaviour of this module:
+#
+# GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+# then prefer using an exported CMake configuration
+# generated by glog > 0.3.4 over searching for the
+# glog components manually. Otherwise (FALSE)
+# ignore any exported glog CMake configurations and
+# always perform a manual search for the components.
+# Default: TRUE iff user does not define this variable
+# before we are called, and does NOT specify either
+# GLOG_INCLUDE_DIR_HINTS or GLOG_LIBRARY_DIR_HINTS
+# otherwise FALSE.
+# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for glog includes, e.g: /timbuktu/include.
+# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for glog libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead). These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# GLOG_INCLUDE_DIR: Include directory for glog, not including the
+# include directory of any dependencies.
+# GLOG_LIBRARY: glog library, not including the libraries of any
+# dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindGlog was invoked.
+macro(GLOG_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif()
+endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find glog or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(GLOG_REPORT_NOT_FOUND REASON_MSG)
+ unset(GLOG_FOUND)
+ unset(GLOG_INCLUDE_DIRS)
+ unset(GLOG_LIBRARIES)
+ # Make results of search visible in the CMake GUI if glog has not
+ # been found so that user does not have to toggle to advanced view.
+ mark_as_advanced(CLEAR GLOG_INCLUDE_DIR
+ GLOG_LIBRARY)
+
+ glog_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (Glog_FIND_QUIETLY)
+ message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})
+ elseif (Glog_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find glog - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(GLOG_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set GLOG_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(GLOG_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# glog CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer a glog exported configuration if available.
+if (NOT DEFINED GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION
+ AND NOT GLOG_INCLUDE_DIR_HINTS
+ AND NOT GLOG_LIBRARY_DIR_HINTS)
+ message(STATUS "No preference for use of exported glog CMake configuration "
+ "set, and no hints for include/library directories provided. "
+ "Defaulting to preferring an installed/exported glog CMake configuration "
+ "if available.")
+ set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
+ # Try to find an exported CMake configuration for glog, as generated by
+ # glog versions > 0.3.4
+ #
+ # We search twice, s/t we can invert the ordering of precedence used by
+ # find_package() for exported package build directories, and installed
+ # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+ # respectively in [1].
+ #
+ # By default, exported build directories are (in theory) detected first, and
+ # this is usually the case on Windows. However, on OS X & Linux, the install
+ # path (/usr/local) is typically present in the PATH environment variable
+ # which is checked in item 4) in [1] (i.e. before both of the above, unless
+ # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
+ # packages are usually detected in preference to exported package build
+ # directories.
+ #
+ # To ensure a more consistent response across all OSs, and as users usually
+ # want to prefer an installed version of a package over a locally built one
+ # where both exist (esp. as the exported build directory might be removed
+ # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+ # means any build directories exported by the user are ignored, and thus
+ # installed directories are preferred. If this fails to find the package
+ # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+ # exported build directories will now be detected.
+ #
+ # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+ # is item 5) in [1]), to not preferentially use projects that were built
+ # recently with the CMake GUI to ensure that we always prefer an installed
+ # version if available.
+ #
+ # NOTE: We use the NAMES option as glog erroneously uses 'google-glog' as its
+ # project name when built with CMake, but exports itself as just 'glog'.
+ # On Linux/OS X this does not break detection as the project name is
+ # not used as part of the install path for the CMake package files,
+ # e.g. /usr/local/lib/cmake/glog, where the <glog> suffix is hardcoded
+ # in glog's CMakeLists. However, on Windows the project name *is*
+ # part of the install prefix: C:/Program Files/google-glog/[include,lib].
+ # However, by default CMake checks:
+ # C:/Program Files/<FIND_PACKAGE_ARGUMENT_NAME='glog'> which does not
+ # exist and thus detection fails. Thus we use the NAMES to force the
+ # search to use both google-glog & glog.
+ #
+ # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+ find_package(glog QUIET
+ NAMES google-glog glog
+ NO_MODULE
+ NO_CMAKE_PACKAGE_REGISTRY
+ NO_CMAKE_BUILDS_PATH)
+ if (glog_FOUND)
+ message(STATUS "Found installed version of glog: ${glog_DIR}")
+ else()
+ # Failed to find an installed version of glog, repeat search allowing
+ # exported build directories.
+ message(STATUS "Failed to find installed glog CMake configuration, "
+ "searching for glog build directories exported with CMake.")
+ # Again pass NO_CMAKE_BUILDS_PATH, as we know that glog is exported and
+ # do not want to treat projects built with the CMake GUI preferentially.
+ find_package(glog QUIET
+ NAMES google-glog glog
+ NO_MODULE
+ NO_CMAKE_BUILDS_PATH)
+ if (glog_FOUND)
+ message(STATUS "Found exported glog build directory: ${glog_DIR}")
+ endif(glog_FOUND)
+ endif(glog_FOUND)
+
+ set(FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION ${glog_FOUND})
+
+ if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+ message(STATUS "Detected glog version: ${glog_VERSION}")
+ set(GLOG_FOUND ${glog_FOUND})
+ # glog wraps the include directories into the exported glog::glog target.
+ set(GLOG_INCLUDE_DIR "")
+ set(GLOG_LIBRARY glog::glog)
+ else (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+ message(STATUS "Failed to find an installed/exported CMake configuration "
+ "for glog, will perform search for installed glog components.")
+ endif (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+endif(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
+
+if (NOT GLOG_FOUND)
+ # Either failed to find an exported glog CMake configuration, or user
+ # told us not to use one. Perform a manual search for all glog components.
+
+ # Handle possible presence of lib prefix for libraries on MSVC, see
+ # also GLOG_RESET_FIND_LIBRARY_PREFIX().
+ if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+
+ # Search user-installed locations first, so that we prefer user installs
+ # to system installs where both exist.
+ list(APPEND GLOG_CHECK_INCLUDE_DIRS
+ /usr/local/include
+ /usr/local/homebrew/include # Mac OS X
+ /opt/local/var/macports/software # Mac OS X.
+ /opt/local/include
+ /usr/include)
+ # Windows (for C:/Program Files prefix).
+ list(APPEND GLOG_CHECK_PATH_SUFFIXES
+ glog/include
+ glog/Include
+ Glog/include
+ Glog/Include
+ google-glog/include # CMake installs with project name prefix.
+ google-glog/Include)
+
+ list(APPEND GLOG_CHECK_LIBRARY_DIRS
+ /usr/local/lib
+ /usr/local/homebrew/lib # Mac OS X.
+ /opt/local/lib
+ /usr/lib)
+ # Windows (for C:/Program Files prefix).
+ list(APPEND GLOG_CHECK_LIBRARY_SUFFIXES
+ glog/lib
+ glog/Lib
+ Glog/lib
+ Glog/Lib
+ google-glog/lib # CMake installs with project name prefix.
+ google-glog/Lib)
+
+ # Search supplied hint directories first if supplied.
+ find_path(GLOG_INCLUDE_DIR
+ NAMES glog/logging.h
+ HINTS ${GLOG_INCLUDE_DIR_HINTS}
+ PATHS ${GLOG_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})
+ if (NOT GLOG_INCLUDE_DIR OR
+ NOT EXISTS ${GLOG_INCLUDE_DIR})
+ glog_report_not_found(
+ "Could not find glog include directory, set GLOG_INCLUDE_DIR "
+ "to directory containing glog/logging.h")
+ endif (NOT GLOG_INCLUDE_DIR OR
+ NOT EXISTS ${GLOG_INCLUDE_DIR})
+
+ find_library(GLOG_LIBRARY NAMES glog
+ HINTS ${GLOG_LIBRARY_DIR_HINTS}
+ PATHS ${GLOG_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})
+ if (NOT GLOG_LIBRARY OR
+ NOT EXISTS ${GLOG_LIBRARY})
+ glog_report_not_found(
+ "Could not find glog library, set GLOG_LIBRARY "
+ "to full path to libglog.")
+ endif (NOT GLOG_LIBRARY OR
+ NOT EXISTS ${GLOG_LIBRARY})
+
+ # Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets
+ # if called.
+ set(GLOG_FOUND TRUE)
+
+ # Glog does not seem to provide any record of the version in its
+ # source tree, thus cannot extract version.
+
+ # Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and
+ # thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+ # invalid, otherwise we would report the library as found.
+ if (GLOG_INCLUDE_DIR AND
+ NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+ glog_report_not_found(
+ "Caller defined GLOG_INCLUDE_DIR:"
+ " ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")
+ endif (GLOG_INCLUDE_DIR AND
+ NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+ # TODO: This regex for glog library is pretty primitive, we use lowercase
+ # for comparison to handle Windows using CamelCase library names, could
+ # this check be better?
+ string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY)
+ if (GLOG_LIBRARY AND
+ NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
+ glog_report_not_found(
+ "Caller defined GLOG_LIBRARY: "
+ "${GLOG_LIBRARY} does not match glog.")
+ endif (GLOG_LIBRARY AND
+ NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
+
+ glog_reset_find_library_prefix()
+
+endif(NOT GLOG_FOUND)
+
+# Set standard CMake FindPackage variables if found.
+if (GLOG_FOUND)
+ set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+ set(GLOG_LIBRARIES ${GLOG_LIBRARY})
+endif (GLOG_FOUND)
+
+# If we are using an exported CMake glog target, the include directories are
+# wrapped into the target itself, and do not have to be (and are not)
+# separately specified. In which case, we should not add GLOG_INCLUDE_DIRS
+# to the list of required variables in order that glog be reported as found.
+if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+ set(GLOG_REQUIRED_VARIABLES GLOG_LIBRARIES)
+else()
+ set(GLOG_REQUIRED_VARIABLES GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
+endif()
+
+# Handle REQUIRED / QUIET optional arguments.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Glog DEFAULT_MSG
+ ${GLOG_REQUIRED_VARIABLES})
+
+# Only mark internal variables as advanced if we found glog, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (GLOG_FOUND)
+ mark_as_advanced(FORCE GLOG_INCLUDE_DIR
+ GLOG_LIBRARY
+ glog_DIR) # Autogenerated by find_package(glog)
+endif (GLOG_FOUND)
--- /dev/null
+# 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: sergey.vfx@gmail.com (Sergey Sharybin)
+#
+
+# FindSharedPtr.cmake - Find shared pointer header and namespace.
+#
+# This module defines the following variables:
+#
+# SHARED_PTR_FOUND: TRUE if shared_ptr found.
+# SHARED_PTR_TR1_MEMORY_HEADER: True if <tr1/memory> header is to be used
+# for the shared_ptr object, otherwise use <memory>.
+# SHARED_PTR_TR1_NAMESPACE: TRUE if shared_ptr is defined in std::tr1 namespace,
+# otherwise it's assumed to be defined in std namespace.
+
+macro(FIND_SHARED_PTR)
+ # To support CXX11 option, clear the results of all check_xxx() functions
+ # s/t we always perform the checks each time, otherwise CMake fails to
+ # detect that the tests should be performed again after CXX11 is toggled.
+ unset(HAVE_STD_MEMORY_HEADER CACHE)
+ unset(HAVE_SHARED_PTR_IN_STD_NAMESPACE CACHE)
+ unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE CACHE)
+ unset(HAVE_TR1_MEMORY_HEADER CACHE)
+ unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER CACHE)
+
+ set(SHARED_PTR_FOUND FALSE)
+ check_include_file_cxx(memory HAVE_STD_MEMORY_HEADER)
+ if (HAVE_STD_MEMORY_HEADER)
+ # Finding the memory header doesn't mean that shared_ptr is in std
+ # namespace.
+ #
+ # In particular, MSVC 2008 has shared_ptr declared in std::tr1. In
+ # order to support this, we do an extra check to see which namespace
+ # should be used.
+ include(CheckCXXSourceCompiles)
+ check_cxx_source_compiles("#include <memory>
+ int main() {
+ std::shared_ptr<int> int_ptr;
+ return 0;
+ }"
+ HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+
+ if (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ message("-- Found shared_ptr in std namespace using <memory> header.")
+ set(SHARED_PTR_FOUND TRUE)
+ else (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ check_cxx_source_compiles("#include <memory>
+ int main() {
+ std::tr1::shared_ptr<int> int_ptr;
+ return 0;
+ }"
+ HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ message("-- Found shared_ptr in std::tr1 namespace using <memory> header.")
+ set(SHARED_PTR_TR1_NAMESPACE TRUE)
+ set(SHARED_PTR_FOUND TRUE)
+ endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ endif (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ endif (HAVE_STD_MEMORY_HEADER)
+
+ if (NOT SHARED_PTR_FOUND)
+ # Further, gcc defines shared_ptr in std::tr1 namespace and
+ # <tr1/memory> is to be included for this. And what makes things
+ # even more tricky is that gcc does have <memory> header, so
+ # all the checks above wouldn't find shared_ptr.
+ check_include_file_cxx("tr1/memory" HAVE_TR1_MEMORY_HEADER)
+ if (HAVE_TR1_MEMORY_HEADER)
+ check_cxx_source_compiles("#include <tr1/memory>
+ int main() {
+ std::tr1::shared_ptr<int> int_ptr;
+ return 0;
+ }"
+ HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+ if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+ message("-- Found shared_ptr in std::tr1 namespace using <tr1/memory> header.")
+ set(SHARED_PTR_TR1_MEMORY_HEADER TRUE)
+ set(SHARED_PTR_TR1_NAMESPACE TRUE)
+ set(SHARED_PTR_FOUND TRUE)
+ endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+ endif (HAVE_TR1_MEMORY_HEADER)
+ endif (NOT SHARED_PTR_FOUND)
+endmacro(FIND_SHARED_PTR)
--- /dev/null
+# 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: pablo.speciale@gmail.com (Pablo Speciale)
+#
+
+# Find the Sphinx documentation generator
+#
+# This modules defines
+# SPHINX_EXECUTABLE
+# SPHINX_FOUND
+
+find_program(SPHINX_EXECUTABLE
+ NAMES sphinx-build
+ PATHS
+ /usr/bin
+ /usr/local/bin
+ /opt/local/bin
+ DOC "Sphinx documentation generator")
+
+if (NOT SPHINX_EXECUTABLE)
+ set(_Python_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0 1.6 1.5)
+
+ foreach (_version ${_Python_VERSIONS})
+ set(_sphinx_NAMES sphinx-build-${_version})
+
+ find_program(SPHINX_EXECUTABLE
+ NAMES ${_sphinx_NAMES}
+ PATHS
+ /usr/bin
+ /usr/local/bin
+ /opt/local/bin
+ DOC "Sphinx documentation generator")
+ endforeach ()
+endif ()
+
+include(FindPackageHandleStandardArgs)
+
+find_package_handle_standard_args(Sphinx DEFAULT_MSG SPHINX_EXECUTABLE)
+
+mark_as_advanced(SPHINX_EXECUTABLE)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindSuiteSparse.cmake - Find SuiteSparse libraries & dependencies.
+#
+# This module defines the following variables:
+#
+# SUITESPARSE_FOUND: TRUE iff SuiteSparse and all dependencies have been found.
+# SUITESPARSE_INCLUDE_DIRS: Include directories for all SuiteSparse components.
+# SUITESPARSE_LIBRARIES: Libraries for all SuiteSparse component libraries and
+# dependencies.
+# SUITESPARSE_VERSION: Extracted from UFconfig.h (<= v3) or
+# SuiteSparse_config.h (>= v4).
+# SUITESPARSE_MAIN_VERSION: Equal to 4 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUB_VERSION: Equal to 2 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUBSUB_VERSION: Equal to 1 if SUITESPARSE_VERSION = 4.2.1
+#
+# SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION: TRUE iff running
+# on Ubuntu, SUITESPARSE_VERSION is 3.4.0 and found SuiteSparse is a system
+# install, in which case found version of SuiteSparse cannot be used to link
+# a shared library due to a bug (static linking is unaffected).
+#
+# The following variables control the behaviour of this module:
+#
+# SUITESPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for SuiteSparse includes,
+# e.g: /timbuktu/include.
+# SUITESPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for SuiteSparse libraries,
+# e.g: /timbuktu/lib.
+#
+# The following variables define the presence / includes & libraries for the
+# SuiteSparse components searched for, the SUITESPARSE_XX variables are the
+# union of the variables for all components.
+#
+# == Symmetric Approximate Minimum Degree (AMD)
+# AMD_FOUND
+# AMD_INCLUDE_DIR
+# AMD_LIBRARY
+#
+# == Constrained Approximate Minimum Degree (CAMD)
+# CAMD_FOUND
+# CAMD_INCLUDE_DIR
+# CAMD_LIBRARY
+#
+# == Column Approximate Minimum Degree (COLAMD)
+# COLAMD_FOUND
+# COLAMD_INCLUDE_DIR
+# COLAMD_LIBRARY
+#
+# Constrained Column Approximate Minimum Degree (CCOLAMD)
+# CCOLAMD_FOUND
+# CCOLAMD_INCLUDE_DIR
+# CCOLAMD_LIBRARY
+#
+# == Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
+# CHOLMOD_FOUND
+# CHOLMOD_INCLUDE_DIR
+# CHOLMOD_LIBRARY
+#
+# == Multifrontal Sparse QR (SuiteSparseQR)
+# SUITESPARSEQR_FOUND
+# SUITESPARSEQR_INCLUDE_DIR
+# SUITESPARSEQR_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version >= 4).
+# SUITESPARSE_CONFIG_FOUND
+# SUITESPARSE_CONFIG_INCLUDE_DIR
+# SUITESPARSE_CONFIG_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version < 4).
+# UFCONFIG_FOUND
+# UFCONFIG_INCLUDE_DIR
+#
+# Optional SuiteSparse Dependencies:
+#
+# == Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
+# METIS_FOUND
+# METIS_LIBRARY
+#
+# == Intel Thread Building Blocks (TBB)
+# TBB_FOUND
+# TBB_LIBRARY
+# TBB_MALLOC_FOUND
+# TBB_MALLOC_LIBRARY
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindSuiteSparse was invoked.
+macro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+endmacro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find SuiteSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(SUITESPARSE_REPORT_NOT_FOUND REASON_MSG)
+ unset(SUITESPARSE_FOUND)
+ unset(SUITESPARSE_INCLUDE_DIRS)
+ unset(SUITESPARSE_LIBRARIES)
+ unset(SUITESPARSE_VERSION)
+ unset(SUITESPARSE_MAIN_VERSION)
+ unset(SUITESPARSE_SUB_VERSION)
+ unset(SUITESPARSE_SUBSUB_VERSION)
+ # Do NOT unset SUITESPARSE_FOUND_REQUIRED_VARS here, as it is used by
+ # FindPackageHandleStandardArgs() to generate the automatic error message on
+ # failure which highlights which components are missing.
+
+ suitesparse_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (SuiteSparse_FIND_QUIETLY)
+ message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ elseif (SuiteSparse_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ endif (SuiteSparse_FIND_QUIETLY)
+
+ # Do not call return(), s/t we keep processing if not called with REQUIRED
+ # and report all missing components, rather than bailing after failing to find
+ # the first.
+endmacro(SUITESPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set SUITESPARSE_FOUND, but
+# not the other variables we require / set here which could cause the search
+# logic here to fail.
+unset(SUITESPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also SUITESPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# Specify search directories for include files and libraries (this is the union
+# of the search directories for all OSs). Search user-specified hint
+# directories first if supplied, and search user-installed locations first
+# so that we prefer user installs to system installs where both exist.
+list(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS
+ /opt/local/include
+ /opt/local/include/ufsparse # Mac OS X
+ /usr/local/homebrew/include # Mac OS X
+ /usr/local/include
+ /usr/include)
+list(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS
+ /opt/local/lib
+ /opt/local/lib/ufsparse # Mac OS X
+ /usr/local/homebrew/lib # Mac OS X
+ /usr/local/lib
+ /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND SUITESPARSE_CHECK_PATH_SUFFIXES
+ suitesparse) # Windows/Ubuntu
+
+# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
+#
+# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
+# [LIBRARIES name1 [name2 ...]]
+# [REQUIRED])
+macro(suitesparse_find_component COMPONENT)
+ include(CMakeParseArguments)
+ set(OPTIONS REQUIRED)
+ set(MULTI_VALUE_ARGS FILES LIBRARIES)
+ cmake_parse_arguments(SUITESPARSE_FIND_${COMPONENT}
+ "${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
+
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS ${COMPONENT}_FOUND)
+ endif()
+
+ set(${COMPONENT}_FOUND TRUE)
+ if (SUITESPARSE_FIND_${COMPONENT}_FILES)
+ find_path(${COMPONENT}_INCLUDE_DIR
+ NAMES ${SUITESPARSE_FIND_${COMPONENT}_FILES}
+ HINTS ${SUITESPARSE_INCLUDE_DIR_HINTS}
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+ if (${COMPONENT}_INCLUDE_DIR)
+ message(STATUS "Found ${COMPONENT} headers in: "
+ "${${COMPONENT}_INCLUDE_DIR}")
+ mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+ else()
+ # Specified headers not found.
+ set(${COMPONENT}_FOUND FALSE)
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ suitesparse_report_not_found(
+ "Did not find ${COMPONENT} header (required SuiteSparse component).")
+ else()
+ message(STATUS "Did not find ${COMPONENT} header (optional "
+ "SuiteSparse component).")
+ endif()
+ endif()
+ endif()
+
+ if (SUITESPARSE_FIND_${COMPONENT}_LIBRARIES)
+ find_library(${COMPONENT}_LIBRARY
+ NAMES ${SUITESPARSE_FIND_${COMPONENT}_LIBRARIES}
+ HINTS ${SUITESPARSE_LIBRARY_DIR_HINTS}
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+ if (${COMPONENT}_LIBRARY)
+ message(STATUS "Found ${COMPONENT} library: ${${COMPONENT}_LIBRARY}")
+ mark_as_advanced(${COMPONENT}_LIBRARY)
+ else ()
+ # Specified libraries not found.
+ set(${COMPONENT}_FOUND FALSE)
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ suitesparse_report_not_found(
+ "Did not find ${COMPONENT} library (required SuiteSparse component).")
+ else()
+ message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
+ "dependency)")
+ endif()
+ endif()
+ endif()
+endmacro()
+
+# Given the number of components of SuiteSparse, and to ensure that the
+# automatic failure message generated by FindPackageHandleStandardArgs()
+# when not all required components are found is helpful, we maintain a list
+# of all variables that must be defined for SuiteSparse to be considered found.
+unset(SUITESPARSE_FOUND_REQUIRED_VARS)
+
+# BLAS.
+find_package(BLAS QUIET)
+if (NOT BLAS_FOUND)
+ suitesparse_report_not_found(
+ "Did not find BLAS library (required for SuiteSparse).")
+endif (NOT BLAS_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS BLAS_FOUND)
+
+# LAPACK.
+find_package(LAPACK QUIET)
+if (NOT LAPACK_FOUND)
+ suitesparse_report_not_found(
+ "Did not find LAPACK library (required for SuiteSparse).")
+endif (NOT LAPACK_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS LAPACK_FOUND)
+
+suitesparse_find_component(AMD REQUIRED FILES amd.h LIBRARIES amd)
+suitesparse_find_component(CAMD REQUIRED FILES camd.h LIBRARIES camd)
+suitesparse_find_component(COLAMD REQUIRED FILES colamd.h LIBRARIES colamd)
+suitesparse_find_component(CCOLAMD REQUIRED FILES ccolamd.h LIBRARIES ccolamd)
+suitesparse_find_component(CHOLMOD REQUIRED FILES cholmod.h LIBRARIES cholmod)
+suitesparse_find_component(
+ SUITESPARSEQR REQUIRED FILES SuiteSparseQR.hpp LIBRARIES spqr)
+if (SUITESPARSEQR_FOUND)
+ # SuiteSparseQR may be compiled with Intel Threading Building Blocks,
+ # we assume that if TBB is installed, SuiteSparseQR was compiled with
+ # support for it, this will do no harm if it wasn't.
+ suitesparse_find_component(TBB LIBRARIES tbb)
+ if (TBB_FOUND)
+ message(STATUS "Found Intel Thread Building Blocks (TBB) library: "
+ "${TBB_LIBRARY}, assuming SuiteSparseQR was compiled with TBB.")
+ suitesparse_find_component(TBB_MALLOC LIBRARIES tbbmalloc)
+ if (TBB_MALLOC_FOUND)
+ message(STATUS "Found Intel Thread Building Blocks (TBB) Malloc library: "
+ "${TBB_MALLOC_LIBRARY}")
+ # Add the TBB libraries to the SuiteSparseQR libraries (the only
+ # libraries to optionally depend on TBB).
+ list(APPEND SUITESPARSEQR_LIBRARY ${TBB_LIBRARY} ${TBB_MALLOC_LIBRARY})
+ else()
+ message(STATUS "Did not find Intel Thread Building Blocks (TBB) Malloc "
+ "Library, discarding TBB as a dependency.")
+ endif()
+ else()
+ message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
+ "not compiled with TBB.")
+ endif()
+endif(SUITESPARSEQR_FOUND)
+
+# UFconfig / SuiteSparse_config.
+#
+# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
+# For SuiteSparse 3, UFconfig.h is required.
+suitesparse_find_component(
+ SUITESPARSE_CONFIG FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
+
+if (SUITESPARSE_CONFIG_FOUND)
+ # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
+ # timing by default when compiled on Linux or Unix, but not on OSX (which
+ # does not have librt).
+ if (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+ suitesparse_find_component(LIBRT LIBRARIES rt)
+ if (LIBRT_FOUND)
+ message(STATUS "Adding librt: ${LIBRT_LIBRARY} to "
+ "SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
+ "SuiteSparse is compiled with timing).")
+ list(APPEND SUITESPARSE_CONFIG_LIBRARY ${LIBRT_LIBRARY})
+ else()
+ message(STATUS "Could not find librt, but found SuiteSparse_config, "
+ "assuming that SuiteSparse was compiled without timing.")
+ endif ()
+ endif (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+else()
+ # Failed to find SuiteSparse_config (>= v4 installs), instead look for
+ # UFconfig header which should be present in < v4 installs.
+ suitesparse_find_component(UFCONFIG FILES UFconfig.h)
+endif ()
+
+if (NOT SUITESPARSE_CONFIG_FOUND AND
+ NOT UFCONFIG_FOUND)
+ suitesparse_report_not_found(
+ "Failed to find either: SuiteSparse_config header & library (should be "
+ "present in all SuiteSparse >= v4 installs), or UFconfig header (should "
+ "be present in all SuiteSparse < v4 installs).")
+endif()
+
+# Extract the SuiteSparse version from the appropriate header (UFconfig.h for
+# <= v3, SuiteSparse_config.h for >= v4).
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS SUITESPARSE_VERSION)
+
+if (UFCONFIG_FOUND)
+ # SuiteSparse version <= 3.
+ set(SUITESPARSE_VERSION_FILE ${UFCONFIG_INCLUDE_DIR}/UFconfig.h)
+ if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ suitesparse_report_not_found(
+ "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+ "information for <= v3 SuiteSparse installs, but UFconfig was found "
+ "(only present in <= v3 installs).")
+ else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ file(READ ${SUITESPARSE_VERSION_FILE} UFCONFIG_CONTENTS)
+
+ string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+ set(SUITESPARSE_VERSION
+ "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (UFCONFIG_FOUND)
+
+if (SUITESPARSE_CONFIG_FOUND)
+ # SuiteSparse version >= 4.
+ set(SUITESPARSE_VERSION_FILE
+ ${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h)
+ if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ suitesparse_report_not_found(
+ "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+ "information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
+ "found (only present in >= v4 installs).")
+ else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ file(READ ${SUITESPARSE_VERSION_FILE} SUITESPARSE_CONFIG_CONTENTS)
+
+ string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+ set(SUITESPARSE_VERSION
+ "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (SUITESPARSE_CONFIG_FOUND)
+
+# METIS (Optional dependency).
+suitesparse_find_component(METIS LIBRARIES metis)
+
+# Only mark SuiteSparse as found if all required components and dependencies
+# have been found.
+set(SUITESPARSE_FOUND TRUE)
+foreach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+ if (NOT ${REQUIRED_VAR})
+ set(SUITESPARSE_FOUND FALSE)
+ endif (NOT ${REQUIRED_VAR})
+endforeach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+
+if (SUITESPARSE_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${AMD_INCLUDE_DIR}
+ ${CAMD_INCLUDE_DIR}
+ ${COLAMD_INCLUDE_DIR}
+ ${CCOLAMD_INCLUDE_DIR}
+ ${CHOLMOD_INCLUDE_DIR}
+ ${SUITESPARSEQR_INCLUDE_DIR})
+ # Handle config separately, as otherwise at least one of them will be set
+ # to NOTFOUND which would cause any check on SUITESPARSE_INCLUDE_DIRS to fail.
+ if (SUITESPARSE_CONFIG_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ endif (SUITESPARSE_CONFIG_FOUND)
+ if (UFCONFIG_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${UFCONFIG_INCLUDE_DIR})
+ endif (UFCONFIG_FOUND)
+ # As SuiteSparse includes are often all in the same directory, remove any
+ # repetitions.
+ list(REMOVE_DUPLICATES SUITESPARSE_INCLUDE_DIRS)
+
+ # Important: The ordering of these libraries is *NOT* arbitrary, as these
+ # could potentially be static libraries their link ordering is important.
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSEQR_LIBRARY}
+ ${CHOLMOD_LIBRARY}
+ ${CCOLAMD_LIBRARY}
+ ${CAMD_LIBRARY}
+ ${COLAMD_LIBRARY}
+ ${AMD_LIBRARY}
+ ${LAPACK_LIBRARIES}
+ ${BLAS_LIBRARIES})
+ if (SUITESPARSE_CONFIG_FOUND)
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSE_CONFIG_LIBRARY})
+ endif (SUITESPARSE_CONFIG_FOUND)
+ if (METIS_FOUND)
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${METIS_LIBRARY})
+ endif (METIS_FOUND)
+endif()
+
+# Determine if we are running on Ubuntu with the package install of SuiteSparse
+# which is broken and does not support linking a shared library.
+set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION FALSE)
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+ find_program(LSB_RELEASE_EXECUTABLE lsb_release)
+ if (LSB_RELEASE_EXECUTABLE)
+ # Any even moderately recent Ubuntu release (likely to be affected by
+ # this bug) should have lsb_release, if it isn't present we are likely
+ # on a different Linux distribution (should be fine).
+ execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
+ OUTPUT_VARIABLE LSB_DISTRIBUTOR_ID
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+ if (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ # We are on Ubuntu, and the SuiteSparse version matches the broken
+ # system install version and is a system install.
+ set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE)
+ message(STATUS "Found system install of SuiteSparse "
+ "${SUITESPARSE_VERSION} running on Ubuntu, which has a known bug "
+ "preventing linking of shared libraries (static linking unaffected).")
+ endif (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ endif (LSB_RELEASE_EXECUTABLE)
+endif (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+
+suitesparse_reset_find_library_prefix()
+
+# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
+include(FindPackageHandleStandardArgs)
+if (SUITESPARSE_FOUND)
+ find_package_handle_standard_args(SuiteSparse
+ REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+ VERSION_VAR SUITESPARSE_VERSION
+ FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+else (SUITESPARSE_FOUND)
+ # Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
+ # find SuiteSparse to avoid a confusing autogenerated failure message
+ # that states 'not found (missing: FOO) (found version: x.y.z)'.
+ find_package_handle_standard_args(SuiteSparse
+ REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+ FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+endif (SUITESPARSE_FOUND)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindUnorderedMap.cmake - Find unordered_map header and namespace.
+#
+# This module defines the following variables:
+#
+# UNORDERED_MAP_FOUND: TRUE if unordered_map is found.
+# HAVE_UNORDERED_MAP_IN_STD_NAMESPACE: Use <unordered_map> & std.
+# HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE: Use <unordered_map> & std::tr1.
+# HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE: <tr1/unordered_map> & std::tr1.
+macro(FIND_UNORDERED_MAP)
+ # To support CXX11 option, clear the results of all check_xxx() functions
+ # s/t we always perform the checks each time, otherwise CMake fails to
+ # detect that the tests should be performed again after CXX11 is toggled.
+ unset(HAVE_STD_UNORDERED_MAP_HEADER CACHE)
+ unset(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE CACHE)
+ unset(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
+ unset(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
+
+ set(UNORDERED_MAP_FOUND FALSE)
+ include(CheckIncludeFileCXX)
+ check_include_file_cxx(unordered_map HAVE_STD_UNORDERED_MAP_HEADER)
+ if (HAVE_STD_UNORDERED_MAP_HEADER)
+ # Finding the unordered_map header doesn't mean that unordered_map
+ # is in std namespace.
+ #
+ # In particular, MSVC 2008 has unordered_map declared in std::tr1.
+ # In order to support this, we do an extra check to see which
+ # namespace should be used.
+ include(CheckCXXSourceCompiles)
+ check_cxx_source_compiles("#include <unordered_map>
+ int main() {
+ std::unordered_map<int, int> map;
+ return 0;
+ }"
+ HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ set(UNORDERED_MAP_FOUND TRUE)
+ message("-- Found unordered_map/set in std namespace.")
+ else (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ check_cxx_source_compiles("#include <unordered_map>
+ int main() {
+ std::tr1::unordered_map<int, int> map;
+ return 0;
+ }"
+ HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ set(UNORDERED_MAP_FOUND TRUE)
+ message("-- Found unordered_map/set in std::tr1 namespace.")
+ else (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ message("-- Found <unordered_map> but cannot find either "
+ "std::unordered_map or std::tr1::unordered_map.")
+ endif (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ endif (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+ else (HAVE_STD_UNORDERED_MAP_HEADER)
+ check_include_file_cxx("tr1/unordered_map"
+ HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ set(UNORDERED_MAP_FOUND TRUE)
+ message("-- Found tr1/unordered_map/set in std::tr1 namespace.")
+ else (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ message("-- Unable to find <unordered_map> or <tr1/unordered_map>.")
+ endif (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+ endif (HAVE_STD_UNORDERED_MAP_HEADER)
+endmacro(FIND_UNORDERED_MAP)
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Extract Ceres version from <CERES_SOURCE_ROOT>/include/ceres/version.h
+# so that we only have a single definition of the Ceres version, not two
+# one in the source and one in the CMakeLists.txt.
+macro(read_ceres_version_from_source CERES_SOURCE_ROOT)
+ set(CERES_VERSION_FILE ${CERES_SOURCE_ROOT}/include/ceres/version.h)
+ if (NOT EXISTS ${CERES_VERSION_FILE})
+ message(FATAL_ERROR "Cannot find Ceres version.h file in specified "
+ "Ceres source directory: ${CERES_SOURCE_ROOT}, it is not here: "
+ "${CERES_VERSION_FILE}")
+ endif()
+
+ file(READ ${CERES_VERSION_FILE} CERES_VERSION_FILE_CONTENTS)
+
+ string(REGEX MATCH "#define CERES_VERSION_MAJOR [0-9]+"
+ CERES_VERSION_MAJOR "${CERES_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CERES_VERSION_MAJOR ([0-9]+)" "\\1"
+ CERES_VERSION_MAJOR "${CERES_VERSION_MAJOR}")
+ # NOTE: if (VAR) is FALSE if VAR is numeric and <= 0, as such we cannot use
+ # it for testing version numbers, which might well be zero, at least
+ # for the patch version, hence check for empty string explicitly.
+ if ("${CERES_VERSION_MAJOR}" STREQUAL "")
+ message(FATAL_ERROR "Failed to extract Ceres major version from "
+ "${CERES_VERSION_FILE}")
+ endif()
+
+ string(REGEX MATCH "#define CERES_VERSION_MINOR [0-9]+"
+ CERES_VERSION_MINOR "${CERES_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CERES_VERSION_MINOR ([0-9]+)" "\\1"
+ CERES_VERSION_MINOR "${CERES_VERSION_MINOR}")
+ if ("${CERES_VERSION_MINOR}" STREQUAL "")
+ message(FATAL_ERROR "Failed to extract Ceres minor version from "
+ "${CERES_VERSION_FILE}")
+ endif()
+
+ string(REGEX MATCH "#define CERES_VERSION_REVISION [0-9]+"
+ CERES_VERSION_PATCH "${CERES_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CERES_VERSION_REVISION ([0-9]+)" "\\1"
+ CERES_VERSION_PATCH "${CERES_VERSION_PATCH}")
+ if ("${CERES_VERSION_PATCH}" STREQUAL "")
+ message(FATAL_ERROR "Failed to extract Ceres patch version from "
+ "${CERES_VERSION_FILE}")
+ endif()
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+ set(CERES_VERSION "${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH}")
+
+ message(STATUS "Detected Ceres version: ${CERES_VERSION} from "
+ "${CERES_VERSION_FILE}")
+endmacro()
--- /dev/null
+# 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: alexs.mac@gmail.com (Alex Stewart)
+
+# By default, there is no easy way in CMake to set the value of a cache
+# variable without reinitialising it, which involves resetting its
+# associated help string. This is particularly annoying for CMake options
+# where they need to programmatically updated.
+#
+# This function automates this process by getting the current help string
+# for the cache variable to update, then reinitialising it with the new
+# value, but with the original help string.
+function(UPDATE_CACHE_VARIABLE VAR_NAME VALUE)
+ get_property(HELP_STRING CACHE ${VAR_NAME} PROPERTY HELPSTRING)
+ get_property(VAR_TYPE CACHE ${VAR_NAME} PROPERTY TYPE)
+ set(${VAR_NAME} ${VALUE} CACHE ${VAR_TYPE} "${HELP_STRING}" FORCE)
+endfunction()
--- /dev/null
+// 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: alexs.mac@gmail.com (Alex Stewart)
+
+// Configuration options for Ceres.
+//
+// Do not edit this file, it was automatically configured by CMake when
+// Ceres was compiled with the relevant configuration for the machine
+// on which Ceres was compiled.
+//
+// Ceres Developers: All options should have the same name as their mapped
+// CMake options, in the preconfigured version of this file
+// all options should be enclosed in '@'.
+
+#ifndef CERES_PUBLIC_INTERNAL_CONFIG_H_
+#define CERES_PUBLIC_INTERNAL_CONFIG_H_
+
+// If defined, use the LGPL code in Eigen.
+@CERES_USE_EIGEN_SPARSE@
+
+// If defined, Ceres was compiled without LAPACK.
+@CERES_NO_LAPACK@
+
+// If defined, Ceres was compiled without SuiteSparse.
+@CERES_NO_SUITESPARSE@
+
+// If defined, Ceres was compiled without CXSparse.
+@CERES_NO_CXSPARSE@
+
+// If defined, Ceres was compiled without Schur specializations.
+@CERES_RESTRICT_SCHUR_SPECIALIZATION@
+
+// If defined, Ceres was compiled to use Eigen instead of hardcoded BLAS
+// routines.
+@CERES_NO_CUSTOM_BLAS@
+
+// If defined, Ceres was compiled with C++11.
+@CERES_USE_CXX11@
+
+// If defined, Ceres was compiled without multithreading support.
+@CERES_NO_THREADS@
+// If defined Ceres was compiled with OpenMP multithreading support.
+@CERES_USE_OPENMP@
+// Additionally defined on *nix if Ceres was compiled with OpenMP support,
+// as in this case pthreads is also required.
+@CERES_HAVE_PTHREAD@
+@CERES_HAVE_RWLOCK@
+
+// Which version of unordered map was used when Ceres was compiled. Exactly
+// one of these will be defined for any given build.
+@CERES_STD_UNORDERED_MAP@
+@CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE@
+@CERES_TR1_UNORDERED_MAP@
+@CERES_NO_UNORDERED_MAP@
+
+// If defined, the memory header is in <tr1/memory>, otherwise <memory>.
+@CERES_TR1_MEMORY_HEADER@
+
+// If defined shared_ptr is in std::tr1 namespace, otherwise std.
+@CERES_TR1_SHARED_PTR@
+
+// If defined, Ceres was built as a shared library.
+@CERES_USING_SHARED_LIBRARY@
+
+// If defined, Ceres was compiled with a version MSVC >= 2005 which
+// deprecated the standard POSIX names for bessel functions, replacing them
+// with underscore prefixed versions (e.g. j0() -> _j0()).
+@CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS@
+
+#endif // CERES_PUBLIC_INTERNAL_CONFIG_H_
--- /dev/null
+# This file is part of the ios-cmake project. It was retrieved from
+# https://github.com/cristeab/ios-cmake.git, which is a fork of
+# https://code.google.com/p/ios-cmake/. Which in turn is based off of
+# the Platform/Darwin.cmake and Platform/UnixPaths.cmake files which
+# are included with CMake 2.8.4
+#
+# The ios-cmake project is licensed under the new BSD license.
+#
+# Copyright (c) 2014, Bogdan Cristea and LTE Engineering Software,
+# Kitware, Inc., Insight Software Consortium. All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# 2. 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.
+#
+# 3. Neither the name of the copyright holder 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 HOLDER 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.
+#
+# This file is based off of the Platform/Darwin.cmake and
+# Platform/UnixPaths.cmake files which are included with CMake 2.8.4
+# It has been altered for iOS development.
+#
+# Updated by Alex Stewart (alexs.mac@gmail.com).
+
+# The following variables control the behaviour of this toolchain:
+#
+# IOS_PLATFORM: OS (default) or SIMULATOR or SIMULATOR64
+# OS = Build for iPhoneOS.
+# SIMULATOR = Build for x86 i386 iPhone Simulator.
+# SIMULATOR64 = Build for x86 x86_64 iPhone Simulator.
+# CMAKE_OSX_SYSROOT: Path to the iOS SDK to use. By default this is
+# automatically determined from IOS_PLATFORM and xcodebuild, but
+# can also be manually specified (although this should not be required).
+# CMAKE_IOS_DEVELOPER_ROOT: Path to the Developer directory for the iOS platform
+# being compiled for. By default this is automatically determined from
+# CMAKE_OSX_SYSROOT, but can also be manually specified (although this should
+# not be required).
+#
+# This toolchain defines the following variables for use externally:
+#
+# XCODE_VERSION: Version number (not including Build version) of Xcode detected.
+# IOS_SDK_VERSION: Version of iOS SDK being used.
+# CMAKE_OSX_ARCHITECTURES: Architectures being compiled for (generated from
+# IOS_PLATFORM).
+#
+# This toolchain defines the following macros for use externally:
+#
+# set_xcode_property (TARGET XCODE_PROPERTY XCODE_VALUE)
+# A convenience macro for setting xcode specific properties on targets
+# example: set_xcode_property (myioslib IPHONEOS_DEPLOYMENT_TARGET "3.1").
+#
+# find_host_package (PROGRAM ARGS)
+# A macro used to find executable programs on the host system, not within the
+# iOS environment. Thanks to the android-cmake project for providing the
+# command.
+
+# Get the Xcode version being used.
+execute_process(COMMAND xcodebuild -version
+ OUTPUT_VARIABLE XCODE_VERSION
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+string(REGEX MATCH "Xcode [0-9\\.]+" XCODE_VERSION "${XCODE_VERSION}")
+string(REGEX REPLACE "Xcode ([0-9\\.]+)" "\\1" XCODE_VERSION "${XCODE_VERSION}")
+message(STATUS "Building with Xcode version: ${XCODE_VERSION}")
+
+# Default to building for iPhoneOS if not specified otherwise, and we cannot
+# determine the platform from the CMAKE_OSX_ARCHITECTURES variable. The use
+# of CMAKE_OSX_ARCHITECTURES is such that try_compile() projects can correctly
+# determine the value of IOS_PLATFORM from the root project, as
+# CMAKE_OSX_ARCHITECTURES is propagated to them by CMake.
+if (NOT DEFINED IOS_PLATFORM)
+ if (CMAKE_OSX_ARCHITECTURES)
+ if (CMAKE_OSX_ARCHITECTURES MATCHES ".*arm.*")
+ set(IOS_PLATFORM "OS")
+ elseif (CMAKE_OSX_ARCHITECTURES MATCHES "i386")
+ set(IOS_PLATFORM "SIMULATOR")
+ elseif (CMAKE_OSX_ARCHITECTURES MATCHES "x86_64")
+ set(IOS_PLATFORM "SIMULATOR64")
+ endif()
+ endif()
+ if (NOT IOS_PLATFORM)
+ set(IOS_PLATFORM "OS")
+ endif()
+endif()
+set(IOS_PLATFORM ${IOS_PLATFORM} CACHE STRING
+ "Type of iOS platform for which to build.")
+
+# Determine the platform name and architectures for use in xcodebuild commands
+# from the specified IOS_PLATFORM name.
+if (IOS_PLATFORM STREQUAL "OS")
+ set(XCODE_IOS_PLATFORM iphoneos)
+ set(IOS_ARCH armv7 armv7s arm64)
+elseif (IOS_PLATFORM STREQUAL "SIMULATOR")
+ set(XCODE_IOS_PLATFORM iphonesimulator)
+ set(IOS_ARCH i386)
+elseif(IOS_PLATFORM STREQUAL "SIMULATOR64")
+ set(XCODE_IOS_PLATFORM iphonesimulator)
+ set(IOS_ARCH x86_64)
+else()
+ message(FATAL_ERROR "Invalid IOS_PLATFORM: ${IOS_PLATFORM}")
+endif()
+message(STATUS "Configuring iOS build for platform: ${IOS_PLATFORM}, "
+ "architecture(s): ${IOS_ARCH}")
+
+# If user did not specify the SDK root to use, then query xcodebuild for it.
+if (NOT CMAKE_OSX_SYSROOT)
+ execute_process(COMMAND xcodebuild -version -sdk ${XCODE_IOS_PLATFORM} Path
+ OUTPUT_VARIABLE CMAKE_OSX_SYSROOT
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ message(STATUS "Using SDK: ${CMAKE_OSX_SYSROOT} for platform: ${IOS_PLATFORM}")
+endif()
+if (NOT EXISTS ${CMAKE_OSX_SYSROOT})
+ message(FATAL_ERROR "Invalid CMAKE_OSX_SYSROOT: ${CMAKE_OSX_SYSROOT} "
+ "does not exist.")
+endif()
+# Get the SDK version information.
+execute_process(COMMAND xcodebuild -sdk ${CMAKE_OSX_SYSROOT} -version SDKVersion
+ OUTPUT_VARIABLE IOS_SDK_VERSION
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# Find the Developer root for the specific iOS platform being compiled for
+# from CMAKE_OSX_SYSROOT. Should be ../../ from SDK specified in
+# CMAKE_OSX_SYSROOT. There does not appear to be a direct way to obtain
+# this information from xcrun or xcodebuild.
+if (NOT CMAKE_IOS_DEVELOPER_ROOT)
+ get_filename_component(IOS_PLATFORM_SDK_DIR ${CMAKE_OSX_SYSROOT} PATH)
+ get_filename_component(CMAKE_IOS_DEVELOPER_ROOT ${IOS_PLATFORM_SDK_DIR} PATH)
+endif()
+if (NOT EXISTS ${CMAKE_IOS_DEVELOPER_ROOT})
+ message(FATAL_ERROR "Invalid CMAKE_IOS_DEVELOPER_ROOT: "
+ "${CMAKE_IOS_DEVELOPER_ROOT} does not exist.")
+endif()
+
+# Find the C & C++ compilers for the specified SDK.
+if (NOT CMAKE_C_COMPILER)
+ execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang
+ OUTPUT_VARIABLE CMAKE_C_COMPILER
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ message(STATUS "Using C compiler: ${CMAKE_C_COMPILER}")
+endif()
+if (NOT CMAKE_CXX_COMPILER)
+ execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang++
+ OUTPUT_VARIABLE CMAKE_CXX_COMPILER
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ message(STATUS "Using CXX compiler: ${CMAKE_CXX_COMPILER}")
+endif()
+
+# Find (Apple's) libtool.
+execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find libtool
+ OUTPUT_VARIABLE IOS_LIBTOOL
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+message(STATUS "Using libtool: ${IOS_LIBTOOL}")
+# Configure libtool to be used instead of ar + ranlib to build static libraries.
+# This is required on Xcode 7+, but should also work on previous versions of
+# Xcode.
+set(CMAKE_C_CREATE_STATIC_LIBRARY
+ "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+set(CMAKE_CXX_CREATE_STATIC_LIBRARY
+ "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+
+# Get the version of Darwin (OS X) of the host.
+execute_process(COMMAND uname -r
+ OUTPUT_VARIABLE CMAKE_HOST_SYSTEM_VERSION
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# Standard settings.
+set(CMAKE_SYSTEM_NAME Darwin)
+set(CMAKE_SYSTEM_VERSION ${IOS_SDK_VERSION})
+set(UNIX TRUE)
+set(APPLE TRUE)
+set(IOS TRUE)
+# Force unset of OS X-specific deployment target (otherwise autopopulated),
+# required as of cmake 2.8.10.
+set(CMAKE_OSX_DEPLOYMENT_TARGET "" CACHE STRING
+ "Must be empty for iOS builds." FORCE)
+# Set the architectures for which to build.
+set(CMAKE_OSX_ARCHITECTURES ${IOS_ARCH} CACHE STRING "Build architecture for iOS")
+
+# Skip the platform compiler checks for cross compiling.
+set(CMAKE_CXX_COMPILER_FORCED TRUE)
+set(CMAKE_CXX_COMPILER_WORKS TRUE)
+set(CMAKE_C_COMPILER_FORCED TRUE)
+set(CMAKE_C_COMPILER_WORKS TRUE)
+
+# All iOS/Darwin specific settings - some may be redundant.
+set(CMAKE_SHARED_LIBRARY_PREFIX "lib")
+set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")
+set(CMAKE_SHARED_MODULE_PREFIX "lib")
+set(CMAKE_SHARED_MODULE_SUFFIX ".so")
+set(CMAKE_MODULE_EXISTS 1)
+set(CMAKE_DL_LIBS "")
+
+set(CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG "-compatibility_version ")
+set(CMAKE_C_OSX_CURRENT_VERSION_FLAG "-current_version ")
+set(CMAKE_CXX_OSX_COMPATIBILITY_VERSION_FLAG "${CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG}")
+set(CMAKE_CXX_OSX_CURRENT_VERSION_FLAG "${CMAKE_C_OSX_CURRENT_VERSION_FLAG}")
+
+# Specify minimum version of deployment target.
+# Unless specified, the latest SDK version is used by default.
+set(IOS_DEPLOYMENT_TARGET "${IOS_SDK_VERSION}"
+ CACHE STRING "Minimum iOS version to build for." )
+message(STATUS "Building for minimum iOS version: ${IOS_DEPLOYMENT_TARGET}"
+ " (SDK version: ${IOS_SDK_VERSION})")
+
+# Note that only Xcode 7+ supports the newer more specific:
+# -m${XCODE_IOS_PLATFORM}-version-min flags, older versions of Xcode use:
+# -m(ios/ios-simulator)-version-min instead.
+if (XCODE_VERSION VERSION_LESS 7.0)
+ if (IOS_PLATFORM STREQUAL "OS")
+ set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+ "-mios-version-min=${IOS_DEPLOYMENT_TARGET}")
+ else()
+ # SIMULATOR or SIMULATOR64 both use -mios-simulator-version-min.
+ set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+ "-mios-simulator-version-min=${IOS_DEPLOYMENT_TARGET}")
+ endif()
+else()
+ # Xcode 7.0+ uses flags we can build directly from XCODE_IOS_PLATFORM.
+ set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+ "-m${XCODE_IOS_PLATFORM}-version-min=${IOS_DEPLOYMENT_TARGET}")
+endif()
+
+set(CMAKE_C_FLAGS
+ "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -fobjc-abi-version=2 -fobjc-arc ${CMAKE_C_FLAGS}")
+# Hidden visibilty is required for C++ on iOS.
+set(CMAKE_CXX_FLAGS
+ "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -fvisibility=hidden -fvisibility-inlines-hidden -fobjc-abi-version=2 -fobjc-arc ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -fomit-frame-pointer -ffast-math ${CMAKE_CXX_FLAGS_RELEASE}")
+
+set(CMAKE_C_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -Wl,-search_paths_first ${CMAKE_C_LINK_FLAGS}")
+set(CMAKE_CXX_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -Wl,-search_paths_first ${CMAKE_CXX_LINK_FLAGS}")
+
+# In order to ensure that the updated compiler flags are used in try_compile()
+# tests, we have to forcibly set them in the CMake cache, not merely set them
+# in the local scope.
+list(APPEND VARS_TO_FORCE_IN_CACHE
+ CMAKE_C_FLAGS
+ CMAKE_CXX_FLAGS
+ CMAKE_CXX_RELEASE
+ CMAKE_C_LINK_FLAGS
+ CMAKE_CXX_LINK_FLAGS)
+foreach(VAR_TO_FORCE ${VARS_TO_FORCE_IN_CACHE})
+ set(${VAR_TO_FORCE} "${${VAR_TO_FORCE}}" CACHE STRING "" FORCE)
+endforeach()
+
+set(CMAKE_PLATFORM_HAS_INSTALLNAME 1)
+set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-dynamiclib -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_CREATE_C_FLAGS "-bundle -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_LOADER_C_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_SHARED_MODULE_LOADER_CXX_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_FIND_LIBRARY_SUFFIXES ".dylib" ".so" ".a")
+
+# Hack: if a new cmake (which uses CMAKE_INSTALL_NAME_TOOL) runs on an old
+# build tree (where install_name_tool was hardcoded) and where
+# CMAKE_INSTALL_NAME_TOOL isn't in the cache and still cmake didn't fail in
+# CMakeFindBinUtils.cmake (because it isn't rerun) hardcode
+# CMAKE_INSTALL_NAME_TOOL here to install_name_tool, so it behaves as it did
+# before, Alex.
+if (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+ find_program(CMAKE_INSTALL_NAME_TOOL install_name_tool)
+endif (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+
+# Set the find root to the iOS developer roots and to user defined paths.
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_IOS_DEVELOPER_ROOT} ${CMAKE_OSX_SYSROOT}
+ ${CMAKE_PREFIX_PATH} CACHE string "iOS find search path root" FORCE)
+
+# Default to searching for frameworks first.
+set(CMAKE_FIND_FRAMEWORK FIRST)
+
+# Set up the default search directories for frameworks.
+set(CMAKE_SYSTEM_FRAMEWORK_PATH
+ ${CMAKE_OSX_SYSROOT}/System/Library/Frameworks
+ ${CMAKE_OSX_SYSROOT}/System/Library/PrivateFrameworks
+ ${CMAKE_OSX_SYSROOT}/Developer/Library/Frameworks)
+
+# Only search the specified iOS SDK, not the remainder of the host filesystem.
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# This little macro lets you set any XCode specific property.
+macro(set_xcode_property TARGET XCODE_PROPERTY XCODE_VALUE)
+ set_property(TARGET ${TARGET} PROPERTY
+ XCODE_ATTRIBUTE_${XCODE_PROPERTY} ${XCODE_VALUE})
+endmacro(set_xcode_property)
+
+# This macro lets you find executable programs on the host system.
+macro(find_host_package)
+ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+ set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
+ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
+ set(IOS FALSE)
+
+ find_package(${ARGN})
+
+ set(IOS TRUE)
+ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+ set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endmacro(find_host_package)
--- /dev/null
+# 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: arnaudgelas@gmail.com (Arnaud Gelas)
+# alexs.mac@gmail.com (Alex Stewart)
+
+if (COMMAND cmake_policy)
+ # Ignore empty elements in LIST() commands.
+ cmake_policy(SET CMP0007 OLD)
+endif (COMMAND cmake_policy)
+
+if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+ message(FATAL_ERROR "Cannot find install manifest: "
+ "\"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+endif (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" INSTALL_MANIFEST)
+string(REGEX REPLACE "\n" ";" INSTALL_MANIFEST "${INSTALL_MANIFEST}")
+list(REVERSE INSTALL_MANIFEST)
+
+foreach (INSTALLED_FILE ${INSTALL_MANIFEST})
+ # Save the root ceres include install directory, e.g. /usr/local/include/ceres
+ # so that we can remove it at the end.
+ if (NOT CERES_INCLUDE_INSTALL_ROOT)
+ get_filename_component(FILE_NAME ${INSTALLED_FILE} NAME)
+ if (FILE_NAME STREQUAL ceres.h)
+ # Ensure that the directory is nested as we expect, as we are going to
+ # remove it, and we do not want to remove files pertaining to anyone else.
+ get_filename_component(PARENT_DIR ${INSTALLED_FILE} PATH)
+ get_filename_component(PARENT_DIR_NAME ${PARENT_DIR} NAME)
+ if (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR})
+ set(CERES_INCLUDE_INSTALL_ROOT ${PARENT_DIR})
+ endif (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR})
+ endif (FILE_NAME STREQUAL ceres.h)
+ endif (NOT CERES_INCLUDE_INSTALL_ROOT)
+
+ message(STATUS "Uninstalling \"$ENV{DESTDIR}${INSTALLED_FILE}\"")
+ if (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+ execute_process(COMMAND @CMAKE_COMMAND@
+ -E remove "$ENV{DESTDIR}${INSTALLED_FILE}"
+ OUTPUT_VARIABLE RM_OUT
+ RESULT_VARIABLE RM_RETVAL)
+ if (NOT ${RM_RETVAL} EQUAL 0)
+ message(FATAL_ERROR
+ "Problem when removing \"$ENV{DESTDIR}${INSTALLED_FILE}\"")
+ endif (NOT ${RM_RETVAL} EQUAL 0)
+ else (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+ message(STATUS "File \"$ENV{DESTDIR}${INSTALLED_FILE}\" does not exist.")
+ endif (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+endforeach(INSTALLED_FILE)
+
+# Removing Ceres include install directory.
+if (CERES_INCLUDE_INSTALL_ROOT AND
+ EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
+ message(STATUS "Removing Ceres include install directory: "
+ "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"")
+ execute_process(COMMAND @CMAKE_COMMAND@
+ -E remove_directory
+ "$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}"
+ OUTPUT_VARIABLE RM_OUT
+ RESULT_VARIABLE RM_RETVAL)
+ if (NOT ${RM_RETVAL} EQUAL 0)
+ message(FATAL_ERROR
+ "Failed to remove: \"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT\"")
+ endif (NOT ${RM_RETVAL} EQUAL 0)
+else (CERES_INCLUDE_INSTALL_ROOT AND
+ EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
+ message(FATAL_ERROR "Failed to find Ceres installed include directory "
+ "(e.g. /usr/local/include/ceres), candidate: "
+ "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"")
+endif (CERES_INCLUDE_INSTALL_ROOT AND
+ EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
--- /dev/null
+// 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: alexs.mac@gmail.com (Alex Stewart)
+
+// Default (empty) configuration options for Ceres.
+//
+// IMPORTANT: Most users of Ceres will not use this file, when
+// compiling Ceres with CMake, CMake will configure a new
+// config.h with the currently selected Ceres compile
+// options in <BUILD_DIR>/config, which will be added to
+// the include path for compilation, and installed with the
+// public Ceres headers. However, for some users of Ceres
+// who compile without CMake (Android), this file ensures
+// that Ceres will compile, with the user either specifying
+// manually the Ceres compile options, or passing them
+// directly through the compiler.
+
+#ifndef CERES_PUBLIC_INTERNAL_CONFIG_H_
+#define CERES_PUBLIC_INTERNAL_CONFIG_H_
+
+
+#endif // CERES_PUBLIC_INTERNAL_CONFIG_H_
--- /dev/null
+2 3
+0 1 0 1
+0 0 1 1
+0.586612685392731 1.157638405566669 0.846059486257292
+-0.0582774013402734 0.0339010363051084 -0.0501593018104054 0.0745568557931712
+0.0492112815304123 -0.0307820846538285 -0.123247230948424 0.104812330861557
+0.0562633568728865 0.0152832583489560 -0.0576215592718086 -0.0139673758425540
+
--- /dev/null
+3 8
+0 1 2 0 1 2 0 1 2
+0 0 0 1 1 1 2 2 2
+1.201143e-01 7.520515e-02 9.078330e-02 1.280545e-01 6.276734e-02 1.201840e-01 1.092460e-01 1.217102e-01
+-1.06290 1.81622 -0.80592 0.27489 0.13790 -0.49836 0.76669 -1.95329 1.32468
+-1.39695 1.62887 -0.27482 1.46226 -2.21903 0.82016 -0.12290 0.67906 -0.57683
+0.89899 0.27696 0.04805 -0.07191 0.00777 -0.00488 -0.80267 -0.31249 -0.03957
+-0.86612 1.66525 -1.03168 1.87671 -3.28802 1.92990 -1.22515 2.01814 -1.08079
+-0.37343 -0.23977 0.56955 -0.41741 0.05711 0.42774 -0.14881 0.02528 0.10072
+0.62783 0.27746 0.44180 -1.22190 -0.27753 -1.23532 0.54919 0.15855 0.68658
+0.46483 -1.12896 0.57926 0.22646 -0.25658 0.18881 0.57866 -1.13277 0.48707
+0.86662 0.19780 -1.06759 -1.92170 -0.10882 2.02231 1.14262 -0.09817 -1.03353
+
--- /dev/null
+5 24
+0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4
+0 0 0 0 0 1 1 1 1 1 2 2 2 2 2 3 3 3 3 3 4 4 4 4 4
+
+5.472286e-02 6.425581e-02 5.031088e-02 5.989018e-02 4.424956e-02 5.119065e-02 6.743059e-02 2.339211e-02 5.973362e-02 6.281576e-02 1.495131e-02 5.693016e-02 3.189429e-02 7.672358e-02 4.524088e-02 3.681065e-02 6.383650e-02 4.347603e-02 2.264134e-02 2.561474e-02 5.886950e-02 4.114462e-02 4.893348e-02 5.834900e-02
+
+ -0.31071 1.04120 -0.78749 -0.47895 0.56812 -0.02713 0.12199 -0.19871 0.01017 0.08976 -0.05437 0.19638 -0.11093 -0.02853 0.00427 -0.19578 0.29112 -0.05108 -0.08012 0.02944 -0.87865 1.54098 -0.60090 -0.14424 0.05388
+ 0.59362 0.07378 0.01163 0.11076 0.38838 -1.56819 -0.12448 -0.26775 -0.14495 -1.26480 1.69550 0.23647 0.50640 0.20682 1.71141 -0.93659 -0.27274 -0.40550 -0.30937 -1.27168 0.21164 0.09704 0.14615 0.14513 0.43322
+ 0.84855 -1.15931 -0.04677 1.55189 -1.20232 -0.84787 0.88787 0.05491 -0.59425 0.44273 0.10771 0.15608 -0.20982 -0.40088 0.46844 0.00920 -0.34651 0.07722 1.10449 -1.00405 -0.00980 0.27614 0.32393 -1.83075 1.34408
+ -1.03323 1.88111 -1.43100 0.78609 -0.25928 -0.03655 0.21945 -0.13154 -0.10918 0.11203 0.09740 -0.02567 -0.23481 0.18294 -0.07056 0.20877 -0.12025 -0.27859 0.34269 -0.10385 0.70720 -1.63594 1.39715 -0.56761 0.10165
+ 0.53443 -0.08024 -0.11745 -0.03402 0.25033 -0.96043 0.15798 0.15981 0.10961 -0.24634 0.77044 -0.18866 -0.27562 0.18315 0.07681 -0.74267 0.51002 0.40930 -0.00294 -1.63639 0.40120 -0.42511 -0.15842 -0.28824 1.59764
+ -0.88573 -0.33458 -0.01419 -0.01103 0.00077 0.47044 0.43260 0.04198 -0.00840 0.00150 0.57390 0.08128 0.04955 -0.00643 0.01470 0.50375 0.07196 0.02376 0.03349 0.03517 -0.67904 -0.28139 -0.05936 -0.03884 -0.02249
+ -0.01311 -0.01988 0.10721 -0.08376 0.01636 -0.32442 0.98192 -1.44473 1.21759 -0.47859 0.89529 -2.36566 3.17358 -2.70415 1.10629 -0.96782 2.47203 -3.22965 2.76881 -1.14343 0.42498 -1.09401 1.42223 -1.22142 0.50653
+ 0.21862 -0.20464 0.03462 -0.03753 0.01527 0.13402 -0.07069 -0.00552 -0.04434 -0.02653 0.15630 0.02185 0.04572 -0.11760 -0.06958 0.15633 -0.00898 0.00952 -0.06227 -0.12147 0.37032 0.05372 0.10450 -0.22764 -0.32445
+ -0.02092 -0.35567 0.54827 0.50360 -0.95729 0.42842 0.61450 -1.06896 -0.96641 1.79327 -1.49830 -0.13333 0.96113 0.66182 -1.14234 2.35571 -0.68686 -0.72675 -0.09191 0.23092 -1.29917 0.56449 0.33405 -0.11554 0.06663
+ -0.15212 -0.31661 -0.10629 -0.68078 1.64419 0.60883 0.48936 0.35629 0.85845 -2.71321 -1.02463 -0.40494 -0.33908 -0.03011 1.32162 0.87303 0.38931 0.15034 -0.46469 -0.16997 -0.30057 -0.21769 -0.03504 0.29551 -0.03051
+ -0.63745 1.09815 0.07905 -1.29684 0.78552 0.31671 -0.60369 -0.31422 1.37878 -0.84617 -0.08181 0.25602 0.09426 -0.69533 0.50771 -0.26215 0.08620 0.18111 0.24247 -0.35641 0.18171 0.29815 -0.90155 0.49852 -0.00995
+ -0.24394 0.32079 -0.18885 -0.43086 0.61484 0.95412 -1.08795 0.41381 1.25966 -1.62800 -1.63362 1.77016 -0.41047 -1.74982 2.02167 1.69856 -1.82451 0.27727 1.56121 -1.66173 -0.80206 0.85485 -0.10948 -0.64836 0.67266
+ 0.60487 -0.01646 0.13186 0.13391 0.66691 -0.16619 0.00981 0.02774 -0.14688 -0.23655 -0.03876 0.01428 -0.05848 0.00855 0.01915 0.28643 0.01215 0.00615 0.02837 -0.27025 -0.67548 -0.06341 -0.09492 -0.01467 -0.16753
+ 0.77534 -1.90839 2.47496 -2.26067 1.01011 -0.36223 0.89421 -1.24538 1.23108 -0.59609 -0.44538 1.04742 -1.25543 1.08209 -0.44929 -0.10218 0.51811 -0.92194 0.90930 -0.42024 0.18932 -0.73810 1.25011 -1.24150 0.56562
+ 0.93435 -0.03480 0.04710 -0.40291 -0.92490 -0.66962 0.13901 0.00497 0.31148 0.63533 0.30957 -0.23678 -0.07453 -0.24971 0.25021 0.68393 0.03453 -0.00104 -0.20619 -0.21134 -1.23377 0.08326 0.02804 0.53578 0.24696
+ -0.31333 -0.06452 -0.14492 0.32917 0.18505 0.37680 -0.05739 -0.20598 -0.39758 0.33795 0.15776 -0.10590 -0.08163 -0.26879 0.26603 0.13942 0.14388 0.15602 -0.85931 0.46755 -0.37693 0.14924 0.18844 1.29502 -1.31627
+ -0.57261 -0.15101 -0.03142 0.04828 -0.09470 1.30126 0.29676 0.02642 -0.10865 0.12241 -1.04666 -0.17702 0.10930 0.48806 0.79384 0.35790 0.00519 -0.09722 -0.76968 -1.93132 -0.05982 0.03488 -0.03692 0.34823 1.14489
+ 0.02861 -0.04563 -0.39979 -0.34141 0.84996 -0.11996 0.09395 0.10138 0.81867 -0.96541 0.17159 -0.18584 0.25071 -0.22578 -0.06749 1.50317 -1.28229 -0.16426 -0.02308 0.15558 -1.66312 1.45438 0.22480 -0.25807 0.09117
+ -0.55490 0.19579 0.22691 0.60510 -0.46819 0.06905 -0.09310 -0.00511 -0.26410 0.29786 -0.15810 0.19022 0.02614 -0.00490 -0.06838 0.11087 -0.14454 -0.04154 -0.16050 0.23955 -0.60009 0.80946 0.13003 0.34930 -0.69227
+ 0.02280 0.50837 0.09286 -0.70868 0.16414 -0.80301 0.17835 0.36944 0.75854 -0.61169 0.44842 -0.99949 0.04847 0.08457 0.35292 0.60861 -0.02401 -0.48740 0.41152 -0.41065 -0.34356 0.41056 -0.01730 -0.58536 0.53149
+ 1.54887 -0.44899 -0.27397 -0.36683 -0.36138 -1.38762 0.36466 0.10235 0.35630 0.40105 -0.17410 -0.05898 0.13052 -0.04032 0.38137 -0.82904 0.31802 -0.02420 -0.20938 0.57263 0.95569 -0.26814 0.08144 0.25318 -1.02387
+ 0.26344 -0.49099 0.61113 -1.33142 0.89974 0.05990 -0.07519 0.14265 -0.33453 0.30248 0.08324 -0.12872 0.07988 -0.24786 0.14599 0.17826 -0.18072 0.08816 -0.10930 0.12304 0.45104 -0.70917 0.41756 -0.41199 0.18098
+ -0.46895 0.79795 -0.38564 0.04986 -0.04034 0.11811 -0.23006 0.26011 -0.13551 0.03185 -0.01839 -0.09632 0.18000 -0.13208 0.03061 0.11165 -0.25590 0.42916 -0.49657 0.24341 0.51922 -1.52509 2.17579 -1.86952 0.70906
+ -1.59203 1.37214 -0.36807 0.42638 -0.00689 2.86095 -2.02733 0.40858 -0.61961 -0.28165 -1.77476 0.55742 -0.12732 0.31007 0.76569 0.19805 0.83530 -0.18053 0.29590 -1.07493 0.27739 -0.69004 0.21195 -0.37112 0.59251
+
+
--- /dev/null
+The *.foe files contain coefficients provided by Stefan Roth, who agreed to
+release them under a BSD license. See his home page:
+
+ http://www.gris.informatik.tu-darmstadt.de/~sroth/research/foe/index.html
+
+The coefficients in the *.foe files have been obtained by extracting the
+matrices from the MATLAB files and performing matrix multiplication.
+
+The format of the files is ASCII:
+ <s = filter size> <K = number of filters>
+ <alpha_1> ... <alpha_K>
+ <f_1,1> ... <f_1,s^2>
+ ...
+ <f_K,1> ... <f_K,s^2>
--- /dev/null
+P2
+# PGM format
+ # <width> <height> <levels>
+ # <data> ...
+177 213 255
+86 74 90 29 80 63 76 62 83 97 64 102 86 67 103 61 27 57 63 58 60 97 84 73 110 81 85 71 52 17 106 71 95 104 103 62 88 84 91 82 70 89 109 32 70 54 88 68 81 62 95 76 92 97 91 42 86 35 50 50 37 89 36 43 48 77 50 63 66 72 47 27 54 8 48 43 102 43 0 40 0 61 31 54 50 34 58 4 44 24 35 33 34 47 46 20 40 24 0 47 16 21 55 26 54 25 22 22 35 0 37 64 35 48 40 1 27 3 43 45 32 74 34 44 17 13 33 45 10 52 32 76 79 70 47 27 74 44 30 86 7 49 66 87 51 71 81 59 72 60 49 62 45 41 53 101 58 54 49 84 58 62 69 98 84 63 102 123 72 101 90 106 80 86 73 78 74 90 61 89 47 109 63 82 53 102 68 56 40 62 51 85 71 41 47 59 91 43 85 60 75 67 59 96 45 66 58 85 71 78 77 65 104 51 66 59 112 62 66 47 78 74 121 65 141 30 70 44 127 72 86 49 48 61 83 84 43 86 47 79 75 68 65 35 10 33 60 15 67 87 45 27 57 40 51 57 44 16 30 60 16 53 42 21 54 33 50 14 39 50 25 39 17 37 70 70 32 32 17 57 21 43 49 28 63 54 81 34 47 106 16 29 26 38 77 49 41 51 35 1 31 41 40 47 71 40 32 59 37 57 44 53 57 14 33 47 56 80 0 44 73 37 40 61 72 109 38 34 92 53 39 48 88 91 48 69 112 48 25 83 39 75 88 58 59 31 79 79 104 83 96 69 84 58 46 85 50 94 70 65 82 62 65 62 80 49 17 66 73 40 53 81 96 68 99 60 79 95 116 99 40 67 121 91 65 80 73 50 53 53 71 95 77 77 64 82 47 63 76 75 34 69 84 115 63 61 21 48 51 95 85 82 62 64 64 62 77 100 70 48 75 59 56 44 55 68 70 87 52 72 46 65 52 56 88 52 71 42 66 50 18 35 61 23 21 0 74 47 37 22 33 37 42 27 63 74 35 37 4 0 23 62 37 45 45 48 47 35 59 46 54 81 50 41 47 34 66 82 112 37 33 49 68 32 69 78 37 49 28 89 61 29 30 0 55 48 79 37 31 71 68 61 38 99 87 68 75 50 33 36 99 48 71 55 74 53 73 46 76 69 58 78 79 106 100 105 90 95 81 82 70 101 70 84 83 54 55 59 97 70 77 69 65 106 83 80 66 66 75 102 67 41 33 88 65 88 71 75 49 29 59 58 34 84 95 61 48 67 97 101 82 72 81 100 80 59 70 35 70 99 51 70 79 71 69 88 95 53 48 85 51 100 56 78 82 85 60 54 20 80 54 74 51 76 31 40 72 48 85 75 15 60 55 53 45 14 35 53 32 76 45 36 41 58 75 52 59 38 64 35 60 35 45 30 58 57 66 15 43 68 40 26 66 37 35 36 69 59 32 33 33 36 46 40 27 63 65 44 75 64 68 69 66 55 51 78 62 61 43 46 42 70 13 35 15 66 62 47 52 41 58 66 6 93 86 80 84 73 72 82 97 101 83 100 100 76 63 80 100 95 61 53 107 93 83 103 94 70 50 113 95 99 77 98 69 56 75 48 125 82 30 66 51 74 50 113 69 79 76 62 75 124 54 73 68 74 51 80 51 56 51 60 65 88 83 83 90 76 66 82 71 86 45 92 83 64 97 53 99 80 75 89 88 87 54 57 68 59 62 63 57 67 39 92 50 45 55 55 22 93 54 52 50 0 62 48 36 44 34 19 49 26 39 72 39 48 76 85 35 53 27 52 66 42 93 30 83 69 92 57 50 73 44 46 44 43 60 59 14 32 17 13 55 26 38 14 18 64 44 27 54 46 58 82 29 61 53 79 62 58 38 87 28 64 60 62 54 44 54 53 66 53 73 74 80 84 73 82 81 83 88 95 90 85 80 52 112 103 103 94 97 101 57 63 97 94 73 133 85 111 105 35 127 85 101 83 66 82 56 53 88 46 57 88 79 76 133 63 59 64 49 91 57 53 68 93 100 87 65 78 97 91 101 73 38 93 84 50 59 52 75 51 116 77 57 61 99 73 72 83 92 81 107 106 63 69 37 56 114 71 69 86 60 97 31 50 33 83 75 69 88 64 69 75 28 56 56 36 78 41 52 49 58 59 83 66 69 68 49 58 66 51 54 79 34 72 44 74 86 61 53 23 44 24 27 38 84 28 77 55 76 42 33 77 44 44 46 39 76 33 48 41 52 84 29 52 84 66 59 22 47 52 55 43 73 62 74 45 62 80 74 60 74 28 14 47 43 48 71 91 73 84 53 99 95 73 61 92 83 88 62 99 48 59 84 70 79 106 62 46 75 77 78 46 44 51 51 88 96 81 84 99 83 84 81 104 68 79 71 59 89 93 85 82 80 111 63 77 89 63 85 80 102 83 112 64 63 72 55 117 104 98 71 119 73 97 128 73 113 86 100 67 121 92 93 77 58 63 96 87 58 81 65 33 84 77 86 73 55 75 50 72 108 103 51 38 59 55 20 51 68 74 48 32 35 72 60 64 49 57 90 52 76 84 82 15 90 53 89 70 70 92 88 62 77 30 59 63 89 95 62 90 59 95 41 65 81 79 83 81 30 59 89 31 62 37 56 53 79 35 92 55 72 71 53 70 22 67 36 53 57 13 64 64 93 42 31 41 106 64 48 113 64 41 54 69 63 46 62 73 60 67 90 99 96 91 57 35 38 94 103 79 66 61 104 63 87 89 104 74 87 103 88 80 88 118 76 114 103 115 58 89 61 66 18 94 101 83 50 77 58 59 135 94 39 99 119 138 94 96 56 89 84 76 97 77 73 87 87 42 83 71 119 44 45 55 82 78 86 105 72 96 75 84 82 62 105 58 46 79 80 77 67 68 46 56 24 48 65 71 70 56 37 62 104 66 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131 124 101 89 93 107 114 126 128 145 104 69 77 73 125 106 124 87 72 96 129 154 125 86 125 91 78 51 64 59 94 67 83 71 85 86 66 96 141 103 62 69 84 56 89 42 52 55 51 60 49 84 72 78 76 86 83 56 45 62 63 91 45 52 128 50 32 40 75 63 52 58 60 47 27 47 40 4 37 39 36 56 40 62 39 74 87 213 193 193 181 184 135 130 89 71 44 79 39 16 152 180 209 189 169 197 187 192 196 171 213 163 198 180 190 199 205 189 186 120 170 81 147 136 127 92 131 106 86 84 89 81 88 130 96 60 95 78 93 57 108 49 83 75 70 39 24 57 41 83 122 65 113 49 65 69 101 67 98 94 80 80 99 84 79 54 90 67 63 115 188 168 142 143 126 170 114 128 125 83 115 115 116 113 129 110 164 126 110 121 75 111 110 84 87 81 93 127 112 115 126 116 94 123 118 52 69 56 69 75 86 55 89 66 144 94 109 106 115 57 49 82 44 72 64 56 96 51 55 44 97 95 149 91 62 83 75 85 57 92 60 44 65 47 53 42 29 78 62 41 53 65 66 56 73 27 67 53 52 5 88 48 114 174 202 178 155 154 121 96 53 24 68 59 38 58 159 143 182 164 142 201 197 170 186 185 195 189 208 205 191 203 189 196 177 115 136 152 143 135 89 52 68 66 73 75 96 71 93 86 124 53 94 62 74 103 27 115 117 93 77 50 61 16 60 68 42 109 112 58 75 82 69 55 78 79 66 98 46 82 79 82 111 96 109 54 60 162 171 90 154 121 136 134 115 94 150 104 76 130 119 79 128 139 111 133 102 115 55 64 70 94 114 91 68 125 118 111 134 100 133 148 133 113 111 78 92 48 66 63 115 50 87 83 120 73 78 55 64 58 43 66 66 116 62 37 63 41 56 86 72 107 47 93 53 36 38 53 81 46 63 81 36 59 57 83 70 59 61 65 52 39 41 43 70 50 69 104 137 157 174 155 172 100 138 66 58 50 22 54 34 88 188 196 168 181 182 164 165 181 157 198 207 161 185 174 152 164 152 182 215 133 90 138 120 122 111 98 108 63 40 101 80 96 88 55 74 54 114 91 130 84 84 74 103 103 74 71 79 120 104 92 50 18 101 105 114 116 125 38 56 53 53 73 94 79 80 64 71 95 99 46 104 88 154 154 100 100 119 159 150 92 139 132 115 98 97 126 107 126 90 110 87 112 63 45 105 120 73 94 97 48 64 76 101 117 126 131 152 104 142 75 138 104 92 55 100 90 76 69 78 98 67 65 80 121 78 60 94 44 99 85 67 75 20 46 42 68 78 49 43 49 22 73 31 50 73 21 58 76 69 68 41 97 53 57 73 40 64 9 63 64 60 42 117 154 188 137 150 102 111 61 43 40 57 7 44 141 210 196 215 148 182 160 121 191 149 208 180 163 216 181 183 138 166 171 155 140 154 141 128 52 99 68 88 0 64 23 49 73 107 93 82 120 90 98 104 102 126 66 96 73 73 81 98 41 97 76 71 90 39 72 124 125 133 123 97 56 36 75 55 76 76 63 92 70 127 55 64 23 75 125 92 130 123 132 169 95 90 81 108 98 113 104 113 142 79 152 123 74 102 100 108 98 71 68 115 132 61 73 117 93 76 119 83 39 128 138 128 112 118 114 93 139 94 113 109 108 54 72 56 102 73 103 76 59 70 75 46 86 33 91 54 56 67 61 83 73 65 52 69 49 74 24 50 80 65 57 66 49 82 84 49 84 34 73 56 52 42 84 100 221 136 134 155 70 74 7 27 30 18 28 40 162 244 194 181 152 93 120 117 121 127 172 164 187 173 179 161 155 134 140 147 133 130 115 107 69 75 87 33 24 41 43 17 81 0 67 59 107 61 107 66 80 58 88 112 75 95 63 114 94 79 68 58 42 22 32 79 124 112 77 101 110 73 78 100 50 29 23 76 54 71 57 100 83 54 56 145 105 96 117 134 92 119 110 97 101 86 132 75 114 136 89 138 92 102 102 80 74 76 100 90 96 91 72 91 98 48 69 55 101 71 73 103 126 115 98 90 115 146 110 127 141 107 105 119 105 106 107 76 40 41 61 47 58 38 44 14 30 10 16 70 60 43 66 28 74 73 64 43 63 16 83 52 49 68 59 32 40 44 6 8 75 53 50 155 159 166 142 99 102 18 0 19 38 35 34 35 88 176 155 164 193 159 109 112 89 110 105 195 163 177 161 139 170 123 114 140 119 120 122 134 103 77 65 0 23 0 31 0 79 18 15 33 44 28 30 48 69 83 103 63 111 76 61 58 78 43 111 78 45 60 67 23 34 88 71 146 103 122 70 77 91 38 86 58 57 102 111 49 90 109 80 77 140 122 153 123 135 113 137 91 56 97 102 66 87 126 39 87 103 115 65 59 69 55 87 118 38 87 118 70 56 68 79 46 87 56 41 51 70 78 111 77 93 129 137 119 180 104 79 112 127 106 167 91 104 127 115 62 80 33 61 56 20 20 33 46 29 57 29 82 47 15 49 27 43 33 64 38 36 74 59 30 84 48 81 85 61 67 96 129 141 174 94 79 67 49 79 64 38 39 70 20 41 88 186 187 145 149 105 90 75 100 108 91 154 160 137 173 160 148 140 144 119 107 107 83 90 54 14 10 44 16 30 28 41 55 58 24 23 53 43 46 0 59 33 24 25 33 5 73 21 27 45 45 28 0 66 60 0 52 64 74 77 66 84 85 134 81 86 92 32 112 109 47 71 82 113 72 56 87 119 90 108 119 118 103 127 116 91 76 115 62 95 107 111 95 101 97 83 116 76 96 78 89 83 120 83 89 66 74 38 33 53 36 68 46 59 82 41 55 97 120 112 112 74 104 93 81 80 158 140 126 116 104 95 180 134 103 66 88 56 40 61 49 56 49 46 98 63 63 77 92 90 86 86 126 121 105 99 110 94 79 102 109 108 141 85 104 108 34 46 59 103 122 82 61 52 17 51 69 87 174 124 131 88 101 15 178 163 161 147 115 141 96 146 96 117 82 132 136 58 61 69 61 43 28 72 56 105 80 102 90 76 73 94 106 114 117 72 71 60 106 74 16 39 14 72 7 17 73 55 35 74 63 30 83 25 39 18 12 61 74 40 21 98 92 78 100 106 106 68 65 67 88 40 67 141 133 124 160 112 103 113 123 140 130 136 71 95 47 103 108 90 97 66 75 75 83 82 85 95 71 82 72 59 44 51 3 46 52 50 36 55 70 40 68 106 64 83 103 62 74 104 101 134 50 105 124 100 74 136 122 132 146 72 110 128 82 70 77 98 89 98 71 72 105 134 114 115 76 121 94 105 88 108 96 57 90 97 71 44 71 68 46 66 70 58 62 51 117 109 72 63 7 57 43 110 61 123 113 99 95 83 203 173 161 109 117 84 117 127 131 112 118 75 103 95 75 70 56 53 0 35 69 36 51 48 49 52 75 38 66 54 23 58 90 63 104 82 28 66 40 74 88 40 35 60 71 68 91 109 94 91 104 110 75 15 97 70 92 90 28 99 101 64 66 80 54 101 90 91 72 114 139 143 152 142 108 132 132 127 101 99 88 84 94 105 75 89 93 118 73 73 95 97 77 108 75 70 128 86 47 51 61 0 9 67 64 32 68 64 67 52 48 29 89 93 37 93 47 81 95 96 97 55 90 80 95 102 123 77 124 105 93 126 121 103 86 79 93 97 127 93 115 92 74 99 117 102 75 74 82 79 84 108 77 46 94 33 97 59 82 68 45 93 129 120 97 64 12 30 43 69 53 83 90 72 68 72 155 174 181 162 90 82 100 98 137 138 98 79 90 66 62 10 29 35 13 11 15 31 47 33 66 74 12 53 58 71 19 52 29 35 55 77 78 46 41 42 90 39 37 41 9 36 55 58 69 61 121 118 111 82 92 21 48 122 62 95 66 114 75 84 83 88 85 116 81 104 75 102 131 161 161 106 133 75 129 110 108 86 119 90 73 86 88 85 77 126 116 95 90 72 91 90 40 106 80 72 62 91 61 38 26 68 68 34 60 73 44 75 27 33 43 54 85 48 69 80 80 90 61 81 77 121 123 86 91 88 75 114 108 115 75 91 101 103 49 79 130 58 54 73 90 83 58 71 58 60 62 84 71 27 41 42 54 56 32 40 62 64 136 80 106 82 93 20 29 39 38 66 58 60 56 62 91 84 112 85 90 92 20 53 59 50 78 27 72 54 22 22 21 67 21 25 0 48 3 33 47 17 58 27 26 43 57 48 25 25 25 67 29 86 46 70 33 60 50 36 65 49 35 3 5 38 85 118 119 81 91 110 59 78 82 66 97 57 80 88 55 71 118 108 105 65 44 89 144 158 165 178 94 131 100 83 119 76 111 96 105 114 83 80 88 118 89 94 81 111 64 84 93 43 90 55 81 13 86 62 78 32 34 62 38 61 58 51 28 67 35 70 62 68 31 32 83 90 87 65 96 74 106 84 32 70 86 55 88 50 91 88 47 87 76 50 45 42 73 102 64 67 58 36 15 63 43 56 44 18 31 48 28 52 52 59 72 65 80 63 81 101 60 48 88 45 57 66 92 40 23 78 60 30 98 112 114 84 38 36 87 53 74 84 50 39 14 28 41 36 44 29 40 51 34 55 71 45 45 40 59 52 87 1 58 50 59 50 40 83 38 49 64 31 50 47 43 23 0 40 60 48 48 39 36 108 88 121 81 112 76 62 87 109 76 55 117 48 81 78 86 97 44 78 80 141 147 140 123 92 97 105 108 78 95 33 82 92 89 41 96 103 69 89 78 62 101 62 101 68 59 65 91 48 119 115 41 52 79 102 39 37 59 19 18 26 48 84 61 56 44 69 70 58 66 54 82 84 26 80 68 83 87 93 97 60 46 77 74 22 39 42 44 51 1 69 80 56 62 44 27 48 14 51 50 73 39 44 74 84 47 54 33 75 64 55 122 75 61 85 18 30 83 83 89 61 25 23 86 44 77 100 117 56 57 88 67 47 39 58 68 36 9 57 10 46 40 43 25 50 22 16 34 17 84 31 45 58 11 41 36 70 27 62 54 11 43 46 18 51 15 54 16 60 57 33 76 56 39 65 43 58 28 64 81 40 41 106 69 64 34 47 65 112 93 103 100 71 94 58 140 76 124 137 182 120 157 127 140 82 59 94 85 106 88 100 76 100 110 52 98 86 47 62 60 62 90 85 124 92 54 51 33 76 63 25 25 68 62 87 83 86 36 57 56 76 40 46 99 38 72 88 55 59 84 79 52 73 53 78 63 57 72 67 44 40 58 17 55 18 64 35 61 55 32 71 31 55 18 34 74 15 57 8 30 49 63 49 41 59 22 91 81 86 84 66 95 72 61 110 87 42 47 68 80 53 111 95 84 66 62 84 0 55 42 41 15 29 15 28 41 0 10 17 56 69 23 0 32 27 39 27 25 63 35 66 73 44 33 68 78 61 54 16 15 20 30 74 37 74 70 25 44 34 51 65 38 72 54 44 11 47 44 78 43 21 45 0 25 78 66 64 69 71 54 81 53 77 83 97 141 114 122 121 107 112 102 49 97 121 72 129 58 83 85 118 67 76 89 97 95 97 57 77 33 76 90 57 92 39 46 48 18 75 33 29 30 61 80 61 36 34 69 12 85 50 21 56 52 34 59 76 54 58 85 76 66 38 51 48 65 26 94 81 57 49 48 27 74 76 17 66 49 0 23 60 52 34 57 53 53 51 96 31 52 68 6 73 89 126 100 88 95 45 52 89 58 69 86 66 82 96 100 73 8 16 83 65 65 65 62 42 26 32 24 39 31 22 18 34 49 50 59 18 18 40 52 0 62 24 36 11 40 34 6 21 39 35 56 23 67 55 31 42 73 44 81 76 84 84 7 52 25 17 36 64 66 75 67 64 38 62 83 52 24 36 68 67 51 86 48 38 106 98 48 72 92 159 120 136 90 153 85 122 62 57 80 104 52 59 69 83 64 117 97 66 54 86 111 69 25 87 80 122 48 67 55 65 40 40 45 52 63 55 26 28 33 65 56 72 45 22 56 22 35 41 70 57 60 74 46 12 79 78 53 68 107 93 53 49 86 26 43 49 57 60 40 33 16 53 57 39 27 49 57 42 40 27 53 64 69 53 45 53 106 118 139 101 101 82 48 75 31 73 74 81 80 67 88 6 41 111 61 94 82 65 39 20 37 21 2 30 56 17 47 24 47 35 30 57 15 52 1 13 72 47 46 23 37 21 9 45 31 84 55 76 42 65 53 75 87 83 66 65 76 59 6 38 49 39 96 15 43 32 54 51 56 51 82 52 36 69 53 43 43 89 28 56 90 95 69 67 96 134 109 131 141 112 106 110 95 82 93 83 96 84 78 93 102 82 76 91 85 65 64 49 65 70 87 71 62 54 73 96 49 7 44 49 38 42 78 53 71 57 59 75 36 20 17 77 78 60 65 40 40 63 30 52 64 55 43 63 54 60 104 36 40 46 59 90 50 39 83 32 65 41 27 74 88 49 42 36 62 61 89 39 17 63 74 50 77 118 95 75 85 95 45 50 29 100 56 60 84 43 53 32 47 67 17 65 87 59 51 15 47 55 22 41 55 76 25 9 19 51 24 19 26 42 21 46 0 22 40 49 52 23 17 28 37 81 27 25 33 72 73 102 95 89 58 51 89 41 56 25 50 50 1 47 55 49 66 23 42 64 47 36 37 48 51 60 47 57 61 103 103 81 46 38 70 104 103 139 106 120 112 97 97 123 97 68 72 51 70 86 122 132 108 131 60 74 67 96 39 62 62 47 61 95 66 84 67 50 27 46 87 29 32 28 39 49 33 53 72 98 19 32 50 18 80 64 67 63 50 62 81 77 56 75 35 48 36 78 19 89 55 63 72 54 68 62 36 67 65 46 19 31 34 20 68 75 41 64 48 41 51 60 49 49 84 64 93 86 54 61 74 49 14 71 68 1 32 43 18 19 18 65 26 35 38 7 14 36 29 34 48 35 27 0 0 57 42 18 18 14 25 29 0 18 42 13 42 61 16 41 61 0 12 41 47 100 77 87 51 66 74 79 77 41 58 97 27 56 73 41 31 63 84 33 59 25 45 41 25 23 90 50 28 63 57 62 56 36 84 62 106 59 69 138 93 88 137 160 172 143 107 95 93 26 81 86 89 95 63 109 71 68 94 68 102 84 57 25 53 62 135 127 78 43 40 65 96 61 59 27 24 31 54 73 51 22 37 78 27 36 91 24 63 99 68 72 60 44 57 48 69 47 60 50 71 52 7 55 35 72 41 34 40 28 45 58 39 35 51 39 48 70 66 67 49 53 57 27 102 39 46 25 26 54 59 60 36 33 14 40 29 49 46 42 0 4 52 0 0 3 0 26 51 14 43 22 37 20 17 63 46 22 12 49 33 32 51 33 43 52 47 43 9 11 12 24 13 9 16 44 20 5 27 33 53 28 39 53 51 43 51 28 38 29 37 30 21 44 24 19 18 8 0 58 0 0 25 39 26 46 13 70 73 83 64 54 0 51 53 53 137 107 156 139 102 152 100 118 74 63 45 44 39 69 71 69 89 126 72 95 99 127 56 83 62 30 29 133 62 99 83 66 61 30 71 37 48 66 49 34 24 51 34 71 24 43 65 40 50 85 76 42 58 61 93 42 107 71 45 45 51 44 71 61 55 68 68 54 92 42 90 51 53 33 101 54 63 38 46 32 62 44 55 41 35 89 42 49 25 28 72 10 53 55 37 34 45 24 7 32 41 33 23 0 13 19 35 44 75 41 64 50 64 43 39 62 38 44 52 35 17 17 63 70 19 62 18 55 63 43 20 23 33 14 25 0 38 5 21 10 25 56 52 29 0 41 35 41 31 27 21 16 14 9 25 0 14 23 7 4 0 0 0 17 0 10 44 16 35 30 33 13 43 14 7 0 84 132 170 149 141 145 53 116 50 85 94 76 120 81 51 65 53 106 122 58 58 94 116 54 66 90 49 93 88 74 80 77 72 83 69 65 33 53 95 65 63 48 36 65 30 30 77 41 65 55 86 63 62 57 56 54 50 64 25 31 7 64 30 50 25 42 38 50 45 72 53 37 69 65 65 62 66 50 52 89 44 99 69 71 39 55 17 53 37 23 4 69 58 10 36 70 34 41 38 42 18 60 10 82 6 35 51 56 43 11 31 60 57 107 39 58 30 0 36 51 46 42 41 21 14 57 0 43 7 23 29 19 30 27 13 0 33 8 59 29 30 22 9 1 3 25 20 21 41 41 14 34 34 0 27 17 0 0 20 5 16 29 13 12 0 0 0 31 14 33 39 40 25 0 15 20 24 105 131 108 105 109 88 106 157 104 57 107 85 85 73 44 86 80 83 88 139 33 64 77 104 105 80 56 92 67 49 99 44 63 54 66 73 59 71 32 67 68 50 28 31 59 12 43 48 29 67 69 78 52 68 27 52 45 36 67 44 49 16 60 50 77 52 53 57 79 43 65 39 66 39 42 52 58 48 40 34 55 59 15 35 78 40 57 36 54 45 34 34 31 46 63 60 67 52 42 27 48 63 80 56 55 29 40 33 45 1 63 109 32 38 14 55 50 45 39 28 55 34 54 51 26 39 11 68 70 21 67 30 20 22 30 20 19 25 0 0 6 0 24 0 0 5 2 0 21 13 27 37 46 4 30 19 0 0 0 15 0 56 0 0 47 21 11 0 6 8 14 4 2 38 43 41 0 4 98 167 112 98 117 139 140 99 94 114 74 96 76 67 102 65 93 104 110 33 52 84 102 81 57 86 32 111 132 93 124 59 93 71 38 71 41 62 27 17 66 49 61 24 74 64 0 51 65 21 46 56 14 47 60 16 64 52 33 47 62 32 76 51 91 76 54 42 35 78 21 68 49 60 27 54 37 56 23 33 34 44 30 80 62 47 7 2 27 15 56 49 50 67 79 25 25 40 57 67 26 63 40 48 51 17 44 46 45 14 32 41 17 43 35 3 47 23 38 13 67 0 28 33 51 36 59 54 55 73 23 46 18 19 3 13 3 28 19 42 48 25 0 5 14 0 22 0 0 45 2 1 31 24 27 12 3 11 0 0 0 20 5 17 23 44 19 43 0 17 6 47 27 4 0 24 20 149 116 126 141 123 100 95 120 67 83 98 74 81 81 77 88 52 120 48 74 78 90 107 65 75 86 62 143 115 80 67 99 60 68 21 43 7 25 16 37 74 36 59 16 91 48 34 18 67 37 38 50 60 78 74 63 2 27 19 68 43 55 3 30 58 101 41 39 21 50 51 34 91 71 34 27 22 39 42 11 31 21 26 6 29 52 79 58 99 43 38 34 56 42 55 34 70 52 58 38 46 51 16 63 8 62 46 44 0 57 65 23 62 28 15 35 44 58 7 109 47 99 65 27 78 31 64 31 45 69 29 0 31 26 0 34 3 0 44 1 6 2 12 0 30 4 10 40 19 44 18 0 8 13 18 22 12 14 0 30 20 16 4 13 29 0 31 33 41 51 39 32 10 16 15 66 64 134 166 128 119 106 115 102 92 93 102 55 83 75 76 96 44 47 81 52 72 56 46 104 105 89 89 44 115 74 104 91 55 34 68 26 68 51 64 8 45 117 59 81 31 9 84 56 48 44 64 38 27 37 40 55 54 21 58 44 21 53 64 74 62 81 10 90 48 77 53 52 45 40 35 29 57 26 70 23 58 40 15 74 59 31 53 26 19 6 13 60 34 27 58 59 7 41 33 0 57 42 60 54 49 38 63 27 29 16 62 18 21 28 21 44 45 32 19 48 7 52 5 48 76 0 50 31 28 56 31 41 37 16 0 16 23 7 35 39 0 27 11 0 27 32 20 42 14 37 0 47 20 1 36 42 49 22 29 42 0 30 16 48 13 40 16 0 27 27 36 49 9 0 23 11 23 3 118 141 125 131 74 95 85 120 101 110 60 78 47 64 54 38 56 75 71 64 73 52 83 33 131 35 53 69 95 86 58 64 85 46 27 58 32 72 32 14 47 14 58 54 66 35 79 29 55 46 21 33 36 34 3 31 35 26 33 55 74 31 34 87 70 55 41 71 96 67 5 42 54 54 53 1 84 36 6 50 0 48 23 63 24 26 37 74 20 55 9 44 41 42 16 16 52 23 6 46 66 53 32 61 29 22 37 23 56 27 48 26 35 13 20 16 35 66 43 97 46 45 43 27 10 26 61 62 34 0 0 53 30 33 13 26 17 0 38 13 4 21 43 22 25 22 0 31 31 11 40 27 28 30 2 22 16 3 0 47 10 7 51 49 34 0 20 34 49 14 0 0 28 4 63 62 2 165 108 96 135 115 121 108 78 93 92 68 100 96 59 75 52 33 63 54 54 44 82 74 59 89 83 81 36 120 70 89 46 82 62 21 43 41 33 16 84 3 61 17 43 36 47 92 79 60 35 22 28 30 27 0 8 0 26 16 36 26 78 43 20 55 69 23 6 42 77 82 54 59 40 15 41 51 55 49 2 11 83 38 42 10 47 20 55 50 56 55 74 27 50 65 29 48 95 1 38 9 67 4 41 48 33 48 42 28 23 66 20 27 24 68 40 43 26 33 31 53 26 26 25 47 41 7 0 25 67 23 6 18 31 24 7 25 0 13 42 28 22 33 24 46 33 16 27 0 28 60 0 55 0 49 8 17 15 60 46 25 38 0 19 42 16 0 8 26 0 25 21 84 42 0 29 36 124 159 167 124 97 103 93 61 85 59 94 78 73 95 50 55 59 46 65 86 89 60 82 99 127 52 79 57 99 76 82 74 18 90 56 57 53 30 41 70 38 38 84 49 33 63 37 40 28 60 37 16 24 0 44 13 72 67 0 0 41 21 13 37 15 82 12 38 71 54 62 31 75 45 65 55 21 10 42 29 35 40 42 76 12 48 39 13 33 59 14 50 47 36 29 21 24 10 50 20 26 38 22 52 24 18 31 4 10 20 33 46 32 85 22 47 19 14 32 10 11 5 29 43 35 34 47 14 26 33 37 13 0 42 32 30 26 27 28 0 26 36 18 0 30 21 32 0 60 23 0 21 0 20 17 7 30 20 34 28 74 29 8 39 35 11 14 24 55 0 45 57 17 0 48 19 59 123 140 127 84 104 105 108 118 78 108 74 70 60 82 69 71 69 92 79 38 109 54 88 100 125 83 73 57 103 94 49 85 81 48 28 44 0 52 0 63 43 45 35 54 29 46 51 50 36 0 44 63 0 0 6 29 37 19 46 51 15 1 43 0 59 10 57 23 24 46 44 55 61 76 32 24 20 61 31 42 79 6 45 66 22 54 50 40 65 15 9 16 22 46 37 15 53 5 27 18 24 43 35 22 5 10 9 13 46 6 37 36 30 25 22 0 22 0 40 36 3 41 34 49 10 62 91 25 43 5 36 3 22 13 12 27 37 36 33 7 4 21 29 28 0 13 0 6 36 40 2 32 7 16 20 34 0 15 0 5 10 1 27 60 13 0 45 23 11 18 0 40 63 25 12 43 5 111 133 95 97 119 92 126 76 89 71 36 38 14 28 71 19 44 76 106 78 73 112 114 92 75 97 72 68 65 102 100 156 37 82 35 68 10 58 26 47 80 33 8 75 55 53 75 65 49 22 36 40 29 0 43 32 19 71 9 26 43 48 35 47 51 41 66 34 0 5 82 38 51 73 75 41 29 40 41 69 31 53 54 14 43 30 9 0 17 33 42 0 15 21 7 22 49 22 21 39 35 22 33 36 14 39 30 33 9 22 10 24 42 10 41 54 0 43 8 18 54 35 39 27 2 66 59 24 10 53 25 20 0 46 53 15 2 36 14 18 13 38 1 63 28 51 10 14 28 23 36 16 33 9 16 23 23 0 41 17 18 29 21 0 12 12 42 51 0 27 32 31 19 19 57 51 43 99 118 134 117 121 100 106 83 81 65 85 96 59 86 69 57 44 43 66 79 45 107 102 64 60 111 86 75 46 94 81 80 80 30 47 32 34 37 23 35 21 48 82 53 73 46 43 37 56 17 66 40 35 39 44 42 0 30 15 16 3 35 44 58 33 7 36 37 37 36 35 32 50 46 59 1 19 12 26 17 52 25 56 3 22 11 25 7 46 17 48 34 29 0 59 36 0 16 14 64 39 23 58 64 34 6 19 24 45 25 1 14 0 27 0 17 2 11 60 6 27 29 11 13 22 49 20 51 2 29 37 43 13 16 28 62 29 16 0 25 38 33 10 32 10 43 40 19 46 13 3 2 2 41 17 20 0 15 13 0 40 22 29 47 41 18 27 2 39 5 7 28 39 32 11 61 32 104 109 80 120 111 67 90 99 97 67 108 96 81 22 55 63 39 89 90 94 48 78 85 80 72 86 96 62 57 80 119 67 91 67 69 78 41 47 45 16 16 54 0 11 34 33 53 63 56 19 74 53 19 6 6 78 32 19 39 27 58 46 19 36 36 40 45 6 42 11 24 57 39 14 34 0 16 0 1 45 9 47 28 4 32 3 27 15 10 23 13 40 46 74 28 27 5 0 38 11 6 13 25 21 0 20 26 48 26 19 15 19 0 38 29 49 12 12 34 1 29 24 54 40 0 61 43 2 22 31 41 40 25 4 20 0 61 3 32 10 42 33 2 0 0 0 42 45 10 2 11 6 28 12 25 9 39 32 0 0 48 0 34 16 8 92 7 32 42 13 43 26 17 75 66 92 55 118 102 90 86 131 87 134 127 52 89 112 105 79 78 37 59 30 89 51 57 98 50 111 84 65 78 73 50 75 68 75 76 68 63 34 51 42 28 29 24 66 21 45 2 10 15 62 41 77 34 31 31 55 47 23 12 21 0 55 56 28 54 70 14 8 19 11 10 40 21 0 51 26 29 11 54 49 30 25 8 6 0 26 26 17 0 10 31 59 4 47 51 7 7 32 17 0 22 5 16 33 27 65 27 17 0 0 27 21 0 20 15 41 0 62 7 12 34 58 22 27 43 12 33 46 52 24 22 10 60 56 17 26 3 37 29 13 8 0 15 12 21 27 34 24 0 19 27 33 30 32 0 22 0 20 36 16 0 0 36 23 0 6 7 16 51 63 33 38 25 0 8 19 4 0 41 45 116 127 137 117 92 109 137 95 82 91 64 74 100 51 56 75 49 106 70 48 94 55 79 96 36 70 80 74 74 0 83 107 113 60 75 72 4 19 45 24 32 33 9 42 79 17 40 71 42 26 102 52 70 33 42 42 28 24 20 59 0 16 55 35 0 0 0 14 14 38 6 6 2 2 20 13 28 2 13 28 27 0 23 19 46 37 48 40 12 34 9 29 24 0 46 0 41 43 5 10 5 28 16 0 25 35 19 38 23 62 3 60 7 46 37 64 11 0 0 0 13 43 67 45 17 50 64 0 35 15 16 12 41 31 0 13 0 0 22 0 22 7 22 60 41 22 31 0 21 0 32 48 0 12 40 18 32 28 2 35 26 43 0 41 10 1 0 37 0 25 29 15 43 38 52 42 83 130 102 111 89 137 103 74 109 85 45 69 99 89 65 55 78 72 70 110 80 115 95 115 96 81 76 94 87 54 36 92 114 73 102 50 2 75 17 3 23 50 47 57 45 23 3 27 92 62 94 57 50 3 63 33 21 38 54 57 33 39 17 27 68 15 12 40 28 0 6 22 12 40 37 50 39 0 1 23 42 56 60 5 31 35 18 36 20 36 6 23 27 9 22 4 46 48 8 43 13 0 10 0 0 26 43 18 52 30 25 17 56 54 22 0 48 20 25 43 58 47 27 30 36 26 10 77 20 64 19 31 7 37 7 26 29 0 43 20 0 13 28 36 43 54 33 35 36 0 26 16 35 39 23 8 31 39 12 59 57 22 9 23 0 26 61 27 43 20 23 4 62 17 47 27 42 43
\ No newline at end of file
--- /dev/null
+Problem files are created from Tears of Steel production files.
+
+- problem_01.bin is a final camera motion refinement step of 07_1a scene.
+- problem_02.bin is a final camera motion refinement step of 03_2a scene.
+- problem_03.bin is a final camera motion refinement step of 09_1a scene.
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Bennett5 (Bennett5.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 214)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ superconductivity magnetization modeling. The\r
+ response variable is magnetism, and the predictor\r
+ variable is the log of time in minutes.\r
+\r
+Reference: Bennett, L., L. Swartzendruber, and H. Brown, \r
+ NIST (1994). \r
+ Superconductivity Magnetization Modeling.\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response Variable (y = magnetism)\r
+ 1 Predictor Variable (x = log[time])\r
+ 154 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ y = b1 * (b2+x)**(-1/b3) + e\r
+\r
+ \r
+ \r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = -2000 -1500 -2.5235058043E+03 2.9715175411E+02\r
+ b2 = 50 45 4.6736564644E+01 1.2448871856E+00\r
+ b3 = 0.8 0.85 9.3218483193E-01 2.0272299378E-02\r
+\r
+Residual Sum of Squares: 5.2404744073E-04\r
+Residual Standard Deviation: 1.8629312528E-03\r
+Degrees of Freedom: 151\r
+Number of Observations: 154\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ -34.834702E0 7.447168E0\r
+ -34.393200E0 8.102586E0\r
+ -34.152901E0 8.452547E0\r
+ -33.979099E0 8.711278E0\r
+ -33.845901E0 8.916774E0\r
+ -33.732899E0 9.087155E0\r
+ -33.640301E0 9.232590E0\r
+ -33.559200E0 9.359535E0\r
+ -33.486801E0 9.472166E0\r
+ -33.423100E0 9.573384E0\r
+ -33.365101E0 9.665293E0\r
+ -33.313000E0 9.749461E0\r
+ -33.260899E0 9.827092E0\r
+ -33.217400E0 9.899128E0\r
+ -33.176899E0 9.966321E0\r
+ -33.139198E0 10.029280E0\r
+ -33.101601E0 10.088510E0\r
+ -33.066799E0 10.144430E0\r
+ -33.035000E0 10.197380E0\r
+ -33.003101E0 10.247670E0\r
+ -32.971298E0 10.295560E0\r
+ -32.942299E0 10.341250E0\r
+ -32.916302E0 10.384950E0\r
+ -32.890202E0 10.426820E0\r
+ -32.864101E0 10.467000E0\r
+ -32.841000E0 10.505640E0\r
+ -32.817799E0 10.542830E0\r
+ -32.797501E0 10.578690E0\r
+ -32.774300E0 10.613310E0\r
+ -32.757000E0 10.646780E0\r
+ -32.733799E0 10.679150E0\r
+ -32.716400E0 10.710520E0\r
+ -32.699100E0 10.740920E0\r
+ -32.678799E0 10.770440E0\r
+ -32.661400E0 10.799100E0\r
+ -32.644001E0 10.826970E0\r
+ -32.626701E0 10.854080E0\r
+ -32.612202E0 10.880470E0\r
+ -32.597698E0 10.906190E0\r
+ -32.583199E0 10.931260E0\r
+ -32.568699E0 10.955720E0\r
+ -32.554298E0 10.979590E0\r
+ -32.539799E0 11.002910E0\r
+ -32.525299E0 11.025700E0\r
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+ -32.499199E0 11.069770E0\r
+ -32.487598E0 11.091100E0\r
+ -32.473202E0 11.111980E0\r
+ -32.461601E0 11.132440E0\r
+ -32.435501E0 11.152480E0\r
+ -32.435501E0 11.172130E0\r
+ -32.426800E0 11.191410E0\r
+ -32.412300E0 11.210310E0\r
+ -32.400799E0 11.228870E0\r
+ -32.392101E0 11.247090E0\r
+ -32.380501E0 11.264980E0\r
+ -32.366001E0 11.282560E0\r
+ -32.357300E0 11.299840E0\r
+ -32.348598E0 11.316820E0\r
+ -32.339901E0 11.333520E0\r
+ -32.328400E0 11.349940E0\r
+ -32.319698E0 11.366100E0\r
+ -32.311001E0 11.382000E0\r
+ -32.299400E0 11.397660E0\r
+ -32.290699E0 11.413070E0\r
+ -32.282001E0 11.428240E0\r
+ -32.273300E0 11.443200E0\r
+ -32.264599E0 11.457930E0\r
+ -32.256001E0 11.472440E0\r
+ -32.247299E0 11.486750E0\r
+ -32.238602E0 11.500860E0\r
+ -32.229900E0 11.514770E0\r
+ -32.224098E0 11.528490E0\r
+ -32.215401E0 11.542020E0\r
+ -32.203800E0 11.555380E0\r
+ -32.198002E0 11.568550E0\r
+ -32.189400E0 11.581560E0\r
+ -32.183601E0 11.594420E0\r
+ -32.174900E0 11.607121E0\r
+ -32.169102E0 11.619640E0\r
+ -32.163300E0 11.632000E0\r
+ -32.154598E0 11.644210E0\r
+ -32.145901E0 11.656280E0\r
+ -32.140099E0 11.668200E0\r
+ -32.131401E0 11.679980E0\r
+ -32.125599E0 11.691620E0\r
+ -32.119801E0 11.703130E0\r
+ -32.111198E0 11.714510E0\r
+ -32.105400E0 11.725760E0\r
+ -32.096699E0 11.736880E0\r
+ -32.090900E0 11.747890E0\r
+ -32.088001E0 11.758780E0\r
+ -32.079300E0 11.769550E0\r
+ -32.073502E0 11.780200E0\r
+ -32.067699E0 11.790730E0\r
+ -32.061901E0 11.801160E0\r
+ -32.056099E0 11.811480E0\r
+ -32.050301E0 11.821700E0\r
+ -32.044498E0 11.831810E0\r
+ -32.038799E0 11.841820E0\r
+ -32.033001E0 11.851730E0\r
+ -32.027199E0 11.861550E0\r
+ -32.024300E0 11.871270E0\r
+ -32.018501E0 11.880890E0\r
+ -32.012699E0 11.890420E0\r
+ -32.004002E0 11.899870E0\r
+ -32.001099E0 11.909220E0\r
+ -31.995300E0 11.918490E0\r
+ -31.989500E0 11.927680E0\r
+ -31.983700E0 11.936780E0\r
+ -31.977900E0 11.945790E0\r
+ -31.972099E0 11.954730E0\r
+ -31.969299E0 11.963590E0\r
+ -31.963501E0 11.972370E0\r
+ -31.957701E0 11.981070E0\r
+ -31.951900E0 11.989700E0\r
+ -31.946100E0 11.998260E0\r
+ -31.940300E0 12.006740E0\r
+ -31.937401E0 12.015150E0\r
+ -31.931601E0 12.023490E0\r
+ -31.925800E0 12.031760E0\r
+ -31.922899E0 12.039970E0\r
+ -31.917101E0 12.048100E0\r
+ -31.911301E0 12.056170E0\r
+ -31.908400E0 12.064180E0\r
+ -31.902599E0 12.072120E0\r
+ -31.896900E0 12.080010E0\r
+ -31.893999E0 12.087820E0\r
+ -31.888201E0 12.095580E0\r
+ -31.885300E0 12.103280E0\r
+ -31.882401E0 12.110920E0\r
+ -31.876600E0 12.118500E0\r
+ -31.873699E0 12.126030E0\r
+ -31.867901E0 12.133500E0\r
+ -31.862101E0 12.140910E0\r
+ -31.859200E0 12.148270E0\r
+ -31.856300E0 12.155570E0\r
+ -31.850500E0 12.162830E0\r
+ -31.844700E0 12.170030E0\r
+ -31.841801E0 12.177170E0\r
+ -31.838900E0 12.184270E0\r
+ -31.833099E0 12.191320E0\r
+ -31.830200E0 12.198320E0\r
+ -31.827299E0 12.205270E0\r
+ -31.821600E0 12.212170E0\r
+ -31.818701E0 12.219030E0\r
+ -31.812901E0 12.225840E0\r
+ -31.809999E0 12.232600E0\r
+ -31.807100E0 12.239320E0\r
+ -31.801300E0 12.245990E0\r
+ -31.798401E0 12.252620E0\r
+ -31.795500E0 12.259200E0\r
+ -31.789700E0 12.265750E0\r
+ -31.786800E0 12.272240E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: BoxBOD (BoxBOD.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 66)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are described in detail in Box, Hunter and\r
+ Hunter (1978). The response variable is biochemical\r
+ oxygen demand (BOD) in mg/l, and the predictor\r
+ variable is incubation time in days.\r
+\r
+\r
+Reference: Box, G. P., W. G. Hunter, and J. S. Hunter (1978).\r
+ Statistics for Experimenters. \r
+ New York, NY: Wiley, pp. 483-487.\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = biochemical oxygen demand)\r
+ 1 Predictor (x = incubation time)\r
+ 6 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1*(1-exp[-b2*x]) + e\r
+\r
+\r
+ \r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1 100 2.1380940889E+02 1.2354515176E+01\r
+ b2 = 1 0.75 5.4723748542E-01 1.0455993237E-01\r
+\r
+Residual Sum of Squares: 1.1680088766E+03\r
+Residual Standard Deviation: 1.7088072423E+01\r
+Degrees of Freedom: 4\r
+Number of Observations: 6 \r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 109 1\r
+ 149 2\r
+ 149 3\r
+ 191 5\r
+ 213 7\r
+ 224 10\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Chwirut1 (Chwirut1.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 274)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ ultrasonic calibration. The response variable is\r
+ ultrasonic response, and the predictor variable is\r
+ metal distance.\r
+\r
+Reference: Chwirut, D., NIST (197?). \r
+ Ultrasonic Reference Block Study. \r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response Variable (y = ultrasonic response)\r
+ 1 Predictor Variable (x = metal distance)\r
+ 214 Observations\r
+ Lower Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ y = exp[-b1*x]/(b2+b3*x) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 0.1 0.15 1.9027818370E-01 2.1938557035E-02\r
+ b2 = 0.01 0.008 6.1314004477E-03 3.4500025051E-04\r
+ b3 = 0.02 0.010 1.0530908399E-02 7.9281847748E-04\r
+\r
+Residual Sum of Squares: 2.3844771393E+03\r
+Residual Standard Deviation: 3.3616721320E+00\r
+Degrees of Freedom: 211\r
+Number of Observations: 214\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 92.9000E0 0.5000E0\r
+ 78.7000E0 0.6250E0\r
+ 64.2000E0 0.7500E0\r
+ 64.9000E0 0.8750E0\r
+ 57.1000E0 1.0000E0\r
+ 43.3000E0 1.2500E0\r
+ 31.1000E0 1.7500E0\r
+ 23.6000E0 2.2500E0\r
+ 31.0500E0 1.7500E0\r
+ 23.7750E0 2.2500E0\r
+ 17.7375E0 2.7500E0\r
+ 13.8000E0 3.2500E0\r
+ 11.5875E0 3.7500E0\r
+ 9.4125E0 4.2500E0\r
+ 7.7250E0 4.7500E0\r
+ 7.3500E0 5.2500E0\r
+ 8.0250E0 5.7500E0\r
+ 90.6000E0 0.5000E0\r
+ 76.9000E0 0.6250E0\r
+ 71.6000E0 0.7500E0\r
+ 63.6000E0 0.8750E0\r
+ 54.0000E0 1.0000E0\r
+ 39.2000E0 1.2500E0\r
+ 29.3000E0 1.7500E0\r
+ 21.4000E0 2.2500E0\r
+ 29.1750E0 1.7500E0\r
+ 22.1250E0 2.2500E0\r
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+ 14.2500E0 3.2500E0\r
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+ 6.1125E0 5.7500E0\r
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+ 22.2000E0 2.0000E0\r
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+ 16.2400E0 3.0000E0\r
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+ 7.8700E0 5.0000E0\r
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+ 59.2000E0 .7500E0\r
+ 40.8000E0 1.0000E0\r
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+ 25.7000E0 2.0000E0\r
+ 16.3000E0 2.5000E0\r
+ 25.9900E0 2.0000E0\r
+ 16.9500E0 2.5000E0\r
+ 13.3500E0 3.0000E0\r
+ 8.6200E0 4.0000E0\r
+ 7.2000E0 5.0000E0\r
+ 6.6400E0 6.0000E0\r
+ 13.6900E0 3.0000E0\r
+ 81.0000E0 .5000E0\r
+ 64.5000E0 .7500E0\r
+ 35.5000E0 1.5000E0\r
+ 13.3100E0 3.0000E0\r
+ 4.8700E0 6.0000E0\r
+ 12.9400E0 3.0000E0\r
+ 5.0600E0 6.0000E0\r
+ 15.1900E0 3.0000E0\r
+ 14.6200E0 3.0000E0\r
+ 15.6400E0 3.0000E0\r
+ 25.5000E0 1.7500E0\r
+ 25.9500E0 1.7500E0\r
+ 81.7000E0 .5000E0\r
+ 61.6000E0 .7500E0\r
+ 29.8000E0 1.7500E0\r
+ 29.8100E0 1.7500E0\r
+ 17.1700E0 2.7500E0\r
+ 10.3900E0 3.7500E0\r
+ 28.4000E0 1.7500E0\r
+ 28.6900E0 1.7500E0\r
+ 81.3000E0 .5000E0\r
+ 60.9000E0 .7500E0\r
+ 16.6500E0 2.7500E0\r
+ 10.0500E0 3.7500E0\r
+ 28.9000E0 1.7500E0\r
+ 28.9500E0 1.7500E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Chwirut2 (Chwirut2.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 114)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ ultrasonic calibration. The response variable is\r
+ ultrasonic response, and the predictor variable is\r
+ metal distance.\r
+\r
+\r
+\r
+Reference: Chwirut, D., NIST (197?). \r
+ Ultrasonic Reference Block Study. \r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = ultrasonic response)\r
+ 1 Predictor (x = metal distance)\r
+ 54 Observations\r
+ Lower Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ y = exp(-b1*x)/(b2+b3*x) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 0.1 0.15 1.6657666537E-01 3.8303286810E-02\r
+ b2 = 0.01 0.008 5.1653291286E-03 6.6621605126E-04\r
+ b3 = 0.02 0.010 1.2150007096E-02 1.5304234767E-03\r
+\r
+Residual Sum of Squares: 5.1304802941E+02\r
+Residual Standard Deviation: 3.1717133040E+00\r
+Degrees of Freedom: 51\r
+Number of Observations: 54\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+ \r
+\r
+Data: y x\r
+ 92.9000E0 0.500E0\r
+ 57.1000E0 1.000E0\r
+ 31.0500E0 1.750E0\r
+ 11.5875E0 3.750E0\r
+ 8.0250E0 5.750E0\r
+ 63.6000E0 0.875E0\r
+ 21.4000E0 2.250E0\r
+ 14.2500E0 3.250E0\r
+ 8.4750E0 5.250E0\r
+ 63.8000E0 0.750E0\r
+ 26.8000E0 1.750E0\r
+ 16.4625E0 2.750E0\r
+ 7.1250E0 4.750E0\r
+ 67.3000E0 0.625E0\r
+ 41.0000E0 1.250E0\r
+ 21.1500E0 2.250E0\r
+ 8.1750E0 4.250E0\r
+ 81.5000E0 .500E0\r
+ 13.1200E0 3.000E0\r
+ 59.9000E0 .750E0\r
+ 14.6200E0 3.000E0\r
+ 32.9000E0 1.500E0\r
+ 5.4400E0 6.000E0\r
+ 12.5600E0 3.000E0\r
+ 5.4400E0 6.000E0\r
+ 32.0000E0 1.500E0\r
+ 13.9500E0 3.000E0\r
+ 75.8000E0 .500E0\r
+ 20.0000E0 2.000E0\r
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+ 59.5000E0 .750E0\r
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+ 3.7500E0 5.750E0\r
+ 11.8100E0 3.000E0\r
+ 54.7000E0 .750E0\r
+ 23.7000E0 2.500E0\r
+ 11.5500E0 4.000E0\r
+ 61.3000E0 .750E0\r
+ 17.7000E0 2.500E0\r
+ 8.7400E0 4.000E0\r
+ 59.2000E0 .750E0\r
+ 16.3000E0 2.500E0\r
+ 8.6200E0 4.000E0\r
+ 81.0000E0 .500E0\r
+ 4.8700E0 6.000E0\r
+ 14.6200E0 3.000E0\r
+ 81.7000E0 .500E0\r
+ 17.1700E0 2.750E0\r
+ 81.3000E0 .500E0\r
+ 28.9000E0 1.750E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: DanWood (DanWood.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 66)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data and model are described in Daniel and Wood\r
+ (1980), and originally published in E.S.Keeping, \r
+ "Introduction to Statistical Inference," Van Nostrand\r
+ Company, Princeton, NJ, 1962, p. 354. The response\r
+ variable is energy radieted from a carbon filament\r
+ lamp per cm**2 per second, and the predictor variable\r
+ is the absolute temperature of the filament in 1000\r
+ degrees Kelvin.\r
+\r
+Reference: Daniel, C. and F. S. Wood (1980).\r
+ Fitting Equations to Data, Second Edition. \r
+ New York, NY: John Wiley and Sons, pp. 428-431.\r
+\r
+\r
+Data: 1 Response Variable (y = energy)\r
+ 1 Predictor Variable (x = temperature)\r
+ 6 Observations\r
+ Lower Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1*x**b2 + e\r
+\r
+\r
+ \r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1 0.7 7.6886226176E-01 1.8281973860E-02\r
+ b2 = 5 4 3.8604055871E+00 5.1726610913E-02\r
+ \r
+Residual Sum of Squares: 4.3173084083E-03\r
+Residual Standard Deviation: 3.2853114039E-02\r
+Degrees of Freedom: 4\r
+Number of Observations: 6 \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+Data: y x\r
+ 2.138E0 1.309E0\r
+ 3.421E0 1.471E0\r
+ 3.597E0 1.490E0\r
+ 4.340E0 1.565E0\r
+ 4.882E0 1.611E0\r
+ 5.660E0 1.680E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: ENSO (ENSO.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 49)\r
+ Certified Values (lines 41 to 54)\r
+ Data (lines 61 to 228)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: The data are monthly averaged atmospheric pressure \r
+ differences between Easter Island and Darwin, \r
+ Australia. This difference drives the trade winds in \r
+ the southern hemisphere. Fourier analysis of the data\r
+ reveals 3 significant cycles. The annual cycle is the\r
+ strongest, but cycles with periods of approximately 44\r
+ and 26 months are also present. These cycles\r
+ correspond to the El Nino and the Southern Oscillation.\r
+ Arguments to the SIN and COS functions are in radians.\r
+\r
+Reference: Kahaner, D., C. Moler, and S. Nash, (1989). \r
+ Numerical Methods and Software. \r
+ Englewood Cliffs, NJ: Prentice Hall, pp. 441-445.\r
+\r
+Data: 1 Response (y = atmospheric pressure)\r
+ 1 Predictor (x = time)\r
+ 168 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 9 Parameters (b1 to b9)\r
+\r
+ y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 ) \r
+ + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )\r
+ + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 ) + e\r
+ \r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 11.0 10.0 1.0510749193E+01 1.7488832467E-01\r
+ b2 = 3.0 3.0 3.0762128085E+00 2.4310052139E-01\r
+ b3 = 0.5 0.5 5.3280138227E-01 2.4354686618E-01\r
+ b4 = 40.0 44.0 4.4311088700E+01 9.4408025976E-01\r
+ b5 = -0.7 -1.5 -1.6231428586E+00 2.8078369611E-01\r
+ b6 = -1.3 0.5 5.2554493756E-01 4.8073701119E-01\r
+ b7 = 25.0 26.0 2.6887614440E+01 4.1612939130E-01\r
+ b8 = -0.3 -0.1 2.1232288488E-01 5.1460022911E-01\r
+ b9 = 1.4 1.5 1.4966870418E+00 2.5434468893E-01\r
+\r
+Residual Sum of Squares: 7.8853978668E+02\r
+Residual Standard Deviation: 2.2269642403E+00\r
+Degrees of Freedom: 159\r
+Number of Observations: 168\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 12.90000 1.000000\r
+ 11.30000 2.000000\r
+ 10.60000 3.000000\r
+ 11.20000 4.000000\r
+ 10.90000 5.000000\r
+ 7.500000 6.000000\r
+ 7.700000 7.000000\r
+ 11.70000 8.000000\r
+ 12.90000 9.000000\r
+ 14.30000 10.000000\r
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+ 4.100000 101.00000\r
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+ 13.60000 106.0000\r
+ 16.30000 107.0000\r
+ 17.60000 108.0000\r
+ 15.50000 109.0000\r
+ 16.00000 110.0000\r
+ 15.20000 111.0000\r
+ 11.20000 112.0000\r
+ 14.30000 113.0000\r
+ 14.50000 114.0000\r
+ 8.500000 115.0000\r
+ 12.00000 116.0000\r
+ 12.70000 117.0000\r
+ 11.30000 118.0000\r
+ 14.50000 119.0000\r
+ 15.10000 120.0000\r
+ 10.400000 121.0000\r
+ 11.50000 122.0000\r
+ 13.40000 123.0000\r
+ 7.500000 124.0000\r
+ 0.6000000 125.0000\r
+ 0.3000000 126.0000\r
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+ 5.000000 128.0000\r
+ 4.600000 129.0000\r
+ 8.200000 130.0000\r
+ 9.900000 131.0000\r
+ 9.200000 132.0000\r
+ 12.50000 133.0000\r
+ 10.90000 134.0000\r
+ 9.900000 135.0000\r
+ 8.900000 136.0000\r
+ 7.600000 137.0000\r
+ 9.500000 138.0000\r
+ 8.400000 139.0000\r
+ 10.70000 140.0000\r
+ 13.60000 141.0000\r
+ 13.70000 142.0000\r
+ 13.70000 143.0000\r
+ 16.50000 144.0000\r
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+ 17.10000 146.0000\r
+ 15.40000 147.0000\r
+ 9.500000 148.0000\r
+ 6.100000 149.0000\r
+ 10.100000 150.0000\r
+ 9.300000 151.0000\r
+ 5.300000 152.0000\r
+ 11.20000 153.0000\r
+ 16.60000 154.0000\r
+ 15.60000 155.0000\r
+ 12.00000 156.0000\r
+ 11.50000 157.0000\r
+ 8.600000 158.0000\r
+ 13.80000 159.0000\r
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+ 13.20000 165.0000\r
+ 14.00000 166.0000\r
+ 13.40000 167.0000\r
+ 14.80000 168.0000\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Eckerle4 (Eckerle4.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 95)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ circular interference transmittance. The response\r
+ variable is transmittance, and the predictor variable\r
+ is wavelength.\r
+\r
+\r
+Reference: Eckerle, K., NIST (197?). \r
+ Circular Interference Transmittance Study.\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response Variable (y = transmittance)\r
+ 1 Predictor Variable (x = wavelength)\r
+ 35 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2] + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1 1.5 1.5543827178E+00 1.5408051163E-02\r
+ b2 = 10 5 4.0888321754E+00 4.6803020753E-02\r
+ b3 = 500 450 4.5154121844E+02 4.6800518816E-02\r
+\r
+Residual Sum of Squares: 1.4635887487E-03\r
+Residual Standard Deviation: 6.7629245447E-03\r
+Degrees of Freedom: 32\r
+Number of Observations: 35\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 0.0001575E0 400.000000E0\r
+ 0.0001699E0 405.000000E0\r
+ 0.0002350E0 410.000000E0\r
+ 0.0003102E0 415.000000E0\r
+ 0.0004917E0 420.000000E0\r
+ 0.0008710E0 425.000000E0\r
+ 0.0017418E0 430.000000E0\r
+ 0.0046400E0 435.000000E0\r
+ 0.0065895E0 436.500000E0\r
+ 0.0097302E0 438.000000E0\r
+ 0.0149002E0 439.500000E0\r
+ 0.0237310E0 441.000000E0\r
+ 0.0401683E0 442.500000E0\r
+ 0.0712559E0 444.000000E0\r
+ 0.1264458E0 445.500000E0\r
+ 0.2073413E0 447.000000E0\r
+ 0.2902366E0 448.500000E0\r
+ 0.3445623E0 450.000000E0\r
+ 0.3698049E0 451.500000E0\r
+ 0.3668534E0 453.000000E0\r
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+ 0.0616764E0 459.000000E0\r
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+ 0.0117831E0 463.500000E0\r
+ 0.0074357E0 465.000000E0\r
+ 0.0022732E0 470.000000E0\r
+ 0.0008800E0 475.000000E0\r
+ 0.0004579E0 480.000000E0\r
+ 0.0002345E0 485.000000E0\r
+ 0.0001586E0 490.000000E0\r
+ 0.0001143E0 495.000000E0\r
+ 0.0000710E0 500.000000E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Gauss1 (Gauss1.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 48)\r
+ Certified Values (lines 41 to 53)\r
+ Data (lines 61 to 310)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: The data are two well-separated Gaussians on a \r
+ decaying exponential baseline plus normally \r
+ distributed zero-mean noise with variance = 6.25.\r
+\r
+Reference: Rust, B., NIST (1996).\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 250 Observations\r
+ Lower Level of Difficulty\r
+ Generated Data\r
+ \r
+Model: Exponential Class\r
+ 8 Parameters (b1 to b8) \r
+ \r
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )\r
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e\r
+ \r
+ \r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 97.0 94.0 9.8778210871E+01 5.7527312730E-01\r
+ b2 = 0.009 0.0105 1.0497276517E-02 1.1406289017E-04\r
+ b3 = 100.0 99.0 1.0048990633E+02 5.8831775752E-01\r
+ b4 = 65.0 63.0 6.7481111276E+01 1.0460593412E-01\r
+ b5 = 20.0 25.0 2.3129773360E+01 1.7439951146E-01\r
+ b6 = 70.0 71.0 7.1994503004E+01 6.2622793913E-01\r
+ b7 = 178.0 180.0 1.7899805021E+02 1.2436988217E-01\r
+ b8 = 16.5 20.0 1.8389389025E+01 2.0134312832E-01\r
+\r
+Residual Sum of Squares: 1.3158222432E+03\r
+Residual Standard Deviation: 2.3317980180E+00\r
+Degrees of Freedom: 242\r
+Number of Observations: 250\r
+\r
+\r
+\r
+\r
+ \r
+\r
+Data: y x\r
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+ 4.875359 250.0000\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Gauss2 (Gauss2.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 48)\r
+ Certified Values (lines 41 to 53)\r
+ Data (lines 61 to 310)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: The data are two slightly-blended Gaussians on a \r
+ decaying exponential baseline plus normally \r
+ distributed zero-mean noise with variance = 6.25. \r
+\r
+Reference: Rust, B., NIST (1996). \r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 250 Observations\r
+ Lower Level of Difficulty\r
+ Generated Data\r
+\r
+Model: Exponential Class\r
+ 8 Parameters (b1 to b8)\r
+\r
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 ) \r
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 96.0 98.0 9.9018328406E+01 5.3748766879E-01\r
+ b2 = 0.009 0.0105 1.0994945399E-02 1.3335306766E-04\r
+ b3 = 103.0 103.0 1.0188022528E+02 5.9217315772E-01\r
+ b4 = 106.0 105.0 1.0703095519E+02 1.5006798316E-01\r
+ b5 = 18.0 20.0 2.3578584029E+01 2.2695595067E-01\r
+ b6 = 72.0 73.0 7.2045589471E+01 6.1721965884E-01\r
+ b7 = 151.0 150.0 1.5327010194E+02 1.9466674341E-01\r
+ b8 = 18.0 20.0 1.9525972636E+01 2.6416549393E-01\r
+\r
+Residual Sum of Squares: 1.2475282092E+03\r
+Residual Standard Deviation: 2.2704790782E+00\r
+Degrees of Freedom: 242\r
+Number of Observations: 250\r
+\r
+\r
+\r
+\r
+\r
+ \r
+Data: y x\r
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--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Gauss3 (Gauss3.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 48)\r
+ Certified Values (lines 41 to 53)\r
+ Data (lines 61 to 310)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: The data are two strongly-blended Gaussians on a \r
+ decaying exponential baseline plus normally \r
+ distributed zero-mean noise with variance = 6.25.\r
+\r
+Reference: Rust, B., NIST (1996).\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 250 Observations\r
+ Average Level of Difficulty\r
+ Generated Data\r
+\r
+Model: Exponential Class\r
+ 8 Parameters (b1 to b8)\r
+\r
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )\r
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e\r
+ \r
+ \r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 94.9 96.0 9.8940368970E+01 5.3005192833E-01\r
+ b2 = 0.009 0.0096 1.0945879335E-02 1.2554058911E-04\r
+ b3 = 90.1 80.0 1.0069553078E+02 8.1256587317E-01\r
+ b4 = 113.0 110.0 1.1163619459E+02 3.5317859757E-01\r
+ b5 = 20.0 25.0 2.3300500029E+01 3.6584783023E-01\r
+ b6 = 73.8 74.0 7.3705031418E+01 1.2091239082E+00\r
+ b7 = 140.0 139.0 1.4776164251E+02 4.0488183351E-01\r
+ b8 = 20.0 25.0 1.9668221230E+01 3.7806634336E-01\r
+\r
+Residual Sum of Squares: 1.2444846360E+03 \r
+Residual Standard Deviation: 2.2677077625E+00\r
+Degrees of Freedom: 242\r
+Number of Observations: 250\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
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+ 4.790035 242.0000\r
+ 8.376431 243.0000\r
+ 6.263980 244.0000\r
+ 2.705892 245.0000\r
+ 8.362109 246.0000\r
+ 8.983507 247.0000\r
+ 3.362469 248.0000\r
+ 1.182678 249.0000\r
+ 4.875312 250.0000\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Hahn1 (Hahn1.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 47)\r
+ Certified Values (lines 41 to 52)\r
+ Data (lines 61 to 296)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ the thermal expansion of copper. The response \r
+ variable is the coefficient of thermal expansion, and\r
+ the predictor variable is temperature in degrees \r
+ kelvin.\r
+\r
+\r
+Reference: Hahn, T., NIST (197?). \r
+ Copper Thermal Expansion Study.\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = coefficient of thermal expansion)\r
+ 1 Predictor (x = temperature, degrees kelvin)\r
+ 236 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Rational Class (cubic/cubic)\r
+ 7 Parameters (b1 to b7)\r
+\r
+ y = (b1+b2*x+b3*x**2+b4*x**3) /\r
+ (1+b5*x+b6*x**2+b7*x**3) + e\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 10 1 1.0776351733E+00 1.7070154742E-01\r
+ b2 = -1 -0.1 -1.2269296921E-01 1.2000289189E-02\r
+ b3 = 0.05 0.005 4.0863750610E-03 2.2508314937E-04\r
+ b4 = -0.00001 -0.000001 -1.4262662514E-06 2.7578037666E-07\r
+ b5 = -0.05 -0.005 -5.7609940901E-03 2.4712888219E-04\r
+ b6 = 0.001 0.0001 2.4053735503E-04 1.0449373768E-05\r
+ b7 = -0.000001 -0.0000001 -1.2314450199E-07 1.3027335327E-08\r
+\r
+Residual Sum of Squares: 1.5324382854E+00 \r
+Residual Standard Deviation: 8.1803852243E-02\r
+Degrees of Freedom: 229\r
+Number of Observations: 236\r
+\r
+\r
+\r
+\r
+\r
+\r
+ \r
+Data: y x\r
+ .591E0 24.41E0 \r
+ 1.547E0 34.82E0 \r
+ 2.902E0 44.09E0 \r
+ 2.894E0 45.07E0 \r
+ 4.703E0 54.98E0 \r
+ 6.307E0 65.51E0 \r
+ 7.03E0 70.53E0 \r
+ 7.898E0 75.70E0 \r
+ 9.470E0 89.57E0 \r
+ 9.484E0 91.14E0 \r
+ 10.072E0 96.40E0 \r
+ 10.163E0 97.19E0 \r
+ 11.615E0 114.26E0 \r
+ 12.005E0 120.25E0 \r
+ 12.478E0 127.08E0 \r
+ 12.982E0 133.55E0 \r
+ 12.970E0 133.61E0 \r
+ 13.926E0 158.67E0 \r
+ 14.452E0 172.74E0 \r
+ 14.404E0 171.31E0 \r
+ 15.190E0 202.14E0 \r
+ 15.550E0 220.55E0 \r
+ 15.528E0 221.05E0 \r
+ 15.499E0 221.39E0 \r
+ 16.131E0 250.99E0 \r
+ 16.438E0 268.99E0 \r
+ 16.387E0 271.80E0 \r
+ 16.549E0 271.97E0 \r
+ 16.872E0 321.31E0 \r
+ 16.830E0 321.69E0 \r
+ 16.926E0 330.14E0 \r
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+ 17.858E0 441.75E0 \r
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+ 18.584E0 546.75E0 \r
+ 18.610E0 549.53E0 \r
+ 18.870E0 575.29E0 \r
+ 18.795E0 576.00E0 \r
+ 19.111E0 625.55E0 \r
+ .367E0 20.15E0 \r
+ .796E0 28.78E0 \r
+ 0.892E0 29.57E0 \r
+ 1.903E0 37.41E0 \r
+ 2.150E0 39.12E0 \r
+ 3.697E0 50.24E0 \r
+ 5.870E0 61.38E0 \r
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+ 11.023E0 107.32E0 \r
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+ 19.330E0 656.20E0 \r
+ 0.080E0 14.13E0 \r
+ 0.248E0 20.41E0 \r
+ 1.089E0 31.30E0 \r
+ 1.418E0 33.84E0 \r
+ 2.278E0 39.70E0 \r
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+ 5.556E0 60.41E0 \r
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+ 14.947E0 192.11E0 \r
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+ 1.429E0 33.91E0 \r
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+ 1.504E0 33.43E0 \r
+ 2.204E0 39.22E0 \r
+ 2.813E0 44.18E0 \r
+ 4.765E0 55.02E0 \r
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+ 14.440E0 171.65E0 \r
+ 14.951E0 190.00E0 \r
+ 15.627E0 223.26E0 \r
+ 15.639E0 223.88E0 \r
+ 15.814E0 231.50E0 \r
+ 16.315E0 265.05E0 \r
+ 16.334E0 269.44E0 \r
+ 16.430E0 271.78E0 \r
+ 16.423E0 273.46E0 \r
+ 17.024E0 334.61E0 \r
+ 17.009E0 339.79E0 \r
+ 17.165E0 349.52E0 \r
+ 17.134E0 358.18E0 \r
+ 17.349E0 377.98E0 \r
+ 17.576E0 394.77E0 \r
+ 17.848E0 429.66E0 \r
+ 18.090E0 468.22E0 \r
+ 18.276E0 487.27E0 \r
+ 18.404E0 519.54E0 \r
+ 18.519E0 523.03E0 \r
+ 19.133E0 612.99E0 \r
+ 19.074E0 638.59E0 \r
+ 19.239E0 641.36E0 \r
+ 19.280E0 622.05E0 \r
+ 19.101E0 631.50E0 \r
+ 19.398E0 663.97E0 \r
+ 19.252E0 646.9E0 \r
+ 19.89E0 748.29E0 \r
+ 20.007E0 749.21E0 \r
+ 19.929E0 750.14E0 \r
+ 19.268E0 647.04E0 \r
+ 19.324E0 646.89E0 \r
+ 20.049E0 746.9E0 \r
+ 20.107E0 748.43E0 \r
+ 20.062E0 747.35E0 \r
+ 20.065E0 749.27E0 \r
+ 19.286E0 647.61E0 \r
+ 19.972E0 747.78E0 \r
+ 20.088E0 750.51E0 \r
+ 20.743E0 851.37E0 \r
+ 20.83E0 845.97E0 \r
+ 20.935E0 847.54E0 \r
+ 21.035E0 849.93E0 \r
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+ 21.074E0 849.75E0 \r
+ 21.085E0 850.98E0 \r
+ 20.935E0 848.23E0 \r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Kirby2 (Kirby2.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 45)\r
+ Certified Values (lines 41 to 50)\r
+ Data (lines 61 to 211)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ scanning electron microscope line with standards.\r
+\r
+\r
+Reference: Kirby, R., NIST (197?). \r
+ Scanning electron microscope line width standards.\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 151 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Rational Class (quadratic/quadratic)\r
+ 5 Parameters (b1 to b5)\r
+\r
+ y = (b1 + b2*x + b3*x**2) /\r
+ (1 + b4*x + b5*x**2) + e\r
+\r
+ \r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 2 1.5 1.6745063063E+00 8.7989634338E-02\r
+ b2 = -0.1 -0.15 -1.3927397867E-01 4.1182041386E-03\r
+ b3 = 0.003 0.0025 2.5961181191E-03 4.1856520458E-05\r
+ b4 = -0.001 -0.0015 -1.7241811870E-03 5.8931897355E-05\r
+ b5 = 0.00001 0.00002 2.1664802578E-05 2.0129761919E-07\r
+\r
+Residual Sum of Squares: 3.9050739624E+00\r
+Residual Standard Deviation: 1.6354535131E-01\r
+Degrees of Freedom: 146\r
+Number of Observations: 151\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 0.0082E0 9.65E0\r
+ 0.0112E0 10.74E0\r
+ 0.0149E0 11.81E0\r
+ 0.0198E0 12.88E0\r
+ 0.0248E0 14.06E0\r
+ 0.0324E0 15.28E0\r
+ 0.0420E0 16.63E0\r
+ 0.0549E0 18.19E0\r
+ 0.0719E0 19.88E0\r
+ 0.0963E0 21.84E0\r
+ 0.1291E0 24.00E0\r
+ 0.1710E0 26.25E0\r
+ 0.2314E0 28.86E0\r
+ 0.3227E0 31.85E0\r
+ 0.4809E0 35.79E0\r
+ 0.7084E0 40.18E0\r
+ 1.0220E0 44.74E0\r
+ 1.4580E0 49.53E0\r
+ 1.9520E0 53.94E0\r
+ 2.5410E0 58.29E0\r
+ 3.2230E0 62.63E0\r
+ 3.9990E0 67.03E0\r
+ 4.8520E0 71.25E0\r
+ 5.7320E0 75.22E0\r
+ 6.7270E0 79.33E0\r
+ 7.8350E0 83.56E0\r
+ 9.0250E0 87.75E0\r
+ 10.2670E0 91.93E0\r
+ 11.5780E0 96.10E0\r
+ 12.9440E0 100.28E0\r
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+ 20.5750E0 121.33E0\r
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+ 24.0600E0 130.27E0\r
+ 25.2720E0 133.33E0\r
+ 25.8530E0 134.79E0\r
+ 27.1100E0 137.93E0\r
+ 27.6580E0 139.33E0\r
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+ 79.8800E0 302.02E0\r
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+ 80.6600E0 305.65E0\r
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+ 81.6600E0 310.41E0\r
+ 82.1600E0 313.01E0\r
+ 82.5900E0 315.12E0\r
+ 83.1400E0 317.71E0\r
+ 83.5000E0 319.79E0\r
+ 84.0000E0 322.36E0\r
+ 84.4000E0 324.42E0\r
+ 84.8900E0 326.98E0\r
+ 85.2600E0 329.01E0\r
+ 85.7400E0 331.56E0\r
+ 86.0700E0 333.56E0\r
+ 86.5400E0 336.10E0\r
+ 86.8900E0 338.08E0\r
+ 87.3200E0 340.60E0\r
+ 87.6500E0 342.57E0\r
+ 88.1000E0 345.08E0\r
+ 88.4300E0 347.02E0\r
+ 88.8300E0 349.52E0\r
+ 89.1200E0 351.44E0\r
+ 89.5400E0 353.93E0\r
+ 89.8500E0 355.83E0\r
+ 90.2500E0 358.32E0\r
+ 90.5500E0 360.20E0\r
+ 90.9300E0 362.67E0\r
+ 91.2000E0 364.53E0\r
+ 91.5500E0 367.00E0\r
+ 92.2000E0 371.30E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Lanczos1 (Lanczos1.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 46)\r
+ Certified Values (lines 41 to 51)\r
+ Data (lines 61 to 84)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are taken from an example discussed in\r
+ Lanczos (1956). The data were generated to 14-digits\r
+ of accuracy using\r
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) \r
+ + 1.5576*exp(-5*x).\r
+\r
+\r
+Reference: Lanczos, C. (1956).\r
+ Applied Analysis.\r
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 24 Observations\r
+ Average Level of Difficulty\r
+ Generated Data\r
+\r
+Model: Exponential Class\r
+ 6 Parameters (b1 to b6)\r
+\r
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e\r
+\r
+\r
+ \r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1.2 0.5 9.5100000027E-02 5.3347304234E-11\r
+ b2 = 0.3 0.7 1.0000000001E+00 2.7473038179E-10\r
+ b3 = 5.6 3.6 8.6070000013E-01 1.3576062225E-10\r
+ b4 = 5.5 4.2 3.0000000002E+00 3.3308253069E-10\r
+ b5 = 6.5 4 1.5575999998E+00 1.8815731448E-10\r
+ b6 = 7.6 6.3 5.0000000001E+00 1.1057500538E-10\r
+\r
+Residual Sum of Squares: 1.4307867721E-25\r
+Residual Standard Deviation: 8.9156129349E-14\r
+Degrees of Freedom: 18\r
+Number of Observations: 24\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 2.513400000000E+00 0.000000000000E+00\r
+ 2.044333373291E+00 5.000000000000E-02\r
+ 1.668404436564E+00 1.000000000000E-01\r
+ 1.366418021208E+00 1.500000000000E-01\r
+ 1.123232487372E+00 2.000000000000E-01\r
+ 9.268897180037E-01 2.500000000000E-01\r
+ 7.679338563728E-01 3.000000000000E-01\r
+ 6.388775523106E-01 3.500000000000E-01\r
+ 5.337835317402E-01 4.000000000000E-01\r
+ 4.479363617347E-01 4.500000000000E-01\r
+ 3.775847884350E-01 5.000000000000E-01\r
+ 3.197393199326E-01 5.500000000000E-01\r
+ 2.720130773746E-01 6.000000000000E-01\r
+ 2.324965529032E-01 6.500000000000E-01\r
+ 1.996589546065E-01 7.000000000000E-01\r
+ 1.722704126914E-01 7.500000000000E-01\r
+ 1.493405660168E-01 8.000000000000E-01\r
+ 1.300700206922E-01 8.500000000000E-01\r
+ 1.138119324644E-01 9.000000000000E-01\r
+ 1.000415587559E-01 9.500000000000E-01\r
+ 8.833209084540E-02 1.000000000000E+00\r
+ 7.833544019350E-02 1.050000000000E+00\r
+ 6.976693743449E-02 1.100000000000E+00\r
+ 6.239312536719E-02 1.150000000000E+00\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Lanczos2 (Lanczos2.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 46)\r
+ Certified Values (lines 41 to 51)\r
+ Data (lines 61 to 84)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are taken from an example discussed in\r
+ Lanczos (1956). The data were generated to 6-digits\r
+ of accuracy using\r
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) \r
+ + 1.5576*exp(-5*x).\r
+\r
+\r
+Reference: Lanczos, C. (1956).\r
+ Applied Analysis.\r
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 24 Observations\r
+ Average Level of Difficulty\r
+ Generated Data\r
+ \r
+Model: Exponential Class\r
+ 6 Parameters (b1 to b6)\r
+ \r
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e\r
+ \r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1.2 0.5 9.6251029939E-02 6.6770575477E-04\r
+ b2 = 0.3 0.7 1.0057332849E+00 3.3989646176E-03\r
+ b3 = 5.6 3.6 8.6424689056E-01 1.7185846685E-03\r
+ b4 = 5.5 4.2 3.0078283915E+00 4.1707005856E-03\r
+ b5 = 6.5 4 1.5529016879E+00 2.3744381417E-03\r
+ b6 = 7.6 6.3 5.0028798100E+00 1.3958787284E-03\r
+\r
+Residual Sum of Squares: 2.2299428125E-11\r
+Residual Standard Deviation: 1.1130395851E-06\r
+Degrees of Freedom: 18\r
+Number of Observations: 24\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 2.51340E+00 0.00000E+00\r
+ 2.04433E+00 5.00000E-02\r
+ 1.66840E+00 1.00000E-01\r
+ 1.36642E+00 1.50000E-01\r
+ 1.12323E+00 2.00000E-01\r
+ 9.26890E-01 2.50000E-01\r
+ 7.67934E-01 3.00000E-01\r
+ 6.38878E-01 3.50000E-01\r
+ 5.33784E-01 4.00000E-01\r
+ 4.47936E-01 4.50000E-01\r
+ 3.77585E-01 5.00000E-01\r
+ 3.19739E-01 5.50000E-01\r
+ 2.72013E-01 6.00000E-01\r
+ 2.32497E-01 6.50000E-01\r
+ 1.99659E-01 7.00000E-01\r
+ 1.72270E-01 7.50000E-01\r
+ 1.49341E-01 8.00000E-01\r
+ 1.30070E-01 8.50000E-01\r
+ 1.13812E-01 9.00000E-01\r
+ 1.00042E-01 9.50000E-01\r
+ 8.83321E-02 1.00000E+00\r
+ 7.83354E-02 1.05000E+00\r
+ 6.97669E-02 1.10000E+00\r
+ 6.23931E-02 1.15000E+00\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Lanczos3 (Lanczos3.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 46)\r
+ Certified Values (lines 41 to 51)\r
+ Data (lines 61 to 84)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are taken from an example discussed in\r
+ Lanczos (1956). The data were generated to 5-digits\r
+ of accuracy using\r
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) \r
+ + 1.5576*exp(-5*x).\r
+\r
+\r
+Reference: Lanczos, C. (1956).\r
+ Applied Analysis.\r
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 24 Observations\r
+ Lower Level of Difficulty\r
+ Generated Data\r
+ \r
+Model: Exponential Class\r
+ 6 Parameters (b1 to b6)\r
+ \r
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1.2 0.5 8.6816414977E-02 1.7197908859E-02\r
+ b2 = 0.3 0.7 9.5498101505E-01 9.7041624475E-02\r
+ b3 = 5.6 3.6 8.4400777463E-01 4.1488663282E-02\r
+ b4 = 5.5 4.2 2.9515951832E+00 1.0766312506E-01\r
+ b5 = 6.5 4 1.5825685901E+00 5.8371576281E-02\r
+ b6 = 7.6 6.3 4.9863565084E+00 3.4436403035E-02\r
+\r
+Residual Sum of Squares: 1.6117193594E-08\r
+Residual Standard Deviation: 2.9923229172E-05\r
+Degrees of Freedom: 18\r
+Number of Observations: 24\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 2.5134E+00 0.00000E+00\r
+ 2.0443E+00 5.00000E-02\r
+ 1.6684E+00 1.00000E-01\r
+ 1.3664E+00 1.50000E-01\r
+ 1.1232E+00 2.00000E-01\r
+ 0.9269E+00 2.50000E-01\r
+ 0.7679E+00 3.00000E-01\r
+ 0.6389E+00 3.50000E-01\r
+ 0.5338E+00 4.00000E-01\r
+ 0.4479E+00 4.50000E-01\r
+ 0.3776E+00 5.00000E-01\r
+ 0.3197E+00 5.50000E-01\r
+ 0.2720E+00 6.00000E-01\r
+ 0.2325E+00 6.50000E-01\r
+ 0.1997E+00 7.00000E-01\r
+ 0.1723E+00 7.50000E-01\r
+ 0.1493E+00 8.00000E-01\r
+ 0.1301E+00 8.50000E-01\r
+ 0.1138E+00 9.00000E-01\r
+ 0.1000E+00 9.50000E-01\r
+ 0.0883E+00 1.00000E+00\r
+ 0.0783E+00 1.05000E+00\r
+ 0.0698E+00 1.10000E+00\r
+ 0.0624E+00 1.15000E+00\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: MGH09 (MGH09.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 44)\r
+ Certified Values (lines 41 to 49)\r
+ Data (lines 61 to 71)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: This problem was found to be difficult for some very \r
+ good algorithms. There is a local minimum at (+inf,\r
+ -14.07..., -inf, -inf) with final sum of squares \r
+ 0.00102734....\r
+\r
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E. \r
+ (1981). Testing unconstrained optimization software.\r
+ ACM Transactions on Mathematical Software. 7(1): \r
+ pp. 17-41.\r
+\r
+Reference: Kowalik, J.S., and M. R. Osborne, (1978). \r
+ Methods for Unconstrained Optimization Problems. \r
+ New York, NY: Elsevier North-Holland.\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 11 Observations\r
+ Higher Level of Difficulty\r
+ Generated Data\r
+ \r
+Model: Rational Class (linear/quadratic)\r
+ 4 Parameters (b1 to b4)\r
+ \r
+ y = b1*(x**2+x*b2) / (x**2+x*b3+b4) + e\r
+ \r
+\r
+ \r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 25 0.25 1.9280693458E-01 1.1435312227E-02\r
+ b2 = 39 0.39 1.9128232873E-01 1.9633220911E-01\r
+ b3 = 41.5 0.415 1.2305650693E-01 8.0842031232E-02\r
+ b4 = 39 0.39 1.3606233068E-01 9.0025542308E-02\r
+\r
+Residual Sum of Squares: 3.0750560385E-04\r
+Residual Standard Deviation: 6.6279236551E-03\r
+Degrees of Freedom: 7\r
+Number of Observations: 11\r
+ \r
+ \r
+\r
+\r
+\r
+\r
+\r
+ \r
+ \r
+ \r
+Data: y x\r
+ 1.957000E-01 4.000000E+00\r
+ 1.947000E-01 2.000000E+00\r
+ 1.735000E-01 1.000000E+00\r
+ 1.600000E-01 5.000000E-01\r
+ 8.440000E-02 2.500000E-01\r
+ 6.270000E-02 1.670000E-01\r
+ 4.560000E-02 1.250000E-01\r
+ 3.420000E-02 1.000000E-01\r
+ 3.230000E-02 8.330000E-02\r
+ 2.350000E-02 7.140000E-02\r
+ 2.460000E-02 6.250000E-02\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: MGH10 (MGH10.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 76)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: This problem was found to be difficult for some very\r
+ good algorithms.\r
+\r
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E. \r
+ (1981). Testing unconstrained optimization software.\r
+ ACM Transactions on Mathematical Software. 7(1): \r
+ pp. 17-41.\r
+\r
+Reference: Meyer, R. R. (1970). \r
+ Theoretical and computational aspects of nonlinear \r
+ regression. In Nonlinear Programming, Rosen, \r
+ Mangasarian and Ritter (Eds). \r
+ New York, NY: Academic Press, pp. 465-486.\r
+\r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 16 Observations\r
+ Higher Level of Difficulty\r
+ Generated Data\r
+ \r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+ \r
+ y = b1 * exp[b2/(x+b3)] + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 2 0.02 5.6096364710E-03 1.5687892471E-04\r
+ b2 = 400000 4000 6.1813463463E+03 2.3309021107E+01\r
+ b3 = 25000 250 3.4522363462E+02 7.8486103508E-01\r
+\r
+Residual Sum of Squares: 8.7945855171E+01\r
+Residual Standard Deviation: 2.6009740065E+00\r
+Degrees of Freedom: 13\r
+Number of Observations: 16\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 3.478000E+04 5.000000E+01\r
+ 2.861000E+04 5.500000E+01\r
+ 2.365000E+04 6.000000E+01\r
+ 1.963000E+04 6.500000E+01\r
+ 1.637000E+04 7.000000E+01\r
+ 1.372000E+04 7.500000E+01\r
+ 1.154000E+04 8.000000E+01\r
+ 9.744000E+03 8.500000E+01\r
+ 8.261000E+03 9.000000E+01\r
+ 7.030000E+03 9.500000E+01\r
+ 6.005000E+03 1.000000E+02\r
+ 5.147000E+03 1.050000E+02\r
+ 4.427000E+03 1.100000E+02\r
+ 3.820000E+03 1.150000E+02\r
+ 3.307000E+03 1.200000E+02\r
+ 2.872000E+03 1.250000E+02\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: MGH17 (MGH17.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 45)\r
+ Certified Values (lines 41 to 50)\r
+ Data (lines 61 to 93)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: This problem was found to be difficult for some very\r
+ good algorithms.\r
+\r
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E.\r
+ (1981). Testing unconstrained optimization software.\r
+ ACM Transactions on Mathematical Software. 7(1):\r
+ pp. 17-41.\r
+\r
+Reference: Osborne, M. R. (1972). \r
+ Some aspects of nonlinear least squares \r
+ calculations. In Numerical Methods for Nonlinear \r
+ Optimization, Lootsma (Ed). \r
+ New York, NY: Academic Press, pp. 171-189.\r
+ \r
+Data: 1 Response (y)\r
+ 1 Predictor (x)\r
+ 33 Observations\r
+ Average Level of Difficulty\r
+ Generated Data\r
+\r
+Model: Exponential Class\r
+ 5 Parameters (b1 to b5)\r
+\r
+ y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5] + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 50 0.5 3.7541005211E-01 2.0723153551E-03\r
+ b2 = 150 1.5 1.9358469127E+00 2.2031669222E-01\r
+ b3 = -100 -1 -1.4646871366E+00 2.2175707739E-01\r
+ b4 = 1 0.01 1.2867534640E-02 4.4861358114E-04\r
+ b5 = 2 0.02 2.2122699662E-02 8.9471996575E-04\r
+\r
+Residual Sum of Squares: 5.4648946975E-05\r
+Residual Standard Deviation: 1.3970497866E-03\r
+Degrees of Freedom: 28\r
+Number of Observations: 33\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 8.440000E-01 0.000000E+00\r
+ 9.080000E-01 1.000000E+01\r
+ 9.320000E-01 2.000000E+01\r
+ 9.360000E-01 3.000000E+01\r
+ 9.250000E-01 4.000000E+01\r
+ 9.080000E-01 5.000000E+01\r
+ 8.810000E-01 6.000000E+01\r
+ 8.500000E-01 7.000000E+01\r
+ 8.180000E-01 8.000000E+01\r
+ 7.840000E-01 9.000000E+01\r
+ 7.510000E-01 1.000000E+02\r
+ 7.180000E-01 1.100000E+02\r
+ 6.850000E-01 1.200000E+02\r
+ 6.580000E-01 1.300000E+02\r
+ 6.280000E-01 1.400000E+02\r
+ 6.030000E-01 1.500000E+02\r
+ 5.800000E-01 1.600000E+02\r
+ 5.580000E-01 1.700000E+02\r
+ 5.380000E-01 1.800000E+02\r
+ 5.220000E-01 1.900000E+02\r
+ 5.060000E-01 2.000000E+02\r
+ 4.900000E-01 2.100000E+02\r
+ 4.780000E-01 2.200000E+02\r
+ 4.670000E-01 2.300000E+02\r
+ 4.570000E-01 2.400000E+02\r
+ 4.480000E-01 2.500000E+02\r
+ 4.380000E-01 2.600000E+02\r
+ 4.310000E-01 2.700000E+02\r
+ 4.240000E-01 2.800000E+02\r
+ 4.200000E-01 2.900000E+02\r
+ 4.140000E-01 3.000000E+02\r
+ 4.110000E-01 3.100000E+02\r
+ 4.060000E-01 3.200000E+02\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Misra1a (Misra1a.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 74)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study regarding\r
+ dental research in monomolecular adsorption. The\r
+ response variable is volume, and the predictor\r
+ variable is pressure.\r
+\r
+Reference: Misra, D., NIST (1978). \r
+ Dental Research Monomolecular Adsorption Study.\r
+\r
+ \r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response Variable (y = volume)\r
+ 1 Predictor Variable (x = pressure)\r
+ 14 Observations\r
+ Lower Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1*(1-exp[-b2*x]) + e\r
+\r
+\r
+ \r
+ Starting values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 500 250 2.3894212918E+02 2.7070075241E+00\r
+ b2 = 0.0001 0.0005 5.5015643181E-04 7.2668688436E-06\r
+\r
+Residual Sum of Squares: 1.2455138894E-01\r
+Residual Standard Deviation: 1.0187876330E-01\r
+Degrees of Freedom: 12\r
+Number of Observations: 14\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 10.07E0 77.6E0\r
+ 14.73E0 114.9E0\r
+ 17.94E0 141.1E0\r
+ 23.93E0 190.8E0\r
+ 29.61E0 239.9E0\r
+ 35.18E0 289.0E0\r
+ 40.02E0 332.8E0\r
+ 44.82E0 378.4E0\r
+ 50.76E0 434.8E0\r
+ 55.05E0 477.3E0\r
+ 61.01E0 536.8E0\r
+ 66.40E0 593.1E0\r
+ 75.47E0 689.1E0\r
+ 81.78E0 760.0E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Misra1b (Misra1b.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 74)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study regarding\r
+ dental research in monomolecular adsorption. The\r
+ response variable is volume, and the predictor\r
+ variable is pressure.\r
+\r
+Reference: Misra, D., NIST (1978). \r
+ Dental Research Monomolecular Adsorption Study.\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = volume)\r
+ 1 Predictor (x = pressure)\r
+ 14 Observations\r
+ Lower Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1 * (1-(1+b2*x/2)**(-2)) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 500 300 3.3799746163E+02 3.1643950207E+00\r
+ b2 = 0.0001 0.0002 3.9039091287E-04 4.2547321834E-06\r
+ \r
+Residual Sum of Squares: 7.5464681533E-02\r
+Residual Standard Deviation: 7.9301471998E-02\r
+Degrees of Freedom: 12\r
+Number of Observations: 14\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+ \r
+ \r
+Data: y x\r
+ 10.07E0 77.6E0\r
+ 14.73E0 114.9E0\r
+ 17.94E0 141.1E0\r
+ 23.93E0 190.8E0\r
+ 29.61E0 239.9E0\r
+ 35.18E0 289.0E0\r
+ 40.02E0 332.8E0\r
+ 44.82E0 378.4E0\r
+ 50.76E0 434.8E0\r
+ 55.05E0 477.3E0\r
+ 61.01E0 536.8E0\r
+ 66.40E0 593.1E0\r
+ 75.47E0 689.1E0\r
+ 81.78E0 760.0E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Misra1c (Misra1c.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 74)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study regarding\r
+ dental research in monomolecular adsorption. The\r
+ response variable is volume, and the predictor\r
+ variable is pressure.\r
+\r
+Reference: Misra, D., NIST (1978). \r
+ Dental Research Monomolecular Adsorption.\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = volume)\r
+ 1 Predictor (x = pressure)\r
+ 14 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1 * (1-(1+2*b2*x)**(-.5)) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 500 600 6.3642725809E+02 4.6638326572E+00\r
+ b2 = 0.0001 0.0002 2.0813627256E-04 1.7728423155E-06\r
+ \r
+Residual Sum of Squares: 4.0966836971E-02\r
+Residual Standard Deviation: 5.8428615257E-02\r
+Degrees of Freedom: 12\r
+Number of Observations: 14\r
+ \r
+\r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+Data: y x \r
+ 10.07E0 77.6E0\r
+ 14.73E0 114.9E0\r
+ 17.94E0 141.1E0\r
+ 23.93E0 190.8E0\r
+ 29.61E0 239.9E0\r
+ 35.18E0 289.0E0\r
+ 40.02E0 332.8E0\r
+ 44.82E0 378.4E0\r
+ 50.76E0 434.8E0\r
+ 55.05E0 477.3E0\r
+ 61.01E0 536.8E0\r
+ 66.40E0 593.1E0\r
+ 75.47E0 689.1E0\r
+ 81.78E0 760.0E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Misra1d (Misra1d.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 42)\r
+ Certified Values (lines 41 to 47)\r
+ Data (lines 61 to 74)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study regarding\r
+ dental research in monomolecular adsorption. The\r
+ response variable is volume, and the predictor\r
+ variable is pressure.\r
+\r
+Reference: Misra, D., NIST (1978). \r
+ Dental Research Monomolecular Adsorption Study.\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = volume)\r
+ 1 Predictor (x = pressure)\r
+ 14 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 2 Parameters (b1 and b2)\r
+\r
+ y = b1*b2*x*((1+b2*x)**(-1)) + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 500 450 4.3736970754E+02 3.6489174345E+00\r
+ b2 = 0.0001 0.0003 3.0227324449E-04 2.9334354479E-06\r
+\r
+Residual Sum of Squares: 5.6419295283E-02\r
+Residual Standard Deviation: 6.8568272111E-02\r
+Degrees of Freedom: 12\r
+Number of Observations: 14\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 10.07E0 77.6E0\r
+ 14.73E0 114.9E0\r
+ 17.94E0 141.1E0\r
+ 23.93E0 190.8E0\r
+ 29.61E0 239.9E0\r
+ 35.18E0 289.0E0\r
+ 40.02E0 332.8E0\r
+ 44.82E0 378.4E0\r
+ 50.76E0 434.8E0\r
+ 55.05E0 477.3E0\r
+ 61.01E0 536.8E0\r
+ 66.40E0 593.1E0\r
+ 75.47E0 689.1E0\r
+ 81.78E0 760.0E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Nelson (Nelson.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 188)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a study involving\r
+ the analysis of performance degradation data from\r
+ accelerated tests, published in IEEE Transactions\r
+ on Reliability. The response variable is dialectric\r
+ breakdown strength in kilo-volts, and the predictor\r
+ variables are time in weeks and temperature in degrees\r
+ Celcius.\r
+\r
+\r
+Reference: Nelson, W. (1981). \r
+ Analysis of Performance-Degradation Data. \r
+ IEEE Transactions on Reliability.\r
+ Vol. 2, R-30, No. 2, pp. 149-155.\r
+\r
+Data: 1 Response ( y = dialectric breakdown strength) \r
+ 2 Predictors (x1 = time; x2 = temperature)\r
+ 128 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ log[y] = b1 - b2*x1 * exp[-b3*x2] + e\r
+\r
+\r
+\r
+ Starting values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 2 2.5 2.5906836021E+00 1.9149996413E-02\r
+ b2 = 0.0001 0.000000005 5.6177717026E-09 6.1124096540E-09\r
+ b3 = -0.01 -0.05 -5.7701013174E-02 3.9572366543E-03\r
+\r
+Residual Sum of Squares: 3.7976833176E+00\r
+Residual Standard Deviation: 1.7430280130E-01\r
+Degrees of Freedom: 125\r
+Number of Observations: 128\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x1 x2\r
+ 15.00E0 1E0 180E0\r
+ 17.00E0 1E0 180E0\r
+ 15.50E0 1E0 180E0\r
+ 16.50E0 1E0 180E0\r
+ 15.50E0 1E0 225E0\r
+ 15.00E0 1E0 225E0\r
+ 16.00E0 1E0 225E0\r
+ 14.50E0 1E0 225E0\r
+ 15.00E0 1E0 250E0\r
+ 14.50E0 1E0 250E0\r
+ 12.50E0 1E0 250E0\r
+ 11.00E0 1E0 250E0\r
+ 14.00E0 1E0 275E0\r
+ 13.00E0 1E0 275E0\r
+ 14.00E0 1E0 275E0\r
+ 11.50E0 1E0 275E0\r
+ 14.00E0 2E0 180E0\r
+ 16.00E0 2E0 180E0\r
+ 13.00E0 2E0 180E0\r
+ 13.50E0 2E0 180E0\r
+ 13.00E0 2E0 225E0\r
+ 13.50E0 2E0 225E0\r
+ 12.50E0 2E0 225E0\r
+ 12.50E0 2E0 225E0\r
+ 12.50E0 2E0 250E0\r
+ 12.00E0 2E0 250E0\r
+ 11.50E0 2E0 250E0\r
+ 12.00E0 2E0 250E0\r
+ 13.00E0 2E0 275E0\r
+ 11.50E0 2E0 275E0\r
+ 13.00E0 2E0 275E0\r
+ 12.50E0 2E0 275E0\r
+ 13.50E0 4E0 180E0\r
+ 17.50E0 4E0 180E0\r
+ 17.50E0 4E0 180E0\r
+ 13.50E0 4E0 180E0\r
+ 12.50E0 4E0 225E0\r
+ 12.50E0 4E0 225E0\r
+ 15.00E0 4E0 225E0\r
+ 13.00E0 4E0 225E0\r
+ 12.00E0 4E0 250E0\r
+ 13.00E0 4E0 250E0\r
+ 12.00E0 4E0 250E0\r
+ 13.50E0 4E0 250E0\r
+ 10.00E0 4E0 275E0\r
+ 11.50E0 4E0 275E0\r
+ 11.00E0 4E0 275E0\r
+ 9.50E0 4E0 275E0\r
+ 15.00E0 8E0 180E0\r
+ 15.00E0 8E0 180E0\r
+ 15.50E0 8E0 180E0\r
+ 16.00E0 8E0 180E0\r
+ 13.00E0 8E0 225E0\r
+ 10.50E0 8E0 225E0\r
+ 13.50E0 8E0 225E0\r
+ 14.00E0 8E0 225E0\r
+ 12.50E0 8E0 250E0\r
+ 12.00E0 8E0 250E0\r
+ 11.50E0 8E0 250E0\r
+ 11.50E0 8E0 250E0\r
+ 6.50E0 8E0 275E0\r
+ 5.50E0 8E0 275E0\r
+ 6.00E0 8E0 275E0\r
+ 6.00E0 8E0 275E0\r
+ 18.50E0 16E0 180E0\r
+ 17.00E0 16E0 180E0\r
+ 15.30E0 16E0 180E0\r
+ 16.00E0 16E0 180E0\r
+ 13.00E0 16E0 225E0\r
+ 14.00E0 16E0 225E0\r
+ 12.50E0 16E0 225E0\r
+ 11.00E0 16E0 225E0\r
+ 12.00E0 16E0 250E0\r
+ 12.00E0 16E0 250E0\r
+ 11.50E0 16E0 250E0\r
+ 12.00E0 16E0 250E0\r
+ 6.00E0 16E0 275E0\r
+ 6.00E0 16E0 275E0\r
+ 5.00E0 16E0 275E0\r
+ 5.50E0 16E0 275E0\r
+ 12.50E0 32E0 180E0\r
+ 13.00E0 32E0 180E0\r
+ 16.00E0 32E0 180E0\r
+ 12.00E0 32E0 180E0\r
+ 11.00E0 32E0 225E0\r
+ 9.50E0 32E0 225E0\r
+ 11.00E0 32E0 225E0\r
+ 11.00E0 32E0 225E0\r
+ 11.00E0 32E0 250E0\r
+ 10.00E0 32E0 250E0\r
+ 10.50E0 32E0 250E0\r
+ 10.50E0 32E0 250E0\r
+ 2.70E0 32E0 275E0\r
+ 2.70E0 32E0 275E0\r
+ 2.50E0 32E0 275E0\r
+ 2.40E0 32E0 275E0\r
+ 13.00E0 48E0 180E0\r
+ 13.50E0 48E0 180E0\r
+ 16.50E0 48E0 180E0\r
+ 13.60E0 48E0 180E0\r
+ 11.50E0 48E0 225E0\r
+ 10.50E0 48E0 225E0\r
+ 13.50E0 48E0 225E0\r
+ 12.00E0 48E0 225E0\r
+ 7.00E0 48E0 250E0\r
+ 6.90E0 48E0 250E0\r
+ 8.80E0 48E0 250E0\r
+ 7.90E0 48E0 250E0\r
+ 1.20E0 48E0 275E0\r
+ 1.50E0 48E0 275E0\r
+ 1.00E0 48E0 275E0\r
+ 1.50E0 48E0 275E0\r
+ 13.00E0 64E0 180E0\r
+ 12.50E0 64E0 180E0\r
+ 16.50E0 64E0 180E0\r
+ 16.00E0 64E0 180E0\r
+ 11.00E0 64E0 225E0\r
+ 11.50E0 64E0 225E0\r
+ 10.50E0 64E0 225E0\r
+ 10.00E0 64E0 225E0\r
+ 7.27E0 64E0 250E0\r
+ 7.50E0 64E0 250E0\r
+ 6.70E0 64E0 250E0\r
+ 7.60E0 64E0 250E0\r
+ 1.50E0 64E0 275E0\r
+ 1.00E0 64E0 275E0\r
+ 1.20E0 64E0 275E0\r
+ 1.20E0 64E0 275E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Rat42 (Rat42.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 43)\r
+ Certified Values (lines 41 to 48)\r
+ Data (lines 61 to 69)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: This model and data are an example of fitting\r
+ sigmoidal growth curves taken from Ratkowsky (1983).\r
+ The response variable is pasture yield, and the\r
+ predictor variable is growing time.\r
+\r
+\r
+Reference: Ratkowsky, D.A. (1983). \r
+ Nonlinear Regression Modeling.\r
+ New York, NY: Marcel Dekker, pp. 61 and 88.\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = pasture yield)\r
+ 1 Predictor (x = growing time)\r
+ 9 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 3 Parameters (b1 to b3)\r
+\r
+ y = b1 / (1+exp[b2-b3*x]) + e\r
+\r
+\r
+\r
+ Starting Values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 100 75 7.2462237576E+01 1.7340283401E+00\r
+ b2 = 1 2.5 2.6180768402E+00 8.8295217536E-02\r
+ b3 = 0.1 0.07 6.7359200066E-02 3.4465663377E-03\r
+\r
+Residual Sum of Squares: 8.0565229338E+00\r
+Residual Standard Deviation: 1.1587725499E+00\r
+Degrees of Freedom: 6\r
+Number of Observations: 9 \r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 8.930E0 9.000E0\r
+ 10.800E0 14.000E0\r
+ 18.590E0 21.000E0\r
+ 22.330E0 28.000E0\r
+ 39.350E0 42.000E0\r
+ 56.110E0 57.000E0\r
+ 61.730E0 63.000E0\r
+ 64.620E0 70.000E0\r
+ 67.080E0 79.000E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Rat43 (Rat43.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 44)\r
+ Certified Values (lines 41 to 49)\r
+ Data (lines 61 to 75)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: This model and data are an example of fitting \r
+ sigmoidal growth curves taken from Ratkowsky (1983). \r
+ The response variable is the dry weight of onion bulbs \r
+ and tops, and the predictor variable is growing time. \r
+\r
+\r
+Reference: Ratkowsky, D.A. (1983). \r
+ Nonlinear Regression Modeling.\r
+ New York, NY: Marcel Dekker, pp. 62 and 88.\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = onion bulb dry weight)\r
+ 1 Predictor (x = growing time)\r
+ 15 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Exponential Class\r
+ 4 Parameters (b1 to b4)\r
+\r
+ y = b1 / ((1+exp[b2-b3*x])**(1/b4)) + e\r
+\r
+\r
+\r
+ Starting Values Certified Values\r
+ \r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 100 700 6.9964151270E+02 1.6302297817E+01\r
+ b2 = 10 5 5.2771253025E+00 2.0828735829E+00\r
+ b3 = 1 0.75 7.5962938329E-01 1.9566123451E-01\r
+ b4 = 1 1.3 1.2792483859E+00 6.8761936385E-01\r
+ \r
+Residual Sum of Squares: 8.7864049080E+03\r
+Residual Standard Deviation: 2.8262414662E+01\r
+Degrees of Freedom: 9\r
+Number of Observations: 15 \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+Data: y x\r
+ 16.08E0 1.0E0\r
+ 33.83E0 2.0E0\r
+ 65.80E0 3.0E0\r
+ 97.20E0 4.0E0\r
+ 191.55E0 5.0E0\r
+ 326.20E0 6.0E0\r
+ 386.87E0 7.0E0\r
+ 520.53E0 8.0E0\r
+ 590.03E0 9.0E0\r
+ 651.92E0 10.0E0\r
+ 724.93E0 11.0E0\r
+ 699.56E0 12.0E0\r
+ 689.96E0 13.0E0\r
+ 637.56E0 14.0E0\r
+ 717.41E0 15.0E0\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Roszman1 (Roszman1.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 44)\r
+ Certified Values (lines 41 to 49)\r
+ Data (lines 61 to 85)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ quantum defects in iodine atoms. The response\r
+ variable is the number of quantum defects, and the\r
+ predictor variable is the excited energy state.\r
+ The argument to the ARCTAN function is in radians.\r
+\r
+Reference: Roszman, L., NIST (19??).\r
+ Quantum Defects for Sulfur I Atom.\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response (y = quantum defect)\r
+ 1 Predictor (x = excited state energy)\r
+ 25 Observations\r
+ Average Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Miscellaneous Class\r
+ 4 Parameters (b1 to b4)\r
+\r
+ pi = 3.141592653589793238462643383279E0\r
+ y = b1 - b2*x - arctan[b3/(x-b4)]/pi + e\r
+\r
+\r
+ Starting Values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 0.1 0.2 1.20196866396E-0 1.9172666023E-02\r
+ b2 = -0.00001 -0.000005 -6.1953516256E-06 3.2058931691E-06\r
+ b3 = 1000 1200 1.2044556708E+03 7.4050983057E+01\r
+ b4 = -100 -150 -1.8134269537E+02 4.9573513849E+01\r
+\r
+Residual Sum of Squares: 4.9484847331E-04\r
+Residual Standard Deviation: 4.8542984060E-03\r
+Degrees of Freedom: 21\r
+Number of Observations: 25\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 0.252429 -4868.68\r
+ 0.252141 -4868.09\r
+ 0.251809 -4867.41\r
+ 0.297989 -3375.19\r
+ 0.296257 -3373.14\r
+ 0.295319 -3372.03\r
+ 0.339603 -2473.74\r
+ 0.337731 -2472.35\r
+ 0.333820 -2469.45\r
+ 0.389510 -1894.65\r
+ 0.386998 -1893.40\r
+ 0.438864 -1497.24\r
+ 0.434887 -1495.85\r
+ 0.427893 -1493.41\r
+ 0.471568 -1208.68\r
+ 0.461699 -1206.18\r
+ 0.461144 -1206.04\r
+ 0.513532 -997.92\r
+ 0.506641 -996.61\r
+ 0.505062 -996.31\r
+ 0.535648 -834.94\r
+ 0.533726 -834.66\r
+ 0.568064 -710.03\r
+ 0.612886 -530.16\r
+ 0.624169 -464.17\r
--- /dev/null
+NIST/ITL StRD\r
+Dataset Name: Thurber (Thurber.dat)\r
+\r
+File Format: ASCII\r
+ Starting Values (lines 41 to 47)\r
+ Certified Values (lines 41 to 52)\r
+ Data (lines 61 to 97)\r
+\r
+Procedure: Nonlinear Least Squares Regression\r
+\r
+Description: These data are the result of a NIST study involving\r
+ semiconductor electron mobility. The response \r
+ variable is a measure of electron mobility, and the \r
+ predictor variable is the natural log of the density.\r
+\r
+\r
+Reference: Thurber, R., NIST (197?). \r
+ Semiconductor electron mobility modeling.\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: 1 Response Variable (y = electron mobility)\r
+ 1 Predictor Variable (x = log[density])\r
+ 37 Observations\r
+ Higher Level of Difficulty\r
+ Observed Data\r
+\r
+Model: Rational Class (cubic/cubic)\r
+ 7 Parameters (b1 to b7)\r
+\r
+ y = (b1 + b2*x + b3*x**2 + b4*x**3) / \r
+ (1 + b5*x + b6*x**2 + b7*x**3) + e\r
+\r
+\r
+ Starting Values Certified Values\r
+\r
+ Start 1 Start 2 Parameter Standard Deviation\r
+ b1 = 1000 1300 1.2881396800E+03 4.6647963344E+00\r
+ b2 = 1000 1500 1.4910792535E+03 3.9571156086E+01\r
+ b3 = 400 500 5.8323836877E+02 2.8698696102E+01\r
+ b4 = 40 75 7.5416644291E+01 5.5675370270E+00\r
+ b5 = 0.7 1 9.6629502864E-01 3.1333340687E-02\r
+ b6 = 0.3 0.4 3.9797285797E-01 1.4984928198E-02\r
+ b7 = 0.03 0.05 4.9727297349E-02 6.5842344623E-03\r
+\r
+Residual Sum of Squares: 5.6427082397E+03\r
+Residual Standard Deviation: 1.3714600784E+01\r
+Degrees of Freedom: 30\r
+Number of Observations: 37\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+Data: y x\r
+ 80.574E0 -3.067E0\r
+ 84.248E0 -2.981E0\r
+ 87.264E0 -2.921E0\r
+ 87.195E0 -2.912E0\r
+ 89.076E0 -2.840E0\r
+ 89.608E0 -2.797E0\r
+ 89.868E0 -2.702E0\r
+ 90.101E0 -2.699E0\r
+ 92.405E0 -2.633E0\r
+ 95.854E0 -2.481E0\r
+ 100.696E0 -2.363E0\r
+ 101.060E0 -2.322E0\r
+ 401.672E0 -1.501E0\r
+ 390.724E0 -1.460E0\r
+ 567.534E0 -1.274E0\r
+ 635.316E0 -1.212E0\r
+ 733.054E0 -1.100E0\r
+ 759.087E0 -1.046E0\r
+ 894.206E0 -0.915E0\r
+ 990.785E0 -0.714E0\r
+ 1090.109E0 -0.566E0\r
+ 1080.914E0 -0.545E0\r
+ 1122.643E0 -0.400E0\r
+ 1178.351E0 -0.309E0\r
+ 1260.531E0 -0.109E0\r
+ 1273.514E0 -0.103E0\r
+ 1288.339E0 0.010E0\r
+ 1327.543E0 0.119E0\r
+ 1353.863E0 0.377E0\r
+ 1414.509E0 0.790E0\r
+ 1425.208E0 0.963E0\r
+ 1421.384E0 1.006E0\r
+ 1442.962E0 1.115E0\r
+ 1464.350E0 1.572E0\r
+ 1468.705E0 1.841E0\r
+ 1447.894E0 2.047E0\r
+ 1457.628E0 2.200E0\r
--- /dev/null
+16 22106 83718
+0 0 -3.859900e+02 3.871200e+02
+1 0 -3.844000e+01 4.921200e+02
+2 0 -6.679200e+02 1.231100e+02
+7 0 -5.991800e+02 4.079300e+02
+12 0 -7.204300e+02 3.143400e+02
+13 0 -1.151300e+02 5.548999e+01
+0 1 3.838800e+02 -1.529999e+01
+1 1 5.597500e+02 -1.061500e+02
+10 1 3.531899e+02 1.649500e+02
+0 2 5.915500e+02 1.364400e+02
+1 2 8.638600e+02 -2.346997e+01
+2 2 4.947200e+02 1.125200e+02
+6 2 4.087800e+02 2.846700e+02
+7 2 4.246100e+02 3.101700e+02
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+5.0778083202364392e+00
+1.1271541509721448e+01
+-4.8092601879633222e+01
+-1.7115690838471973e+01
+1.2065579242779451e+01
+-4.0029391069533204e+01
+-8.7848335791500531e+00
+1.1652577405755647e+01
+-4.7192424437999875e+01
+-8.0867212049118109e+00
+1.1563968038805301e+01
+-4.7831875793951703e+01
+-8.6270704170090706e+00
+1.0684589720037730e+01
+-4.6810959170777309e+01
+-5.1658843840370494e+00
+8.7190890000602259e+00
+-4.3856247105773697e+01
+-7.9343522447974468e+00
+7.3540260405955173e+00
+-4.2005555023142122e+01
+-3.7719680164031812e+00
+1.1022501903417394e+01
+-4.7349911639646528e+01
--- /dev/null
+# 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.
+
+add_subdirectory(source)
--- /dev/null
+find_package(Sphinx REQUIRED)
+
+# HTML output directory
+set(SPHINX_HTML_DIR "${Ceres_BINARY_DIR}/docs/html")
+
+# Install documentation
+install(DIRECTORY ${SPHINX_HTML_DIR}
+ DESTINATION "${CERES_DOCS_INSTALL_DIR}"
+ COMPONENT Doc
+ PATTERN "${SPHINX_HTML_DIR}/*")
+
+# Building using 'make_docs.py' python script
+add_custom_target(ceres_docs ALL
+ python
+ "${Ceres_SOURCE_DIR}/scripts/make_docs.py"
+ "${Ceres_SOURCE_DIR}"
+ "${Ceres_BINARY_DIR}/docs"
+ "${SPHINX_EXECUTABLE}"
+ COMMENT "Building HTML documentation with Sphinx")
--- /dev/null
+{% extends "!layout.html" %}
+
+{% block footer %}
+{{ super() }}
+<script>
+ (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
+ (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
+ m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
+ })(window,document,'script','//www.google-analytics.com/analytics.js','ga');
+ ga('create', 'UA-49769510-1', 'ceres-solver.org');
+ ga('send', 'pageview');
+</script>
+{% endblock %}
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-analytical_derivatives:
+
+====================
+Analytic Derivatives
+====================
+
+Consider the problem of fitting the following curve (`Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_) to
+data:
+
+.. math::
+ y = \frac{b_1}{(1+e^{b_2-b_3x})^{1/b_4}}
+
+That is, given some data :math:`\{x_i, y_i\},\ \forall i=1,... ,n`,
+determine parameters :math:`b_1, b_2, b_3` and :math:`b_4` that best
+fit this data.
+
+Which can be stated as the problem of finding the
+values of :math:`b_1, b_2, b_3` and :math:`b_4` are the ones that
+minimize the following objective function [#f1]_:
+
+.. math::
+ \begin{align}
+ E(b_1, b_2, b_3, b_4)
+ &= \sum_i f^2(b_1, b_2, b_3, b_4 ; x_i, y_i)\\
+ &= \sum_i \left(\frac{b_1}{(1+e^{b_2-b_3x_i})^{1/b_4}} - y_i\right)^2\\
+ \end{align}
+
+To solve this problem using Ceres Solver, we need to define a
+:class:`CostFunction` that computes the residual :math:`f` for a given
+:math:`x` and :math:`y` and its derivatives with respect to
+:math:`b_1, b_2, b_3` and :math:`b_4`.
+
+Using elementary differential calculus, we can see that:
+
+.. math::
+ \begin{align}
+ D_1 f(b_1, b_2, b_3, b_4; x,y) &= \frac{1}{(1+e^{b_2-b_3x})^{1/b_4}}\\
+ D_2 f(b_1, b_2, b_3, b_4; x,y) &=
+ \frac{-b_1e^{b_2-b_3x}}{b_4(1+e^{b_2-b_3x})^{1/b_4 + 1}} \\
+ D_3 f(b_1, b_2, b_3, b_4; x,y) &=
+ \frac{b_1xe^{b_2-b_3x}}{b_4(1+e^{b_2-b_3x})^{1/b_4 + 1}} \\
+ D_4 f(b_1, b_2, b_3, b_4; x,y) & = \frac{b_1 \log\left(1+e^{b_2-b_3x}\right) }{b_4^2(1+e^{b_2-b_3x})^{1/b_4}}
+ \end{align}
+
+With these derivatives in hand, we can now implement the
+:class:`CostFunction` as:
+
+.. code-block:: c++
+
+ class Rat43Analytic : public SizedCostFunction<1,4> {
+ public:
+ Rat43Analytic(const double x, const double y) : x_(x), y_(y) {}
+ virtual ~Rat43Analytic() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double b1 = parameters[0][0];
+ const double b2 = parameters[0][1];
+ const double b3 = parameters[0][2];
+ const double b4 = parameters[0][3];
+
+ residuals[0] = b1 * pow(1 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
+
+ if (!jacobians) return true;
+ double* jacobian = jacobians[0];
+ if (!jacobian) return true;
+
+ jacobian[0] = pow(1 + exp(b2 - b3 * x_), -1.0 / b4);
+ jacobian[1] = -b1 * exp(b2 - b3 * x_) *
+ pow(1 + exp(b2 - b3 * x_), -1.0 / b4 - 1) / b4;
+ jacobian[2] = x_ * b1 * exp(b2 - b3 * x_) *
+ pow(1 + exp(b2 - b3 * x_), -1.0 / b4 - 1) / b4;
+ jacobian[3] = b1 * log(1 + exp(b2 - b3 * x_)) *
+ pow(1 + exp(b2 - b3 * x_), -1.0 / b4) / (b4 * b4);
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+ };
+
+This is tedious code, hard to read and with a lot of
+redundancy. So in practice we will cache some sub-expressions to
+improve its efficiency, which would give us something like:
+
+.. code-block:: c++
+
+ class Rat43AnalyticOptimized : public SizedCostFunction<1,4> {
+ public:
+ Rat43AnalyticOptimized(const double x, const double y) : x_(x), y_(y) {}
+ virtual ~Rat43AnalyticOptimized() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double b1 = parameters[0][0];
+ const double b2 = parameters[0][1];
+ const double b3 = parameters[0][2];
+ const double b4 = parameters[0][3];
+
+ const double t1 = exp(b2 - b3 * x_);
+ const double t2 = 1 + t1;
+ const double t3 = pow(t2, -1.0 / b4);
+ residuals[0] = b1 * t3 - y_;
+
+ if (!jacobians) return true;
+ double* jacobian = jacobians[0];
+ if (!jacobian) return true;
+
+ const double t4 = pow(t2, -1.0 / b4 - 1);
+ jacobian[0] = t3;
+ jacobian[1] = -b1 * t1 * t4 / b4;
+ jacobian[2] = -x_ * jacobian[1];
+ jacobian[3] = b1 * log(t2) * t3 / (b4 * b4);
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+ };
+
+What is the difference in performance of these two implementations?
+
+========================== =========
+CostFunction Time (ns)
+========================== =========
+Rat43Analytic 255
+Rat43AnalyticOptimized 92
+========================== =========
+
+``Rat43AnalyticOptimized`` is :math:`2.8` times faster than
+``Rat43Analytic``. This difference in run-time is not uncommon. To
+get the best performance out of analytically computed derivatives, one
+usually needs to optimize the code to account for common
+sub-expressions.
+
+
+When should you use analytical derivatives?
+===========================================
+
+#. The expressions are simple, e.g. mostly linear.
+
+#. A computer algebra system like `Maple
+ <https://www.maplesoft.com/products/maple/>`_ , `Mathematica
+ <https://www.wolfram.com/mathematica/>`_, or `SymPy
+ <http://www.sympy.org/en/index.html>`_ can be used to symbolically
+ differentiate the objective function and generate the C++ to
+ evaluate them.
+
+#. Performance is of utmost concern and there is algebraic structure
+ in the terms that you can exploit to get better performance than
+ automatic differentiation.
+
+ That said, getting the best performance out of analytical
+ derivatives requires a non-trivial amount of work. Before going
+ down this path, it is useful to measure the amount of time being
+ spent evaluating the Jacobian as a fraction of the total solve time
+ and remember `Amdahl's Law
+ <https://en.wikipedia.org/wiki/Amdahl's_law>`_ is your friend.
+
+#. There is no other way to compute the derivatives, e.g. you
+ wish to compute the derivative of the root of a polynomial:
+
+ .. math::
+ a_3(x,y)z^3 + a_2(x,y)z^2 + a_1(x,y)z + a_0(x,y) = 0
+
+
+ with respect to :math:`x` and :math:`y`. This requires the use of
+ the `Inverse Function Theorem
+ <https://en.wikipedia.org/wiki/Inverse_function_theorem>`_
+
+#. You love the chain rule and actually enjoy doing all the algebra by
+ hand.
+
+
+.. rubric:: Footnotes
+
+.. [#f1] The notion of best fit depends on the choice of the objective
+ function used to measure the quality of fit, which in turn
+ depends on the underlying noise process which generated the
+ observations. Minimizing the sum of squared differences is
+ the right thing to do when the noise is `Gaussian
+ <https://en.wikipedia.org/wiki/Normal_distribution>`_. In
+ that case the optimal value of the parameters is the `Maximum
+ Likelihood Estimate
+ <https://en.wikipedia.org/wiki/Maximum_likelihood_estimation>`_.
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-automatic_derivatives:
+
+=====================
+Automatic Derivatives
+=====================
+
+We will now consider automatic differentiation. It is a technique that
+can compute exact derivatives, fast, while requiring about the same
+effort from the user as is needed to use numerical differentiation.
+
+Don't believe me? Well here goes. The following code fragment
+implements an automatically differentiated ``CostFunction`` for `Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_.
+
+.. code-block:: c++
+
+ struct Rat43CostFunctor {
+ Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
+
+ template <typename T>
+ bool operator()(const T* parameters, T* residuals) const {
+ const T b1 = parameters[0];
+ const T b2 = parameters[1];
+ const T b3 = parameters[2];
+ const T b4 = parameters[3];
+ residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+ };
+
+
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<Rat43CostFunctor, 1, 4>(
+ new Rat43CostFunctor(x, y));
+
+Notice that compared to numeric differentiation, the only difference
+when defining the functor for use with automatic differentiation is
+the signature of the ``operator()``.
+
+In the case of numeric differentition it was
+
+.. code-block:: c++
+
+ bool operator()(const double* parameters, double* residuals) const;
+
+and for automatic differentiation it is a templated function of the
+form
+
+.. code-block:: c++
+
+ template <typename T> bool operator()(const T* parameters, T* residuals) const;
+
+
+So what does this small change buy us? The following table compares
+the time it takes to evaluate the residual and the Jacobian for
+`Rat43` using various methods.
+
+========================== =========
+CostFunction Time (ns)
+========================== =========
+Rat43Analytic 255
+Rat43AnalyticOptimized 92
+Rat43NumericDiffForward 262
+Rat43NumericDiffCentral 517
+Rat43NumericDiffRidders 3760
+Rat43AutomaticDiff 129
+========================== =========
+
+We can get exact derivatives using automatic differentiation
+(``Rat43AutomaticDiff``) with about the same effort that is required
+to write the code for numeric differentiation but only :math:`40\%`
+slower than hand optimized analytical derivatives.
+
+So how does it work? For this we will have to learn about **Dual
+Numbers** and **Jets** .
+
+
+Dual Numbers & Jets
+===================
+
+.. NOTE::
+
+ Reading this and the next section on implementing Jets is not
+ necessary to use automatic differentiation in Ceres Solver. But
+ knowing the basics of how Jets work is useful when debugging and
+ reasoning about the performance of automatic differentiation.
+
+Dual numbers are an extension of the real numbers analogous to complex
+numbers: whereas complex numbers augment the reals by introducing an
+imaginary unit :math:`\iota` such that :math:`\iota^2 = -1`, dual
+numbers introduce an *infinitesimal* unit :math:`\epsilon` such that
+:math:`\epsilon^2 = 0` . A dual number :math:`a + v\epsilon` has two
+components, the *real* component :math:`a` and the *infinitesimal*
+component :math:`v`.
+
+Surprisingly, this simple change leads to a convenient method for
+computing exact derivatives without needing to manipulate complicated
+symbolic expressions.
+
+For example, consider the function
+
+.. math::
+
+ f(x) = x^2 ,
+
+Then,
+
+.. math::
+
+ \begin{align}
+ f(10 + \epsilon) &= (10 + \epsilon)^2\\
+ &= 100 + 20 \epsilon + \epsilon^2\\
+ &= 100 + 20 \epsilon
+ \end{align}
+
+Observe that the coefficient of :math:`\epsilon` is :math:`Df(10) =
+20`. Indeed this generalizes to functions which are not
+polynomial. Consider an arbitrary differentiable function
+:math:`f(x)`. Then we can evaluate :math:`f(x + \epsilon)` by
+considering the Taylor expansion of :math:`f` near :math:`x`, which
+gives us the infinite series
+
+.. math::
+ \begin{align}
+ f(x + \epsilon) &= f(x) + Df(x) \epsilon + D^2f(x)
+ \frac{\epsilon^2}{2} + D^3f(x) \frac{\epsilon^3}{6} + \cdots\\
+ f(x + \epsilon) &= f(x) + Df(x) \epsilon
+ \end{align}
+
+Here we are using the fact that :math:`\epsilon^2 = 0`.
+
+A `Jet <https://en.wikipedia.org/wiki/Jet_(mathematics)>`_ is a
+:math:`n`-dimensional dual number, where we augment the real numbers
+with :math:`n` infinitesimal units :math:`\epsilon_i,\ i=1,...,n` with
+the property that :math:`\forall i, j\ :\epsilon_i\epsilon_j = 0`. Then
+a Jet consists of a *real* part :math:`a` and a :math:`n`-dimensional
+*infinitesimal* part :math:`\mathbf{v}`, i.e.,
+
+.. math::
+ x = a + \sum_j v_{j} \epsilon_j
+
+The summation notation gets tedious, so we will also just write
+
+.. math::
+ x = a + \mathbf{v}.
+
+where the :math:`\epsilon_i`'s are implict. Then, using the same
+Taylor series expansion used above, we can see that:
+
+.. math::
+
+ f(a + \mathbf{v}) = f(a) + Df(a) \mathbf{v}.
+
+Similarly for a multivariate function
+:math:`f:\mathbb{R}^{n}\rightarrow \mathbb{R}^m`, evaluated on
+:math:`x_i = a_i + \mathbf{v}_i,\ \forall i = 1,...,n`:
+
+.. math::
+ f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \mathbf{v}_i
+
+So if each :math:`\mathbf{v}_i = e_i` were the :math:`i^{\text{th}}`
+standard basis vector, then, the above expression would simplify to
+
+.. math::
+ f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \epsilon_i
+
+and we can extract the coordinates of the Jacobian by inspecting the
+coefficients of :math:`\epsilon_i`.
+
+Implementing Jets
+-----------------
+
+In order for the above to work in practice, we will need the ability
+to evaluate an arbitrary function :math:`f` not just on real numbers
+but also on dual numbers, but one does not usually evaluate functions
+by evaluating their Taylor expansions,
+
+This is where C++ templates and operator overloading comes into
+play. The following code fragment has a simple implementation of a
+``Jet`` and some operators/functions that operate on them.
+
+.. code-block:: c++
+
+ template<int N> struct Jet {
+ double a;
+ Eigen::Matrix<double, 1, N> v;
+ };
+
+ template<int N> Jet<N> operator+(const Jet<N>& f, const Jet<N>& g) {
+ return Jet<N>(f.a + g.a, f.v + g.v);
+ }
+
+ template<int N> Jet<N> operator-(const Jet<N>& f, const Jet<N>& g) {
+ return Jet<N>(f.a - g.a, f.v - g.v);
+ }
+
+ template<int N> Jet<N> operator*(const Jet<N>& f, const Jet<N>& g) {
+ return Jet<N>(f.a * g.a, f.a * g.v + f.v * g.a);
+ }
+
+ template<int N> Jet<N> operator/(const Jet<N>& f, const Jet<N>& g) {
+ return Jet<N>(f.a / g.a, f.v / g.a - f.a * g.v / (g.a * g.a));
+ }
+
+ template <int N> Jet<N> exp(const Jet<N>& f) {
+ return Jet<T, N>(exp(f.a), exp(f.a) * f.v);
+ }
+
+ // This is a simple implementation for illustration purposes, the
+ // actual implementation of pow requires careful handling of a number
+ // of corner cases.
+ template <int N> Jet<N> pow(const Jet<N>& f, const Jet<N>& g) {
+ return Jet<N>(pow(f.a, g.a),
+ g.a * pow(f.a, g.a - 1.0) * f.v +
+ pow(f.a, g.a) * log(f.a); * g.v);
+ }
+
+
+With these overloaded functions in hand, we can now call
+``Rat43CostFunctor`` with an array of Jets instead of doubles. Putting
+that together with appropriately initialized Jets allows us to compute
+the Jacobian as follows:
+
+.. code-block:: c++
+
+ class Rat43Automatic : public ceres::SizedCostFunction<1,4> {
+ public:
+ Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {}
+ virtual ~Rat43Automatic() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Just evaluate the residuals if Jacobians are not required.
+ if (!jacobians) return (*functor_)(parameters[0], residuals);
+
+ // Initialize the Jets
+ ceres::Jet<4> jets[4];
+ for (int i = 0; i < 4; ++i) {
+ jets[i].a = parameters[0][i];
+ jets[i].v.setZero();
+ jets[i].v[i] = 1.0;
+ }
+
+ ceres::Jet<4> result;
+ (*functor_)(jets, &result);
+
+ // Copy the values out of the Jet.
+ residuals[0] = result.a;
+ for (int i = 0; i < 4; ++i) {
+ jacobians[0][i] = result.v[i];
+ }
+ return true;
+ }
+
+ private:
+ std::unique_ptr<const Rat43CostFunctor> functor_;
+ };
+
+Indeed, this is essentially how :class:`AutoDiffCostFunction` works.
+
+
+Pitfalls
+========
+
+Automatic differentiation frees the user from the burden of computing
+and reasoning about the symbolic expressions for the Jacobians, but
+this freedom comes at a cost. For example consider the following
+simple functor:
+
+.. code-block:: c++
+
+ struct Functor {
+ template <typename T> bool operator()(const T* x, T* residual) const {
+ residual[0] = 1.0 - sqrt(x[0] * x[0] + x[1] * x[1]);
+ return true;
+ }
+ };
+
+Looking at the code for the residual computation, one does not foresee
+any problems. However, if we look at the analytical expressions for
+the Jacobian:
+
+.. math::
+
+ y &= 1 - \sqrt{x_0^2 + x_1^2}\\
+ D_1y &= -\frac{x_0}{\sqrt{x_0^2 + x_1^2}},\
+ D_2y = -\frac{x_1}{\sqrt{x_0^2 + x_1^2}}
+
+we find that it is an indeterminate form at :math:`x_0 = 0, x_1 =
+0`.
+
+There is no single solution to this problem. In some cases one needs
+to reason explicitly about the points where indeterminacy may occur
+and use alternate expressions using `L'Hopital's rule
+<https://en.wikipedia.org/wiki/L'H%C3%B4pital's_rule>`_ (see for
+example some of the conversion routines in `rotation.h
+<https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/rotation.h>`_. In
+other cases, one may need to regularize the expressions to eliminate
+these points.
--- /dev/null
+.. _sec-bibliography:
+
+============
+Bibliography
+============
+
+.. [Agarwal] S. Agarwal, N. Snavely, S. M. Seitz and R. Szeliski,
+ **Bundle Adjustment in the Large**, *Proceedings of the European
+ Conference on Computer Vision*, pp. 29--42, 2010.
+
+.. [Bjorck] A. Bjorck, **Numerical Methods for Least Squares
+ Problems**, SIAM, 1996
+
+.. [Brown] D. C. Brown, **A solution to the general problem of
+ multiple station analytical stereo triangulation**, Technical
+ Report 43, Patrick Airforce Base, Florida, 1958.
+
+.. [ByrdNocedal] R. H. Byrd, J. Nocedal, R. B. Schanbel,
+ **Representations of Quasi-Newton Matrices and their use in Limited
+ Memory Methods**, *Mathematical Programming* 63(4):129–-156, 1994.
+
+.. [ByrdSchnabel] R.H. Byrd, R.B. Schnabel, and G.A. Shultz, **Approximate
+ solution of the trust region problem by minimization over
+ two dimensional subspaces**, *Mathematical programming*,
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+
+.. [Chen] Y. Chen, T. A. Davis, W. W. Hager, and
+ S. Rajamanickam, **Algorithm 887: CHOLMOD, Supernodal Sparse
+ Cholesky Factorization and Update/Downdate**, *TOMS*, 35(3), 2008.
+
+.. [Conn] A.R. Conn, N.I.M. Gould, and P.L. Toint, **Trust region
+ methods**, *Society for Industrial Mathematics*, 2000.
+
+.. [GolubPereyra] G.H. Golub and V. Pereyra, **The differentiation of
+ pseudo-inverses and nonlinear least squares problems whose
+ variables separate**, *SIAM Journal on numerical analysis*,
+ 10(2):413–432, 1973.
+
+.. [HartleyZisserman] R.I. Hartley & A. Zisserman, **Multiview
+ Geometry in Computer Vision**, Cambridge University Press, 2004.
+
+.. [KanataniMorris] K. Kanatani and D. D. Morris, **Gauges and gauge
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+.. [KushalAgarwal] A. Kushal and S. Agarwal, **Visibility based
+ preconditioning for bundle adjustment**, *In Proceedings of the
+ IEEE Conference on Computer Vision and Pattern Recognition*, 2012.
+
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+ **Levenberg–Marquardt methods with strong local convergence
+ properties for solving nonlinear equations with convex
+ constraints**, *Journal of Computational and Applied Mathematics*,
+ 177(2):375–397, 2005.
+
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+ nonlinear problems in least squares**, *Quart. Appl. Math*,
+ 2(2):164–168, 1944.
+
+.. [LiSaad] Na Li and Y. Saad, **MIQR: A multilevel incomplete qr
+ preconditioner for large sparse least squares problems**, *SIAM
+ Journal on Matrix Analysis and Applications*, 28(2):524–550, 2007.
+
+.. [Madsen] K. Madsen, H.B. Nielsen, and O. Tingleff, **Methods for
+ nonlinear least squares problems**, 2004.
+
+.. [Mandel] J. Mandel, **On block diagonal and Schur complement
+ preconditioning**, *Numer. Math.*, 58(1):79–93, 1990.
+
+.. [Marquardt] D.W. Marquardt, **An algorithm for least squares
+ estimation of nonlinear parameters**, *J. SIAM*, 11(2):431–441,
+ 1963.
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+.. [Mathew] T.P.A. Mathew, **Domain decomposition methods for the
+ numerical solution of partial differential equations**, Springer
+ Verlag, 2008.
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+ within a truncated newton method**, *Operations Research Letters*,
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+ Storage**, *Mathematics of Computation*, 35(151): 773--782, 1980.
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+ Springer, 2004.
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+ Part II: Implementation and Experiments**, Management Science,
+ 20(5), 863-874, 1974.
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+ & B. P. Flannery, **Numerical Recipes**, Cambridge University
+ Press, 2007.
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+ F'(x) F"(x)**, Advances in Engineering Software 4(2), 75-76, 1978.
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+ nonlinear least squares problems**, Siam Review, 22(3):318–337,
+ 1980.
+
+.. [Saad] Y. Saad, **Iterative methods for sparse linear
+ systems**, SIAM, 2003.
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+ squares**, *The Annals of Statistics*, 9(3):465-474, 1981.
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+.. [TenenbaumDirector] J. Tenenbaum & B. Director, **How Gauss
+ Determined the Orbit of Ceres**.
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+ Algebra**, SIAM, 1997.
+
+.. [Triggs] B. Triggs, P. F. Mclauchlan, R. I. Hartley &
+ A. W. Fitzgibbon, **Bundle Adjustment: A Modern Synthesis**,
+ Proceedings of the International Workshop on Vision Algorithms:
+ Theory and Practice, pp. 298-372, 1999.
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+.. [Wiberg] T. Wiberg, **Computation of principal components when data
+ are missing**, In Proc. *Second Symp. Computational Statistics*,
+ pages 229–236, 1976.
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+ Levenberg Marquardt Method for Large Sparse Nonlinear Least
+ Squares**, *Journal of the Australian Mathematical Society Series
+ B*, 26(4):387–403, 1985.
--- /dev/null
+# -*- coding: utf-8 -*-
+#
+# Ceres Solver documentation build configuration file, created by
+# sphinx-quickstart on Sun Jan 20 20:34:07 2013.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.todo', 'sphinx.ext.mathjax', 'sphinx.ext.ifconfig']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'Ceres Solver'
+copyright = u'2016 Google Inc'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '1.13'
+# The full version, including alpha/beta/rc tags.
+release = '1.13.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = []
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+html_theme_path = ["_themes",]
+import sphinx_rtd_theme
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+# The name for this set of Sphinx documents. If None, it defaults to
+# "<project> v<release> documentation".
+html_title = "Ceres Solver"
+
+# A shorter title for the navigation bar. Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+#html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+html_domain_indices = True
+
+# If false, no index is generated.
+html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+html_show_sourcelink = False
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+html_show_sphinx = False
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it. The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'CeresSolverdoc'
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+ ('index', 'CeresSolver.tex', u'Ceres Solver',
+ u'Sameer Agarwal, Keir Mierle & Others', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+ ('index', 'ceressolver', u'Ceres Solver',
+ [u'Sameer Agarwal, Keir Mierle & Others'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+# dir menu entry, description, category)
+texinfo_documents = [
+ ('index', 'CeresSolver', u'Ceres Solver',
+ u'Sameer Agarwal, Keir Mierle & Others', 'CeresSolver', 'One line description of project.',
+ 'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
--- /dev/null
+.. _chapter-contributing:
+
+============
+Contributing
+============
+
+We welcome contributions to Ceres, whether they are new features, bug
+fixes or tests. The Ceres `mailing
+<http://groups.google.com/group/ceres-solver>`_ list is the best place
+for all development related discussions. Please consider joining
+it. If you have ideas on how you would like to contribute to Ceres, it
+is a good idea to let us know on the mailing list before you start
+development. We may have suggestions that will save effort when trying
+to merge your work into the main branch. If you are looking for ideas,
+please let us know about your interest and skills and we will be happy
+to make a suggestion or three.
+
+We follow Google's `C++ Style Guide
+<http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml>`_ and
+use `git <http://git-scm.com/>`_ for version control. We use the
+`Gerrit <https://ceres-solver-review.googlesource.com/>`_ to collaborate and
+review changes to Ceres. Gerrit enables pre-commit reviews so that
+Ceres can maintain a linear history with clean, reviewed commits, and
+no merges.
+
+We now describe how to set up your development environment and submit
+a change list for review via Gerrit.
+
+Setting up your Environment
+===========================
+
+1. Download and configure ``git``.
+
+ * Mac ``brew install git``.
+ * Linux ``sudo apt-get install git``.
+ * Windows. Download `msysgit
+ <https://code.google.com/p/msysgit/>`_, which includes a minimal
+ `Cygwin <http://www.cygwin.com/>`_ install.
+
+2. Sign up for `Gerrit
+ <https://ceres-solver-review.googlesource.com/>`_. You will also
+ need to sign the Contributor License Agreement (CLA) with Google,
+ which gives Google a royalty-free unlimited license to use your
+ contributions. You retain copyright.
+
+3. Clone the Ceres Solver ``git`` repository from Gerrit.
+
+ .. code-block:: bash
+
+ git clone https://ceres-solver.googlesource.com/ceres-solver
+
+
+4. Build Ceres, following the instructions in
+ :ref:`chapter-installation`.
+
+ On Mac and Linux, the ``CMake`` build will download and enable
+ the Gerrit pre-commit hook automatically. This pre-submit hook
+ creates `Change-Id: ...` lines in your commits.
+
+ If this does not work OR you are on Windows, execute the
+ following in the root directory of the local ``git`` repository:
+
+ .. code-block:: bash
+
+ curl -o .git/hooks/commit-msg https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
+ chmod +x .git/hooks/commit-msg
+
+5. Configure your Gerrit password with a ``.gitcookies`` which allows pushing
+ to Gerrit without having to enter a very long random password every time:
+
+ * Sign into `http://ceres-solver-review.googlesource.com
+ <http://ceres-solver-review.googlesource.com>`_.
+
+ * Click ``Settings -> HTTP Password -> Obtain Password``.
+
+ * (maybe) Select an account for multi-login. This should be the
+ same as your Gerrit login.
+
+ * Click ``Allow access`` when the page requests access to your
+ ``git`` repositories.
+
+ * Follow the instructions from Gerrit to create a ``.gitcookies`` file on
+ your system, either in ``$HOME/.gitcookies`` (Mac and Linux) or
+ ``%USERPROFILE%\.gitcookies`` (Windows). Note that for Windows, please get
+ a recent `Git for Windows <https://git-scm.com/download/win>`_ install to
+ enable automatic lookup in the ``%USERPROFILE%\.gitcookies``.
+
+Submitting a change
+===================
+
+1. Make your changes against master or whatever branch you
+ like. Commit your changes as one patch. When you commit, the Gerrit
+ hook will add a `Change-Id:` line as the last line of the commit.
+
+ Make sure that your commit message is formatted in the `50/72 style
+ <http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html>`_.
+
+2. Push your changes to the Ceres Gerrit instance:
+
+ .. code-block:: bash
+
+ git push origin HEAD:refs/for/master
+
+ When the push succeeds, the console will display a URL showing the
+ address of the review. Go to the URL and add at least one of the
+ maintainers (Sameer Agarwal, Keir Mierle, Alex Stewart or William
+ Rucklidge) as reviewers.
+
+3. Wait for a review.
+
+4. Once review comments come in, address them. Please reply to each
+ comment in Gerrit, which makes the re-review process easier. After
+ modifying the code in your ``git`` instance, *don't make a new
+ commit*. Instead, update the last commit using a command like the
+ following:
+
+ .. code-block:: bash
+
+ git commit --amend -a
+
+ This will update the last commit, so that it has both the original
+ patch and your updates as a single commit. You will have a chance
+ to edit the commit message as well. Push the new commit to Gerrit
+ as before.
+
+ Gerrit will use the ``Change-Id:`` to match the previous commit
+ with the new one. The review interface retains your original patch,
+ but also shows the new patch.
+
+ Publish your responses to the comments, and wait for a new round
+ of reviews.
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-on_derivatives:
+
+==============
+On Derivatives
+==============
+
+Ceres Solver, like all gradient based optimization algorithms, depends
+on being able to evaluate the objective function and its derivatives
+at arbitrary points in its domain. Indeed, defining the objective
+function and its `Jacobian
+<https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant>`_ is
+the principal task that the user is required to perform when solving
+an optimization problem using Ceres Solver. The correct and efficient
+computation of the Jacobian is the key to good performance.
+
+Ceres Solver offers considerable flexibility in how the user can
+provide derivatives to the solver. She can use:
+
+#. :ref:`chapter-analytical_derivatives`: The user figures out the
+ derivatives herself, by hand or using a tool like `Maple
+ <https://www.maplesoft.com/products/maple/>`_ or `Mathematica
+ <https://www.wolfram.com/mathematica/>`_, and implements them in a
+ :class:`CostFunction`.
+#. :ref:`chapter-numerical_derivatives`: Ceres numerically computes
+ the derivative using finite differences.
+#. :ref:`chapter-automatic_derivatives`: Ceres automatically computes
+ the analytic derivative using C++ templates and operator
+ overloading.
+
+Which of these three approaches (alone or in combination) should be
+used depends on the situation and the tradeoffs the user is willing to
+make. Unfortunately, numerical optimization textbooks rarely discuss
+these issues in detail and the user is left to her own devices.
+
+The aim of this article is to fill this gap and describe each of these
+three approaches in the context of Ceres Solver with sufficient detail
+that the user can make an informed choice.
+
+For the impatient amongst you, here is some high level advice:
+
+#. Use :ref:`chapter-automatic_derivatives`.
+#. In some cases it maybe worth using
+ :ref:`chapter-analytical_derivatives`.
+#. Avoid :ref:`chapter-numerical_derivatives`. Use it as a measure of
+ last resort, mostly to interface with external libraries.
+
+For the rest, read on.
+
+.. toctree::
+ :maxdepth: 1
+
+ spivak_notation
+ analytical_derivatives
+ numerical_derivatives
+ automatic_derivatives
+ interfacing_with_autodiff
--- /dev/null
+.. _chapter-tricks:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+===================
+FAQS, Tips & Tricks
+===================
+
+Answers to frequently asked questions, tricks of the trade and general
+wisdom.
+
+.. toctree::
+ :maxdepth: 2
+
+ modeling_faqs
+ solving_faqs
+
+
+Further Reading
+===============
+
+For a short but informative introduction to the subject we recommend
+the booklet by [Madsen]_ . For a general introduction to non-linear
+optimization we recommend [NocedalWright]_. [Bjorck]_ remains the
+seminal reference on least squares problems. [TrefethenBau]_ book is
+our favorite text on introductory numerical linear algebra. [Triggs]_
+provides a thorough coverage of the bundle adjustment problem.
--- /dev/null
+====
+Why?
+====
+.. _chapter-features:
+
+* **Code Quality** - Ceres Solver has been used in production at
+ Google for more than four years now. It is clean, extensively tested
+ and well documented code that is actively developed and supported.
+
+* **Modeling API** - It is rarely the case that one starts with the
+ exact and complete formulation of the problem that one is trying to
+ solve. Ceres's modeling API has been designed so that the user can
+ easily build and modify the objective function, one term at a
+ time. And to do so without worrying about how the solver is going to
+ deal with the resulting changes in the sparsity/structure of the
+ underlying problem.
+
+ - **Derivatives** Supplying derivatives is perhaps the most tedious
+ and error prone part of using an optimization library. Ceres
+ ships with `automatic`_ and `numeric`_ differentiation. So you
+ never have to compute derivatives by hand (unless you really want
+ to). Not only this, Ceres allows you to mix automatic, numeric and
+ analytical derivatives in any combination that you want.
+
+ - **Robust Loss Functions** Most non-linear least squares problems
+ involve data. If there is data, there will be outliers. Ceres
+ allows the user to *shape* their residuals using a
+ :class:`LossFunction` to reduce the influence of outliers.
+
+ - **Local Parameterization** In many cases, some parameters lie on a
+ manifold other than Euclidean space, e.g., rotation matrices. In
+ such cases, the user can specify the geometry of the local tangent
+ space by specifying a :class:`LocalParameterization` object.
+
+* **Solver Choice** Depending on the size, sparsity structure, time &
+ memory budgets, and solution quality requiremnts, different
+ optimization algorithms will suit different needs. To this end,
+ Ceres Solver comes with a variety of optimization algorithms:
+
+ - **Trust Region Solvers** - Ceres supports Levenberg-Marquardt,
+ Powell's Dogleg, and Subspace dogleg methods. The key
+ computational cost in all of these methods is the solution of a
+ linear system. To this end Ceres ships with a variety of linear
+ solvers - dense QR and dense Cholesky factorization (using
+ `Eigen`_ or `LAPACK`_) for dense problems, sparse Cholesky
+ factorization (`SuiteSparse`_, `CXSparse`_ or `Eigen`_) for large
+ sparse problems custom Schur complement based dense, sparse, and
+ iterative linear solvers for `bundle adjustment`_ problems.
+
+ - **Line Search Solvers** - When the problem size is so large that
+ storing and factoring the Jacobian is not feasible or a low
+ accuracy solution is required cheaply, Ceres offers a number of
+ line search based algorithms. This includes a number of variants
+ of Non-linear Conjugate Gradients, BFGS and LBFGS.
+
+* **Speed** - Ceres Solver has been extensively optimized, with C++
+ templating, hand written linear algebra routines and OpenMP based
+ multithreading of the Jacobian evaluation and the linear solvers.
+
+* **Solution Quality** Ceres is the `best performing`_ solver on the NIST
+ problem set used by Mondragon and Borchers for benchmarking
+ non-linear least squares solvers.
+
+* **Covariance estimation** - Evaluate the sensitivity/uncertainty of
+ the solution by evaluating all or part of the covariance
+ matrix. Ceres is one of the few solvers that allows you to to do
+ this analysis at scale.
+
+* **Community** Since its release as an open source software, Ceres
+ has developed an active developer community that contributes new
+ features, bug fixes and support.
+
+* **Portability** - Runs on *Linux*, *Windows*, *Mac OS X*, *Android*
+ *and iOS*.
+
+* **BSD Licensed** The BSD license offers the flexibility to ship your
+ application
+
+.. _best performing: https://groups.google.com/forum/#!topic/ceres-solver/UcicgMPgbXw
+.. _bundle adjustment: http://en.wikipedia.org/wiki/Bundle_adjustment
+.. _SuiteSparse: http://www.cise.ufl.edu/research/sparse/SuiteSparse/
+.. _Eigen: http://eigen.tuxfamily.org/
+.. _LAPACK: http://www.netlib.org/lapack/
+.. _CXSparse: https://www.cise.ufl.edu/research/sparse/CXSparse/
+.. _automatic: http://en.wikipedia.org/wiki/Automatic_differentiation
+.. _numeric: http://en.wikipedia.org/wiki/Numerical_differentiation
--- /dev/null
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-gradient_problem_solver:
+
+==================================
+General Unconstrained Minimization
+==================================
+
+Modeling
+========
+
+:class:`FirstOrderFunction`
+---------------------------
+
+.. class:: FirstOrderFunction
+
+ Instances of :class:`FirstOrderFunction` implement the evaluation of
+ a function and its gradient.
+
+ .. code-block:: c++
+
+ class FirstOrderFunction {
+ public:
+ virtual ~FirstOrderFunction() {}
+ virtual bool Evaluate(const double* const parameters,
+ double* cost,
+ double* gradient) const = 0;
+ virtual int NumParameters() const = 0;
+ };
+
+.. function:: bool FirstOrderFunction::Evaluate(const double* const parameters, double* cost, double* gradient) const
+
+ Evaluate the cost/value of the function. If ``gradient`` is not
+ ``NULL`` then evaluate the gradient too. If evaluation is
+ successful return, ``true`` else return ``false``.
+
+ ``cost`` guaranteed to be never ``NULL``, ``gradient`` can be ``NULL``.
+
+.. function:: int FirstOrderFunction::NumParameters() const
+
+ Number of parameters in the domain of the function.
+
+
+:class:`GradientProblem`
+------------------------
+
+.. class:: GradientProblem
+
+.. code-block:: c++
+
+ class GradientProblem {
+ public:
+ explicit GradientProblem(FirstOrderFunction* function);
+ GradientProblem(FirstOrderFunction* function,
+ LocalParameterization* parameterization);
+ int NumParameters() const;
+ int NumLocalParameters() const;
+ bool Evaluate(const double* parameters, double* cost, double* gradient) const;
+ bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
+ };
+
+Instances of :class:`GradientProblem` represent general non-linear
+optimization problems that must be solved using just the value of the
+objective function and its gradient. Unlike the :class:`Problem`
+class, which can only be used to model non-linear least squares
+problems, instances of :class:`GradientProblem` not restricted in the
+form of the objective function.
+
+Structurally :class:`GradientProblem` is a composition of a
+:class:`FirstOrderFunction` and optionally a
+:class:`LocalParameterization`.
+
+The :class:`FirstOrderFunction` is responsible for evaluating the cost
+and gradient of the objective function.
+
+The :class:`LocalParameterization` is responsible for going back and
+forth between the ambient space and the local tangent space. When a
+:class:`LocalParameterization` is not provided, then the tangent space
+is assumed to coincide with the ambient Euclidean space that the
+gradient vector lives in.
+
+The constructor takes ownership of the :class:`FirstOrderFunction` and
+:class:`LocalParamterization` objects passed to it.
+
+
+.. function:: void Solve(const GradientProblemSolver::Options& options, const GradientProblem& problem, double* parameters, GradientProblemSolver::Summary* summary)
+
+ Solve the given :class:`GradientProblem` using the values in
+ ``parameters`` as the initial guess of the solution.
+
+
+Solving
+=======
+
+:class:`GradientProblemSolver::Options`
+---------------------------------------
+
+.. class:: GradientProblemSolver::Options
+
+ :class:`GradientProblemSolver::Options` controls the overall
+ behavior of the solver. We list the various settings and their
+ default values below.
+
+.. function:: bool GradientProblemSolver::Options::IsValid(string* error) const
+
+ Validate the values in the options struct and returns true on
+ success. If there is a problem, the method returns false with
+ ``error`` containing a textual description of the cause.
+
+.. member:: LineSearchDirectionType GradientProblemSolver::Options::line_search_direction_type
+
+ Default: ``LBFGS``
+
+ Choices are ``STEEPEST_DESCENT``, ``NONLINEAR_CONJUGATE_GRADIENT``,
+ ``BFGS`` and ``LBFGS``.
+
+.. member:: LineSearchType GradientProblemSolver::Options::line_search_type
+
+ Default: ``WOLFE``
+
+ Choices are ``ARMIJO`` and ``WOLFE`` (strong Wolfe conditions).
+ Note that in order for the assumptions underlying the ``BFGS`` and
+ ``LBFGS`` line search direction algorithms to be guaranteed to be
+ satisifed, the ``WOLFE`` line search should be used.
+
+.. member:: NonlinearConjugateGradientType GradientProblemSolver::Options::nonlinear_conjugate_gradient_type
+
+ Default: ``FLETCHER_REEVES``
+
+ Choices are ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and
+ ``HESTENES_STIEFEL``.
+
+.. member:: int GradientProblemSolver::Options::max_lbfs_rank
+
+ Default: 20
+
+ The L-BFGS hessian approximation is a low rank approximation to the
+ inverse of the Hessian matrix. The rank of the approximation
+ determines (linearly) the space and time complexity of using the
+ approximation. Higher the rank, the better is the quality of the
+ approximation. The increase in quality is however is bounded for a
+ number of reasons.
+
+ 1. The method only uses secant information and not actual
+ derivatives.
+
+ 2. The Hessian approximation is constrained to be positive
+ definite.
+
+ So increasing this rank to a large number will cost time and space
+ complexity without the corresponding increase in solution
+ quality. There are no hard and fast rules for choosing the maximum
+ rank. The best choice usually requires some problem specific
+ experimentation.
+
+.. member:: bool GradientProblemSolver::Options::use_approximate_eigenvalue_bfgs_scaling
+
+ Default: ``false``
+
+ As part of the ``BFGS`` update step / ``LBFGS`` right-multiply
+ step, the initial inverse Hessian approximation is taken to be the
+ Identity. However, [Oren]_ showed that using instead :math:`I *
+ \gamma`, where :math:`\gamma` is a scalar chosen to approximate an
+ eigenvalue of the true inverse Hessian can result in improved
+ convergence in a wide variety of cases. Setting
+ ``use_approximate_eigenvalue_bfgs_scaling`` to true enables this
+ scaling in ``BFGS`` (before first iteration) and ``LBFGS`` (at each
+ iteration).
+
+ Precisely, approximate eigenvalue scaling equates to
+
+ .. math:: \gamma = \frac{y_k' s_k}{y_k' y_k}
+
+ With:
+
+ .. math:: y_k = \nabla f_{k+1} - \nabla f_k
+ .. math:: s_k = x_{k+1} - x_k
+
+ Where :math:`f()` is the line search objective and :math:`x` the
+ vector of parameter values [NocedalWright]_.
+
+ It is important to note that approximate eigenvalue scaling does
+ **not** *always* improve convergence, and that it can in fact
+ *significantly* degrade performance for certain classes of problem,
+ which is why it is disabled by default. In particular it can
+ degrade performance when the sensitivity of the problem to different
+ parameters varies significantly, as in this case a single scalar
+ factor fails to capture this variation and detrimentally downscales
+ parts of the Jacobian approximation which correspond to
+ low-sensitivity parameters. It can also reduce the robustness of the
+ solution to errors in the Jacobians.
+
+.. member:: LineSearchIterpolationType GradientProblemSolver::Options::line_search_interpolation_type
+
+ Default: ``CUBIC``
+
+ Degree of the polynomial used to approximate the objective
+ function. Valid values are ``BISECTION``, ``QUADRATIC`` and
+ ``CUBIC``.
+
+.. member:: double GradientProblemSolver::Options::min_line_search_step_size
+
+ The line search terminates if:
+
+ .. math:: \|\Delta x_k\|_\infty < \text{min_line_search_step_size}
+
+ where :math:`\|\cdot\|_\infty` refers to the max norm, and
+ :math:`\Delta x_k` is the step change in the parameter values at
+ the :math:`k`-th iteration.
+
+.. member:: double GradientProblemSolver::Options::line_search_sufficient_function_decrease
+
+ Default: ``1e-4``
+
+ Solving the line search problem exactly is computationally
+ prohibitive. Fortunately, line search based optimization algorithms
+ can still guarantee convergence if instead of an exact solution,
+ the line search algorithm returns a solution which decreases the
+ value of the objective function sufficiently. More precisely, we
+ are looking for a step size s.t.
+
+ .. math:: f(\text{step_size}) \le f(0) + \text{sufficient_decrease} * [f'(0) * \text{step_size}]
+
+ This condition is known as the Armijo condition.
+
+.. member:: double GradientProblemSolver::Options::max_line_search_step_contraction
+
+ Default: ``1e-3``
+
+ In each iteration of the line search,
+
+ .. math:: \text{new_step_size} \geq \text{max_line_search_step_contraction} * \text{step_size}
+
+ Note that by definition, for contraction:
+
+ .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: double GradientProblemSolver::Options::min_line_search_step_contraction
+
+ Default: ``0.6``
+
+ In each iteration of the line search,
+
+ .. math:: \text{new_step_size} \leq \text{min_line_search_step_contraction} * \text{step_size}
+
+ Note that by definition, for contraction:
+
+ .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: int GradientProblemSolver::Options::max_num_line_search_step_size_iterations
+
+ Default: ``20``
+
+ Maximum number of trial step size iterations during each line
+ search, if a step size satisfying the search conditions cannot be
+ found within this number of trials, the line search will stop.
+
+ As this is an 'artificial' constraint (one imposed by the user, not
+ the underlying math), if ``WOLFE`` line search is being used, *and*
+ points satisfying the Armijo sufficient (function) decrease
+ condition have been found during the current search (in :math:`\leq`
+ ``max_num_line_search_step_size_iterations``). Then, the step size
+ with the lowest function value which satisfies the Armijo condition
+ will be returned as the new valid step, even though it does *not*
+ satisfy the strong Wolfe conditions. This behaviour protects
+ against early termination of the optimizer at a sub-optimal point.
+
+.. member:: int GradientProblemSolver::Options::max_num_line_search_direction_restarts
+
+ Default: ``5``
+
+ Maximum number of restarts of the line search direction algorithm
+ before terminating the optimization. Restarts of the line search
+ direction algorithm occur when the current algorithm fails to
+ produce a new descent direction. This typically indicates a
+ numerical failure, or a breakdown in the validity of the
+ approximations used.
+
+.. member:: double GradientProblemSolver::Options::line_search_sufficient_curvature_decrease
+
+ Default: ``0.9``
+
+ The strong Wolfe conditions consist of the Armijo sufficient
+ decrease condition, and an additional requirement that the
+ step size be chosen s.t. the *magnitude* ('strong' Wolfe
+ conditions) of the gradient along the search direction
+ decreases sufficiently. Precisely, this second condition
+ is that we seek a step size s.t.
+
+ .. math:: \|f'(\text{step_size})\| \leq \text{sufficient_curvature_decrease} * \|f'(0)\|
+
+ Where :math:`f()` is the line search objective and :math:`f'()` is the derivative
+ of :math:`f` with respect to the step size: :math:`\frac{d f}{d~\text{step size}}`.
+
+.. member:: double GradientProblemSolver::Options::max_line_search_step_expansion
+
+ Default: ``10.0``
+
+ During the bracketing phase of a Wolfe line search, the step size
+ is increased until either a point satisfying the Wolfe conditions
+ is found, or an upper bound for a bracket containing a point
+ satisfying the conditions is found. Precisely, at each iteration
+ of the expansion:
+
+ .. math:: \text{new_step_size} \leq \text{max_step_expansion} * \text{step_size}
+
+ By definition for expansion
+
+ .. math:: \text{max_step_expansion} > 1.0
+
+.. member:: int GradientProblemSolver::Options::max_num_iterations
+
+ Default: ``50``
+
+ Maximum number of iterations for which the solver should run.
+
+.. member:: double GradientProblemSolver::Options::max_solver_time_in_seconds
+
+ Default: ``1e6``
+ Maximum amount of time for which the solver should run.
+
+.. member:: double GradientProblemSolver::Options::function_tolerance
+
+ Default: ``1e-6``
+
+ Solver terminates if
+
+ .. math:: \frac{|\Delta \text{cost}|}{\text{cost}} \leq \text{function_tolerance}
+
+ where, :math:`\Delta \text{cost}` is the change in objective
+ function value (up or down) in the current iteration of the line search.
+
+.. member:: double GradientProblemSolver::Options::gradient_tolerance
+
+ Default: ``1e-10``
+
+ Solver terminates if
+
+ .. math:: \|x - \Pi \boxplus(x, -g(x))\|_\infty \leq \text{gradient_tolerance}
+
+ where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
+ is projection onto the bounds constraints and :math:`\boxplus` is
+ Plus operation for the overall local parameterization associated
+ with the parameter vector.
+
+.. member:: double GradientProblemSolver::Options::parameter_tolerance
+
+ Default: ``1e-8``
+
+ Solver terminates if
+
+ .. math:: \|\Delta x\| \leq (\|x\| + \text{parameter_tolerance}) * \text{parameter_tolerance}
+
+ where :math:`\Delta x` is the step computed by the linear solver in
+ the current iteration of the line search.
+
+.. member:: LoggingType GradientProblemSolver::Options::logging_type
+
+ Default: ``PER_MINIMIZER_ITERATION``
+
+.. member:: bool GradientProblemSolver::Options::minimizer_progress_to_stdout
+
+ Default: ``false``
+
+ By default the :class:`Minimizer` progress is logged to ``STDERR``
+ depending on the ``vlog`` level. If this flag is set to true, and
+ :member:`GradientProblemSolver::Options::logging_type` is not
+ ``SILENT``, the logging output is sent to ``STDOUT``.
+
+ The progress display looks like
+
+ .. code-block:: bash
+
+ 0: f: 2.317806e+05 d: 0.00e+00 g: 3.19e-01 h: 0.00e+00 s: 0.00e+00 e: 0 it: 2.98e-02 tt: 8.50e-02
+ 1: f: 2.312019e+05 d: 5.79e+02 g: 3.18e-01 h: 2.41e+01 s: 1.00e+00 e: 1 it: 4.54e-02 tt: 1.31e-01
+ 2: f: 2.300462e+05 d: 1.16e+03 g: 3.17e-01 h: 4.90e+01 s: 2.54e-03 e: 1 it: 4.96e-02 tt: 1.81e-01
+
+ Here
+
+ #. ``f`` is the value of the objective function.
+ #. ``d`` is the change in the value of the objective function if
+ the step computed in this iteration is accepted.
+ #. ``g`` is the max norm of the gradient.
+ #. ``h`` is the change in the parameter vector.
+ #. ``s`` is the optimal step length computed by the line search.
+ #. ``it`` is the time take by the current iteration.
+ #. ``tt`` is the total time taken by the minimizer.
+
+.. member:: vector<IterationCallback> GradientProblemSolver::Options::callbacks
+
+ Callbacks that are executed at the end of each iteration of the
+ :class:`Minimizer`. They are executed in the order that they are
+ specified in this vector. See the documentation for
+ :class:`IterationCallback` for more details.
+
+ The solver does NOT take ownership of these pointers.
+
+
+:class:`GradientProblemSolver::Summary`
+---------------------------------------
+
+.. class:: GradientProblemSolver::Summary
+
+ Summary of the various stages of the solver after termination.
+
+.. function:: string GradientProblemSolver::Summary::BriefReport() const
+
+ A brief one line description of the state of the solver after
+ termination.
+
+.. function:: string GradientProblemSolver::Summary::FullReport() const
+
+ A full multiline description of the state of the solver after
+ termination.
+
+.. function:: bool GradientProblemSolver::Summary::IsSolutionUsable() const
+
+ Whether the solution returned by the optimization algorithm can be
+ relied on to be numerically sane. This will be the case if
+ `GradientProblemSolver::Summary:termination_type` is set to `CONVERGENCE`,
+ `USER_SUCCESS` or `NO_CONVERGENCE`, i.e., either the solver
+ converged by meeting one of the convergence tolerances or because
+ the user indicated that it had converged or it ran to the maximum
+ number of iterations or time.
+
+.. member:: TerminationType GradientProblemSolver::Summary::termination_type
+
+ The cause of the minimizer terminating.
+
+.. member:: string GradientProblemSolver::Summary::message
+
+ Reason why the solver terminated.
+
+.. member:: double GradientProblemSolver::Summary::initial_cost
+
+ Cost of the problem (value of the objective function) before the
+ optimization.
+
+.. member:: double GradientProblemSolver::Summary::final_cost
+
+ Cost of the problem (value of the objective function) after the
+ optimization.
+
+.. member:: vector<IterationSummary> GradientProblemSolver::Summary::iterations
+
+ :class:`IterationSummary` for each minimizer iteration in order.
+
+.. member:: int num_cost_evaluations
+
+ Number of times the cost (and not the gradient) was evaluated.
+
+.. member:: int num_gradient_evaluations
+
+ Number of times the gradient (and the cost) were evaluated.
+
+.. member:: double GradientProblemSolver::Summary::total_time_in_seconds
+
+ Time (in seconds) spent in the solver.
+
+.. member:: double GradientProblemSolver::Summary::cost_evaluation_time_in_seconds
+
+ Time (in seconds) spent evaluating the cost vector.
+
+.. member:: double GradientProblemSolver::Summary::gradient_evaluation_time_in_seconds
+
+ Time (in seconds) spent evaluating the gradient vector.
+
+.. member:: int GradientProblemSolver::Summary::num_parameters
+
+ Number of parameters in the problem.
+
+.. member:: int GradientProblemSolver::Summary::num_local_parameters
+
+ Dimension of the tangent space of the problem. This is different
+ from :member:`GradientProblemSolver::Summary::num_parameters` if a
+ :class:`LocalParameterization` object is used.
+
+.. member:: LineSearchDirectionType GradientProblemSolver::Summary::line_search_direction_type
+
+ Type of line search direction used.
+
+.. member:: LineSearchType GradientProblemSolver::Summary::line_search_type
+
+ Type of the line search algorithm used.
+
+.. member:: LineSearchInterpolationType GradientProblemSolver::Summary::line_search_interpolation_type
+
+ When performing line search, the degree of the polynomial used to
+ approximate the objective function.
+
+.. member:: NonlinearConjugateGradientType GradientProblemSolver::Summary::nonlinear_conjugate_gradient_type
+
+ If the line search direction is `NONLINEAR_CONJUGATE_GRADIENT`,
+ then this indicates the particular variant of non-linear conjugate
+ gradient used.
+
+.. member:: int GradientProblemSolver::Summary::max_lbfgs_rank
+
+ If the type of the line search direction is `LBFGS`, then this
+ indicates the rank of the Hessian approximation.
--- /dev/null
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-gradient_tutorial:
+
+==================================
+General Unconstrained Minimization
+==================================
+
+While much of Ceres Solver is devoted to solving non-linear least
+squares problems, internally it contains a solver that can solve
+general unconstrained optimization problems using just their objective
+function value and gradients. The ``GradientProblem`` and
+``GradientProblemSolver`` objects give the user access to this solver.
+
+So without much further ado, let us look at how one goes about using
+them.
+
+Rosenbrock's Function
+=====================
+
+We consider the minimization of the famous `Rosenbrock's function
+<http://en.wikipedia.org/wiki/Rosenbrock_function>`_ [#f1]_.
+
+We begin by defining an instance of the ``FirstOrderFunction``
+interface. This is the object that is responsible for computing the
+objective function value and the gradient (if required). This is the
+analog of the :class:`CostFunction` when defining non-linear least
+squares problems in Ceres.
+
+.. code::
+
+ class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ const double x = parameters[0];
+ const double y = parameters[1];
+
+ cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+ if (gradient != NULL) {
+ gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+ gradient[1] = 200.0 * (y - x * x);
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 2; }
+ };
+
+
+Minimizing it then is a straightforward matter of constructing a
+:class:`GradientProblem` object and calling :func:`Solve` on it.
+
+.. code::
+
+ double parameters[2] = {-1.2, 1.0};
+
+ ceres::GradientProblem problem(new Rosenbrock());
+
+ ceres::GradientProblemSolver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ ceres::GradientProblemSolver::Summary summary;
+ ceres::Solve(options, problem, parameters, &summary);
+
+ std::cout << summary.FullReport() << "\n";
+
+Executing this code results, solve the problem using limited memory
+`BFGS
+<http://en.wikipedia.org/wiki/Broyden%E2%80%93Fletcher%E2%80%93Goldfarb%E2%80%93Shanno_algorithm>`_
+algorithm.
+
+.. code-block:: bash
+
+ 0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e: 0 it: 2.00e-05 tt: 2.00e-05
+ 1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e: 2 it: 7.32e-05 tt: 2.19e-04
+ 2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e: 3 it: 2.50e-05 tt: 2.68e-04
+ 3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 2.92e-04
+ 4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e: 1 it: 2.86e-06 tt: 3.14e-04
+ 5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e: 1 it: 2.86e-06 tt: 3.36e-04
+ 6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 3.58e-04
+ 7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e: 1 it: 4.05e-06 tt: 3.79e-04
+ 8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e: 2 it: 9.06e-06 tt: 4.06e-04
+ 9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 4.33e-04
+ 10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e: 1 it: 3.81e-06 tt: 4.54e-04
+ 11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e: 2 it: 1.00e-05 tt: 4.82e-04
+ 12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e: 1 it: 3.10e-06 tt: 5.03e-04
+ 13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e: 1 it: 2.86e-06 tt: 5.25e-04
+ 14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 5.47e-04
+ 15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.68e-04
+ 16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e: 2 it: 9.06e-06 tt: 5.94e-04
+ 17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e: 1 it: 3.10e-06 tt: 6.16e-04
+ 18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e: 1 it: 4.05e-06 tt: 6.42e-04
+ 19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e: 2 it: 1.00e-05 tt: 6.69e-04
+ 20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 6.91e-04
+ 21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e: 1 it: 3.81e-06 tt: 7.12e-04
+ 22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e: 2 it: 9.06e-06 tt: 7.39e-04
+ 23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 7.62e-04
+ 24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e: 1 it: 3.81e-06 tt: 7.84e-04
+ 25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 8.05e-04
+ 26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 8.27e-04
+ 27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 8.48e-04
+ 28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 8.69e-04
+ 29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 8.91e-04
+ 30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 9.12e-04
+ 31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e: 1 it: 2.86e-06 tt: 9.33e-04
+ 32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e: 1 it: 3.10e-06 tt: 9.54e-04
+ 33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 9.81e-04
+ 34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 1.00e-03
+
+ Solver Summary (v 1.12.0-lapack-suitesparse-cxsparse-no_openmp)
+
+ Parameters 2
+ Line search direction LBFGS (20)
+ Line search type CUBIC WOLFE
+
+
+ Cost:
+ Initial 2.420000e+01
+ Final 1.885250e-22
+ Change 2.420000e+01
+
+ Minimizer iterations 35
+
+ Time (in seconds):
+
+ Cost evaluation 0.000
+ Gradient evaluation 0.000
+ Total 0.003
+
+ Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 9.032775e-13 <= 1.000000e-10)
+
+.. rubric:: Footnotes
+
+.. [#f1] `examples/rosenbrock.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/rosenbrock.cc>`_
--- /dev/null
+============
+Ceres Solver
+============
+
+Ceres Solver [#f1]_ is an open source C++ library for modeling and
+solving large, complicated optimization problems. It can be used to
+solve `Non-linear Least Squares`_ problems with bounds constraints and
+general unconstrained optimization problems. It is a mature, feature
+rich, and performant library that has been used in production at
+Google since 2010. For more, see :doc:`features`.
+
+`ceres-solver@googlegroups.com
+<https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_ is
+the place for discussions and questions about Ceres Solver. We use the
+`GitHub Issue Tracker
+<https://github.com/ceres-solver/ceres-solver/issues>`_ to manage bug
+reports and feature requests.
+
+
+.. toctree::
+ :maxdepth: 1
+ :hidden:
+
+ features
+ installation
+ tutorial
+ derivatives
+ nnls_modeling
+ nnls_solving
+ nnls_covariance
+ gradient_solver
+ faqs
+ users
+ contributing
+ version_history
+ bibliography
+ license
+
+.. _Non-linear Least Squares: http://en.wikipedia.org/wiki/Non-linear_least_squares
+
+
+Cite Us
+=======
+
+If you use Ceres Solver for a publication, please cite it as::
+
+ @misc{ceres-solver,
+ author = "Sameer Agarwal and Keir Mierle and Others",
+ title = "Ceres Solver",
+ howpublished = "\url{http://ceres-solver.org}",
+ }
+
+
+.. rubric:: Footnotes
+
+.. [#f1] While there is some debate as to who invented the method of
+ Least Squares [Stigler]_, there is no questioning the fact
+ that it was `Carl Friedrich Gauss
+ <http://www-groups.dcs.st-and.ac.uk/~history/Biographies/Gauss.html>`_
+ who brought it to the attention of the world. Using just 22
+ observations of the newly discovered asteroid `Ceres
+ <http://en.wikipedia.org/wiki/Ceres_(dwarf_planet)>`_, Gauss
+ used the method of least squares to correctly predict when
+ and where the asteroid will emerge from behind the Sun
+ [TenenbaumDirector]_. We named our solver after Ceres to
+ celebrate this seminal event in the history of astronomy,
+ statistics and optimization.
--- /dev/null
+.. _chapter-installation:
+
+============
+Installation
+============
+
+Getting the source code
+=======================
+.. _section-source:
+
+You can start with the `latest stable release
+<http://ceres-solver.org/ceres-solver-1.13.0.tar.gz>`_ . Or if you want
+the latest version, you can clone the git repository
+
+.. code-block:: bash
+
+ git clone https://ceres-solver.googlesource.com/ceres-solver
+
+.. _section-dependencies:
+
+Dependencies
+============
+
+Ceres relies on a number of open source libraries, some of which are
+optional. For details on customizing the build process, see
+:ref:`section-customizing` .
+
+- `Eigen <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_
+ 3.2.2 or later **strongly** recommended, 3.1.0 or later **required**.
+
+ .. NOTE ::
+
+ Ceres can also use Eigen as a sparse linear algebra
+ library. Please see the documentation for ``EIGENSPARSE`` for
+ more details.
+
+- `CMake <http://www.cmake.org>`_ 2.8.0 or later.
+ **Required on all platforms except for Android.**
+
+- `glog <https://github.com/google/glog>`_ 0.3.1 or
+ later. **Recommended**
+
+ ``glog`` is used extensively throughout Ceres for logging detailed
+ information about memory allocations and time consumed in various
+ parts of the solve, internal error conditions etc. The Ceres
+ developers use it extensively to observe and analyze Ceres's
+ performance. `glog <https://github.com/google/glog>`_ allows you to
+ control its behaviour from the command line. Starting with
+ ``-logtostderr`` you can add ``-v=N`` for increasing values of ``N``
+ to get more and more verbose and detailed information about Ceres
+ internals.
+
+ Unfortunately, the current version of `google-glog
+ <https://github.com/google/glog>`_ does not build using the Android
+ NDK. So, Ceres also ships with a minimal replacement of ``glog``
+ called ``miniglog`` that can be enabled with the ``MINIGLOG`` build
+ option.
+
+ So, in an attempt to reduce dependencies, it is tempting to use
+ `miniglog` on platforms other than Android. While there is nothing
+ preventing the user from doing so, we strongly recommend against
+ it. ``miniglog`` has worse performance than ``glog`` and is much
+ harder to control and use.
+
+ .. NOTE ::
+
+ If you are compiling ``glog`` from source, please note that
+ currently, the unit tests for ``glog`` (which are enabled by
+ default) do not compile against a default build of ``gflags`` 2.1
+ as the gflags namespace changed from ``google::`` to
+ ``gflags::``. A patch to fix this is available from `here
+ <https://code.google.com/p/google-glog/issues/detail?id=194>`_.
+
+- `gflags <https://github.com/gflags/gflags>`_. Needed to build
+ examples and tests.
+
+- `SuiteSparse
+ <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_. Needed for
+ solving large sparse linear systems. **Optional; strongly recomended
+ for large scale bundle adjustment**
+
+- `CXSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_.
+ Similar to ``SuiteSparse`` but simpler and slower. CXSparse has
+ no dependencies on ``LAPACK`` and ``BLAS``. This makes for a simpler
+ build process and a smaller binary. **Optional**
+
+- `BLAS <http://www.netlib.org/blas/>`_ and `LAPACK
+ <http://www.netlib.org/lapack/>`_ routines are needed by
+ ``SuiteSparse``, and optionally used by Ceres directly for some
+ operations.
+
+ On ``UNIX`` OSes other than Mac OS X we recommend `ATLAS
+ <http://math-atlas.sourceforge.net/>`_, which includes ``BLAS`` and
+ ``LAPACK`` routines. It is also possible to use `OpenBLAS
+ <https://github.com/xianyi/OpenBLAS>`_ . However, one needs to be
+ careful to `turn off the threading
+ <https://github.com/xianyi/OpenBLAS/wiki/faq#wiki-multi-threaded>`_
+ inside ``OpenBLAS`` as it conflicts with use of threads in Ceres.
+
+ Mac OS X ships with an optimized ``LAPACK`` and ``BLAS``
+ implementation as part of the ``Accelerate`` framework. The Ceres
+ build system will automatically detect and use it.
+
+ For Windows things are much more complicated. `LAPACK For
+ Windows <http://icl.cs.utk.edu/lapack-for-windows/lapack/>`_
+ has detailed instructions..
+
+ **Optional but required for** ``SuiteSparse``.
+
+.. _section-linux:
+
+Linux
+=====
+
+We will use `Ubuntu <http://www.ubuntu.com>`_ as our example linux
+distribution.
+
+.. NOTE::
+
+ Up to at least Ubuntu 14.04, the SuiteSparse package in the official
+ package repository (built from SuiteSparse v3.4.0) **cannot** be used
+ to build Ceres as a *shared* library. Thus if you want to build
+ Ceres as a shared library using SuiteSparse, you must perform a
+ source install of SuiteSparse or use an external PPA (see `bug report
+ here
+ <https://bugs.launchpad.net/ubuntu/+source/suitesparse/+bug/1333214>`_).
+ It is recommended that you use the current version of SuiteSparse
+ (4.2.1 at the time of writing).
+
+
+Start by installing all the dependencies.
+
+.. code-block:: bash
+
+ # CMake
+ sudo apt-get install cmake
+ # google-glog + gflags
+ sudo apt-get install libgoogle-glog-dev
+ # BLAS & LAPACK
+ sudo apt-get install libatlas-base-dev
+ # Eigen3
+ sudo apt-get install libeigen3-dev
+ # SuiteSparse and CXSparse (optional)
+ # - If you want to build Ceres as a *static* library (the default)
+ # you can use the SuiteSparse package in the main Ubuntu package
+ # repository:
+ sudo apt-get install libsuitesparse-dev
+ # - However, if you want to build Ceres as a *shared* library, you must
+ # add the following PPA:
+ sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
+ sudo apt-get update
+ sudo apt-get install libsuitesparse-dev
+
+We are now ready to build, test, and install Ceres.
+
+.. code-block:: bash
+
+ tar zxf ceres-solver-1.13.0.tar.gz
+ mkdir ceres-bin
+ cd ceres-bin
+ cmake ../ceres-solver-1.13.0
+ make -j3
+ make test
+ # Optionally install Ceres, it can also be exported using CMake which
+ # allows Ceres to be used without requiring installation, see the documentation
+ # for the EXPORT_BUILD_DIR option for more information.
+ make install
+
+You can also try running the command line bundling application with one of the
+included problems, which comes from the University of Washington's BAL
+dataset [Agarwal]_.
+
+.. code-block:: bash
+
+ bin/simple_bundle_adjuster ../ceres-solver-1.13.0/data/problem-16-22106-pre.txt
+
+This runs Ceres for a maximum of 10 iterations using the
+``DENSE_SCHUR`` linear solver. The output should look something like
+this.
+
+.. code-block:: bash
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
+ 1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
+ 2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
+ 3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.43e-01 7.92e-01
+ 4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.45e-01 9.36e-01
+ 5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00
+ 6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00
+
+ Ceres Solver v1.13.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 22122 22122
+ Parameters 66462 66462
+ Residual blocks 83718 83718
+ Residual 167436 167436
+
+ Minimizer TRUST_REGION
+
+ Dense linear algebra library EIGEN
+ Trust region strategy LEVENBERG_MARQUARDT
+
+ Given Used
+ Linear solver DENSE_SCHUR DENSE_SCHUR
+ Threads 1 1
+ Linear solver threads 1 1
+ Linear solver ordering AUTOMATIC 22106, 16
+
+ Cost:
+ Initial 4.185660e+06
+ Final 1.803390e+04
+ Change 4.167626e+06
+
+ Minimizer iterations 6
+ Successful steps 6
+ Unsuccessful steps 0
+
+ Time (in seconds):
+ Preprocessor 0.261
+
+ Residual evaluation 0.082
+ Jacobian evaluation 0.412
+ Linear solver 0.442
+ Minimizer 1.051
+
+ Postprocessor 0.002
+ Total 1.357
+
+ Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
+
+.. section-osx:
+
+Mac OS X
+========
+.. NOTE::
+
+ Ceres will not compile using Xcode 4.5.x (Clang version 4.1) due to a
+ bug in that version of Clang. If you are running Xcode 4.5.x, please
+ update to Xcode >= 4.6.x before attempting to build Ceres.
+
+
+On OS X, you can either use `MacPorts <https://www.macports.org/>`_ or
+`Homebrew <http://mxcl.github.com/homebrew/>`_ to install Ceres Solver.
+
+If using `MacPorts <https://www.macports.org/>`_, then
+
+.. code-block:: bash
+
+ sudo port install ceres-solver
+
+will install the latest version.
+
+If using `Homebrew <http://mxcl.github.com/homebrew/>`_ and assuming
+that you have the ``homebrew/science`` [#f1]_ tap enabled, then
+
+.. code-block:: bash
+
+ brew install ceres-solver
+
+will install the latest stable version along with all the required
+dependencies and
+
+.. code-block:: bash
+
+ brew install ceres-solver --HEAD
+
+will install the latest version in the git repo.
+
+You can also install each of the dependencies by hand using `Homebrew
+<http://mxcl.github.com/homebrew/>`_. There is no need to install
+``BLAS`` or ``LAPACK`` separately as OS X ships with optimized
+``BLAS`` and ``LAPACK`` routines as part of the `vecLib
+<https://developer.apple.com/library/mac/#documentation/Performance/Conceptual/vecLib/Reference/reference.html>`_
+framework.
+
+.. code-block:: bash
+
+ # CMake
+ brew install cmake
+ # google-glog and gflags
+ brew install glog
+ # Eigen3
+ brew install eigen
+ # SuiteSparse and CXSparse
+ brew install suite-sparse
+
+We are now ready to build, test, and install Ceres.
+
+.. code-block:: bash
+
+ tar zxf ceres-solver-1.13.0.tar.gz
+ mkdir ceres-bin
+ cd ceres-bin
+ cmake ../ceres-solver-1.13.0
+ make -j3
+ make test
+ # Optionally install Ceres, it can also be exported using CMake which
+ # allows Ceres to be used without requiring installation, see the
+ # documentation for the EXPORT_BUILD_DIR option for more information.
+ make install
+
+Like the Linux build, you should now be able to run
+``bin/simple_bundle_adjuster``.
+
+
+.. rubric:: Footnotes
+
+.. [#f1] Ceres and many of its dependencies are in `homebrew/science
+ <https://github.com/Homebrew/homebrew-science>`_ tap. So, if you
+ don't have this tap enabled, then you will need to enable it as
+ follows before executing any of the commands in this section.
+
+ .. code-block:: bash
+
+ brew tap homebrew/science
+
+
+.. _section-windows:
+
+Windows
+=======
+
+.. NOTE::
+
+ If you find the following CMake difficult to set up, then you may
+ be interested in a `Microsoft Visual Studio wrapper
+ <https://github.com/tbennun/ceres-windows>`_ for Ceres Solver by Tal
+ Ben-Nun.
+
+On Windows, we support building with Visual Studio 2010 or newer. Note
+that the Windows port is less featureful and less tested than the
+Linux or Mac OS X versions due to the lack of an officially supported
+way of building SuiteSparse and CXSparse. There are however a number
+of unofficial ways of building these libraries. Building on Windows
+also a bit more involved since there is no automated way to install
+dependencies.
+
+.. NOTE:: Using ``google-glog`` & ``miniglog`` with windows.h.
+
+ The windows.h header if used with GDI (Graphics Device Interface)
+ defines ``ERROR``, which conflicts with the definition of ``ERROR``
+ as a LogSeverity level in ``google-glog`` and ``miniglog``. There
+ are at least two possible fixes to this problem:
+
+ #. Use ``google-glog`` and define ``GLOG_NO_ABBREVIATED_SEVERITIES``
+ when building Ceres and your own project, as documented `here
+ <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`__.
+ Note that this fix will not work for ``miniglog``, but use of
+ ``miniglog`` is strongly discouraged on any platform for which
+ ``google-glog`` is available (which includes Windows).
+ #. If you do not require GDI, then define ``NOGDI`` **before**
+ including windows.h. This solution should work for both
+ ``google-glog`` and ``miniglog`` and is documented for
+ ``google-glog`` `here
+ <https://code.google.com/p/google-glog/issues/detail?id=33>`__.
+
+#. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
+#. Get dependencies; unpack them as subdirectories in ``ceres/``
+ (``ceres/eigen``, ``ceres/glog``, etc)
+
+ #. ``Eigen`` 3.1 (needed on Windows; 3.0.x will not work). There is
+ no need to build anything; just unpack the source tarball.
+
+ #. ``google-glog`` Open up the Visual Studio solution and build it.
+ #. ``gflags`` Open up the Visual Studio solution and build it.
+
+ #. (Experimental) ``SuiteSparse`` Previously SuiteSparse was not
+ available on Windows, recently it has become possible to build
+ it on Windows using the `suitesparse-metis-for-windows
+ <https://github.com/jlblancoc/suitesparse-metis-for-windows>`_
+ project. If you wish to use ``SuiteSparse``, follow their
+ instructions for obtaining and building it.
+
+ #. (Experimental) ``CXSparse`` Previously CXSparse was not
+ available on Windows, there are now several ports that enable it
+ to be, including: `[1] <https://github.com/PetterS/CXSparse>`_
+ and `[2] <https://github.com/TheFrenchLeaf/CXSparse>`_. If you
+ wish to use ``CXSparse``, follow their instructions for
+ obtaining and building it.
+
+#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
+ should get a directory inside ``ceres`` similar to
+ ``ceres-solver-1.3.0``. Alternately, checkout Ceres via ``git`` to
+ get ``ceres-solver.git`` inside ``ceres``.
+
+#. Install ``CMake``,
+
+#. Make a dir ``ceres/ceres-bin`` (for an out-of-tree build)
+
+#. Run ``CMake``; select the ``ceres-solver-X.Y.Z`` or
+ ``ceres-solver.git`` directory for the CMake file. Then select the
+ ``ceres-bin`` for the build dir.
+
+#. Try running ``Configure``. It won't work. It'll show a bunch of options.
+ You'll need to set:
+
+ #. ``EIGEN_INCLUDE_DIR_HINTS``
+ #. ``GLOG_INCLUDE_DIR_HINTS``
+ #. ``GLOG_LIBRARY_DIR_HINTS``
+ #. ``GFLAGS_INCLUDE_DIR_HINTS``
+ #. ``GFLAGS_LIBRARY_DIR_HINTS``
+ #. (Optional) ``SUITESPARSE_INCLUDE_DIR_HINTS``
+ #. (Optional) ``SUITESPARSE_LIBRARY_DIR_HINTS``
+ #. (Optional) ``CXSPARSE_INCLUDE_DIR_HINTS``
+ #. (Optional) ``CXSPARSE_LIBRARY_DIR_HINTS``
+
+ to the appropriate directories where you unpacked/built them. If
+ any of the variables are not visible in the ``CMake`` GUI, create a
+ new entry for them. We recommend using the
+ ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS`` variables rather than
+ setting the ``<NAME>_INCLUDE_DIR`` & ``<NAME>_LIBRARY`` variables
+ directly to keep all of the validity checking, and to avoid having
+ to specify the library files manually.
+
+#. You may have to tweak some more settings to generate a MSVC
+ project. After each adjustment, try pressing Configure & Generate
+ until it generates successfully.
+
+#. Open the solution and build it in MSVC
+
+
+To run the tests, select the ``RUN_TESTS`` target and hit **Build
+RUN_TESTS** from the build menu.
+
+Like the Linux build, you should now be able to run
+``bin/simple_bundle_adjuster``.
+
+Notes:
+
+#. The default build is Debug; consider switching it to release mode.
+#. Currently ``system_test`` is not working properly.
+#. CMake puts the resulting test binaries in ``ceres-bin/examples/Debug``
+ by default.
+#. The solvers supported on Windows are ``DENSE_QR``, ``DENSE_SCHUR``,
+ ``CGNR``, and ``ITERATIVE_SCHUR``.
+#. We're looking for someone to work with upstream ``SuiteSparse`` to
+ port their build system to something sane like ``CMake``, and get a
+ fully supported Windows port.
+
+
+.. _section-android:
+
+Android
+=======
+
+Download the ``Android NDK`` version ``r9d`` or later. Run
+``ndk-build`` from inside the ``jni`` directory. Use the
+``libceres.a`` that gets created.
+
+.. _section-ios:
+
+iOS
+===
+
+.. NOTE::
+
+ You need iOS version 7.0 or higher to build Ceres Solver.
+
+To build Ceres for iOS, we need to force ``CMake`` to find the
+toolchains from the iOS SDK instead of using the standard ones. For
+example:
+
+.. code-block:: bash
+
+ cmake \
+ -DCMAKE_TOOLCHAIN_FILE=../ceres-solver/cmake/iOS.cmake \
+ -DEIGEN_INCLUDE_DIR=/path/to/eigen/header \
+ -DIOS_PLATFORM=<PLATFORM> \
+ <PATH_TO_CERES_SOURCE>
+
+``PLATFORM`` can be: ``OS``, ``SIMULATOR`` or ``SIMULATOR64``. You can
+build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR``
+(``i386``) or ``SIMULATOR64`` (``x86_64``) separately and use ``lipo``
+to merge them into one static library. See ``cmake/iOS.cmake`` for
+more options.
+
+After building, you will get a ``libceres.a`` library, which you will
+need to add to your Xcode project.
+
+The default CMake configuration builds a bare bones version of Ceres
+Solver that only depends on Eigen (``MINIGLOG`` is compiled into Ceres
+if it is used), this should be sufficient for solving small to
+moderate sized problems (No ``SPARSE_SCHUR``,
+``SPARSE_NORMAL_CHOLESKY`` linear solvers and no ``CLUSTER_JACOBI``
+and ``CLUSTER_TRIDIAGONAL`` preconditioners).
+
+If you decide to use ``LAPACK`` and ``BLAS``, then you also need to
+add ``Accelerate.framework`` to your Xcode project's linking
+dependency.
+
+.. _section-customizing:
+
+Customizing the build
+=====================
+
+It is possible to reduce the libraries needed to build Ceres and
+customize the build process by setting the appropriate options in
+``CMake``. These options can either be set in the ``CMake`` GUI, or
+via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the command
+line. In general, you should only modify these options from their
+defaults if you know what you are doing.
+
+.. NOTE::
+
+ If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when
+ calling ``CMake``, it is important to understand that this forcibly
+ **overwrites** the variable ``<VARIABLE>`` in the ``CMake`` cache at
+ the start of *every configure*.
+
+ This can lead to confusion if you are invoking the ``CMake`` `curses
+ <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI
+ (via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE>
+ <PATH_TO_SRC>``). In this case, even if you change the value of
+ ``<VARIABLE>`` in the ``CMake`` GUI, your changes will be
+ **overwritten** with the value passed via ``-D<VARIABLE>=<VALUE>``
+ (if one exists) at the start of each configure.
+
+ As such, it is generally easier not to pass values to ``CMake`` via
+ ``-D`` and instead interactively experiment with their values in the
+ ``CMake`` GUI. If they are not present in the *Standard View*,
+ toggle to the *Advanced View* with ``<t>``.
+
+Options controlling Ceres configuration
+---------------------------------------
+
+#. ``LAPACK [Default: ON]``: By default Ceres will use ``LAPACK`` (&
+ ``BLAS``) if they are found. Turn this ``OFF`` to build Ceres
+ without ``LAPACK``. Turning this ``OFF`` also disables
+ ``SUITESPARSE`` as it depends on ``LAPACK``.
+
+#. ``SUITESPARSE [Default: ON]``: By default, Ceres will link to
+ ``SuiteSparse`` if it and all of its dependencies are present. Turn
+ this ``OFF`` to build Ceres without ``SuiteSparse``. Note that
+ ``LAPACK`` must be ``ON`` in order to build with ``SuiteSparse``.
+
+#. ``CXSPARSE [Default: ON]``: By default, Ceres will link to
+ ``CXSparse`` if all its dependencies are present. Turn this ``OFF``
+ to build Ceres without ``CXSparse``.
+
+#. ``EIGENSPARSE [Default: OFF]``: By default, Ceres will not use
+ Eigen's sparse Cholesky factorization. The is because this part of
+ the code is licensed under the ``LGPL`` and since ``Eigen`` is a
+ header only library, including this code will result in an ``LGPL``
+ licensed version of Ceres.
+
+ .. NOTE::
+
+ For good performance, use Eigen version 3.2.2 or later.
+
+#. ``GFLAGS [Default: ON]``: Turn this ``OFF`` to build Ceres without
+ ``gflags``. This will also prevent some of the example code from
+ building.
+
+#. ``MINIGLOG [Default: OFF]``: Ceres includes a stripped-down,
+ minimal implementation of ``glog`` which can optionally be used as
+ a substitute for ``glog``, thus removing ``glog`` as a required
+ dependency. Turn this ``ON`` to use this minimal ``glog``
+ implementation.
+
+#. ``SCHUR_SPECIALIZATIONS [Default: ON]``: If you are concerned about
+ binary size/compilation time over some small (10-20%) performance
+ gains in the ``SPARSE_SCHUR`` solver, you can disable some of the
+ template specializations by turning this ``OFF``.
+
+#. ``OPENMP [Default: ON]``: On certain platforms like Android,
+ multi-threading with ``OpenMP`` is not supported. Turn this ``OFF``
+ to disable multi-threading.
+
+#. ``CXX11 [Default: OFF]`` *Non-MSVC compilers only*.
+
+ Although Ceres does not currently use C++11, it does use
+ ``shared_ptr`` (required) and ``unordered_map`` (if available);
+ both of which existed in the previous iterations of what became the
+ C++11 standard: TR1 & C++0x. As such, Ceres can compile on
+ pre-C++11 compilers, using the TR1/C++0x versions of ``shared_ptr``
+ & ``unordered_map``.
+
+ Note that when using GCC & Clang, compiling against the TR1/C++0x
+ versions: ``CXX11=OFF`` (the default) *does not* require
+ ``-std=c++11`` when compiling Ceres, *nor* does it require that any
+ client code using Ceres use ``-std=c++11``. However, this will
+ cause compile errors if any client code that uses Ceres also uses
+ C++11 (mismatched versions of ``shared_ptr`` & ``unordered_map``).
+
+ Enabling this option: ``CXX11=ON`` forces Ceres to use the C++11
+ versions of ``shared_ptr`` & ``unordered_map`` if they are
+ available, and thus imposes the requirement that all client code
+ using Ceres also compile with ``-std=c++11``. This requirement is
+ handled automatically through CMake target properties on the
+ exported Ceres target for CMake >= 2.8.12 (when it was introduced).
+ Thus, any client code which uses CMake will automatically be
+ compiled with ``-std=c++11``. **On CMake versions < 2.8.12, you
+ are responsible for ensuring that any code which uses Ceres is
+ compiled with** ``-std=c++11``.
+
+ On OS X 10.9+, Clang will use the C++11 versions of ``shared_ptr``
+ & ``unordered_map`` without ``-std=c++11`` and so this option does
+ not change the versions detected, although enabling it *will*
+ require that client code compile with ``-std=c++11``.
+
+ The following table summarises the effects of the ``CXX11`` option:
+
+ =================== ========== ================ ======================================
+ OS CXX11 Detected Version Ceres & client code require ``-std=c++11``
+ =================== ========== ================ ======================================
+ Linux (GCC & Clang) OFF tr1 **No**
+ Linux (GCC & Clang) ON std **Yes**
+ OS X 10.9+ OFF std **No**
+ OS X 10.9+ ON std **Yes**
+ =================== ========== ================ ======================================
+
+ The ``CXX11`` option does does not exist when using MSVC, as there
+ any new C++ features available are enabled by default, and there is
+ no analogue of ``-std=c++11``. It will however be available on
+ MinGW & CygWin, which can support ``-std=c++11``.
+
+#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
+ a static library, turn this ``ON`` to instead build Ceres as a
+ shared library.
+
+#. ``EXPORT_BUILD_DIR [Default: OFF]``: By default Ceres is configured
+ solely for installation, and so must be installed in order for
+ clients to use it. Turn this ``ON`` to export Ceres' build
+ directory location into the `user's local CMake package registry
+ <http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_
+ where it will be detected **without requiring installation** in a
+ client project using CMake when `find_package(Ceres)
+ <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+ is invoked.
+
+#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building
+ the documentation, requires `Sphinx <http://sphinx-doc.org/>`_ and
+ the `sphinx-better-theme
+ <https://pypi.python.org/pypi/sphinx-better-theme>`_ package
+ available from the Python package index. In addition, ``make
+ ceres_docs`` can be used to build only the documentation.
+
+#. ``MSVC_USE_STATIC_CRT [Default: OFF]`` *Windows Only*: By default
+ Ceres will use the Visual Studio default, *shared* C-Run Time (CRT)
+ library. Turn this ``ON`` to use the *static* C-Run Time library
+ instead.
+
+#. ``LIB_SUFFIX [Default: "64" on non-Debian/Arch based 64-bit Linux,
+ otherwise: ""]``: The suffix to append to the library install
+ directory, built from:
+ ``${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}``.
+
+ The filesystem hierarchy standard recommends that 64-bit systems
+ install native libraries to lib64 rather than lib. Most Linux
+ distributions follow this convention, but Debian and Arch based
+ distros do not. Note that the only generally sensible values for
+ ``LIB_SUFFIX`` are "" and "64".
+
+ Although by default Ceres will auto-detect non-Debian/Arch based
+ 64-bit Linux distributions and default ``LIB_SUFFIX`` to "64", this
+ can always be overridden by manually specifying LIB_SUFFIX using:
+ ``-DLIB_SUFFIX=<VALUE>`` when invoking CMake.
+
+
+Options controlling Ceres dependency locations
+----------------------------------------------
+
+Ceres uses the ``CMake`` `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+function to find all of its dependencies using
+``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in
+Ceres (for most dependencies) or are shipped as standard with
+``CMake`` (for ``LAPACK`` & ``BLAS``). These scripts will search all
+of the "standard" install locations for various OSs for each
+dependency. However, particularly for Windows, they may fail to find
+the library, in this case you will have to manually specify its
+installed location. The ``Find<DEPENDENCY_NAME>.cmake`` scripts
+shipped with Ceres support two ways for you to do this:
+
+#. Set the *hints* variables specifying the *directories* to search in
+ preference, but in addition, to the search directories in the
+ ``Find<DEPENDENCY_NAME>.cmake`` script:
+
+ - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR_HINTS``
+ - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY_DIR_HINTS``
+
+ These variables should be set via ``-D<VAR>=<VALUE>``
+ ``CMake`` arguments as they are not visible in the GUI.
+
+#. Set the variables specifying the *explicit* include directory
+ and library file to use:
+
+ - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR``
+ - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY``
+
+ This bypasses *all* searching in the
+ ``Find<DEPENDENCY_NAME>.cmake`` script, but validation is still
+ performed.
+
+ These variables are available to set in the ``CMake`` GUI. They are
+ visible in the *Standard View* if the library has not been found
+ (but the current Ceres configuration requires it), but are always
+ visible in the *Advanced View*. They can also be set directly via
+ ``-D<VAR>=<VALUE>`` arguments to ``CMake``.
+
+Building using custom BLAS & LAPACK installs
+----------------------------------------------
+
+If the standard find package scripts for ``BLAS`` & ``LAPACK`` which
+ship with ``CMake`` fail to find the desired libraries on your system,
+try setting ``CMAKE_LIBRARY_PATH`` to the path(s) to the directories
+containing the ``BLAS`` & ``LAPACK`` libraries when invoking ``CMake``
+to build Ceres via ``-D<VAR>=<VALUE>``. This should result in the
+libraries being found for any common variant of each.
+
+If you are building on an exotic system, or setting
+``CMAKE_LIBRARY_PATH`` does not work, or is not appropriate for some
+other reason, one option would be to write your own custom versions of
+``FindBLAS.cmake`` & ``FindLAPACK.cmake`` specific to your
+environment. In this case you must set ``CMAKE_MODULE_PATH`` to the
+directory containing these custom scripts when invoking ``CMake`` to
+build Ceres and they will be used in preference to the default
+versions. However, in order for this to work, your scripts must
+provide the full set of variables provided by the default scripts.
+Also, if you are building Ceres with ``SuiteSparse``, the versions of
+``BLAS`` & ``LAPACK`` used by ``SuiteSparse`` and Ceres should be the
+same.
+
+.. _section-using-ceres:
+
+Using Ceres with CMake
+======================
+
+In order to use Ceres in client code with CMake using `find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+then either:
+
+#. Ceres must have been installed with ``make install``. If the
+ install location is non-standard (i.e. is not in CMake's default
+ search paths) then it will not be detected by default, see:
+ :ref:`section-local-installations`.
+
+ Note that if you are using a non-standard install location you
+ should consider exporting Ceres instead, as this will not require
+ any extra information to be provided in client code for Ceres to
+ be detected.
+
+#. Or Ceres' build directory must have been exported by enabling the
+ ``EXPORT_BUILD_DIR`` option when Ceres was configured.
+
+
+As an example of how to use Ceres, to compile `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+in a separate standalone project, the following CMakeList.txt can be
+used:
+
+.. code-block:: cmake
+
+ cmake_minimum_required(VERSION 2.8)
+
+ project(helloworld)
+
+ find_package(Ceres REQUIRED)
+ include_directories(${CERES_INCLUDE_DIRS})
+
+ # helloworld
+ add_executable(helloworld helloworld.cc)
+ target_link_libraries(helloworld ${CERES_LIBRARIES})
+
+Irrespective of whether Ceres was installed or exported, if multiple
+versions are detected, set: ``Ceres_DIR`` to control which is used.
+If Ceres was installed ``Ceres_DIR`` should be the path to the
+directory containing the installed ``CeresConfig.cmake`` file
+(e.g. ``/usr/local/share/Ceres``). If Ceres was exported, then
+``Ceres_DIR`` should be the path to the exported Ceres build
+directory.
+
+Specify Ceres components
+-------------------------------------
+
+You can specify particular Ceres components that you require (in order
+for Ceres to be reported as found) when invoking
+``find_package(Ceres)``. This allows you to specify, for example,
+that you require a version of Ceres built with SuiteSparse support.
+By definition, if you do not specify any components when calling
+``find_package(Ceres)`` (the default) any version of Ceres detected
+will be reported as found, irrespective of which components it was
+built with.
+
+The Ceres components which can be specified are:
+
+#. ``LAPACK``: Ceres built using LAPACK (``LAPACK=ON``).
+
+#. ``SuiteSparse``: Ceres built with SuiteSparse (``SUITESPARSE=ON``).
+
+#. ``CXSparse``: Ceres built with CXSparse (``CXSPARSE=ON``).
+
+#. ``EigenSparse``: Ceres built with Eigen's sparse Cholesky factorization
+ (``EIGENSPARSE=ON``).
+
+#. ``SparseLinearAlgebraLibrary``: Ceres built with *at least one* sparse linear
+ algebra library. This is equivalent to ``SuiteSparse`` **OR** ``CXSparse``
+ **OR** ``EigenSparse``.
+
+#. ``SchurSpecializations``: Ceres built with Schur specializations
+ (``SCHUR_SPECIALIZATIONS=ON``).
+
+#. ``OpenMP``: Ceres built with OpenMP (``OPENMP=ON``).
+
+#. ``C++11``: Ceres built with C++11 (``CXX11=ON``).
+
+To specify one/multiple Ceres components use the ``COMPONENTS`` argument to
+`find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ like so:
+
+.. code-block:: cmake
+
+ # Find a version of Ceres compiled with SuiteSparse & EigenSparse support.
+ #
+ # NOTE: This will report Ceres as **not** found if the detected version of
+ # Ceres was not compiled with both SuiteSparse & EigenSparse.
+ # Remember, if you have multiple versions of Ceres installed, you
+ # can use Ceres_DIR to specify which should be used.
+ find_package(Ceres REQUIRED COMPONENTS SuiteSparse EigenSparse)
+
+
+Specify Ceres version
+---------------------
+
+Additionally, when CMake has found Ceres it can optionally check the package
+version, if it has been specified in the `find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+call. For example:
+
+.. code-block:: cmake
+
+ find_package(Ceres 1.2.3 REQUIRED)
+
+.. _section-local-installations:
+
+Local installations
+-------------------
+
+If Ceres was installed in a non-standard path by specifying
+``-DCMAKE_INSTALL_PREFIX="/some/where/local"``, then the user should
+add the **PATHS** option to the ``find_package()`` command, e.g.,
+
+.. code-block:: cmake
+
+ find_package(Ceres REQUIRED PATHS "/some/where/local/")
+
+Note that this can be used to have multiple versions of Ceres
+installed. However, particularly if you have only a single version of
+Ceres which you want to use but do not wish to install to a system
+location, you should consider exporting Ceres using the
+``EXPORT_BUILD_DIR`` option instead of a local install, as exported
+versions of Ceres will be automatically detected by CMake,
+irrespective of their location.
+
+Understanding the CMake Package System
+----------------------------------------
+
+Although a full tutorial on CMake is outside the scope of this guide,
+here we cover some of the most common CMake misunderstandings that
+crop up when using Ceres. For more detailed CMake usage, the
+following references are very useful:
+
+- The `official CMake tutorial <http://www.cmake.org/cmake-tutorial/>`_
+
+ Provides a tour of the core features of CMake.
+
+- `ProjectConfig tutorial
+ <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+ and the `cmake-packages documentation
+ <http://www.cmake.org/cmake/help/git-master/manual/cmake-packages.7.html>`_
+
+ Cover how to write a ``ProjectConfig.cmake`` file, discussed below,
+ for your own project when installing or exporting it using CMake.
+ It also covers how these processes in conjunction with
+ ``find_package()`` are actually handled by CMake. The
+ `ProjectConfig tutorial
+ <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+ is the older style, currently used by Ceres for compatibility with
+ older versions of CMake.
+
+ .. NOTE :: **Targets in CMake.**
+
+ All libraries and executables built using CMake are represented as
+ *targets* created using `add_library()
+ <http://www.cmake.org/cmake/help/v3.2/command/add_library.html>`_
+ and `add_executable()
+ <http://www.cmake.org/cmake/help/v3.2/command/add_executable.html>`_.
+ Targets encapsulate the rules and dependencies (which can be other
+ targets) required to build or link against an object. This allows
+ CMake to implicitly manage dependency chains. Thus it is
+ sufficient to tell CMake that a library target: ``B`` depends on a
+ previously declared library target ``A``, and CMake will
+ understand that this means that ``B`` also depends on all of the
+ public dependencies of ``A``.
+
+When a project like Ceres is installed using CMake, or its build
+directory is exported into the local CMake package registry (see
+:ref:`section-install-vs-export`), in addition to the public headers
+and compiled libraries, a set of CMake-specific project configuration
+files are also installed to: ``<INSTALL_ROOT>/share/Ceres`` (if Ceres
+is installed), or created in the build directory (if Ceres' build
+directory is exported). When `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ is
+invoked, CMake checks various standard install locations (including
+``/usr/local`` on Linux & UNIX systems), and the local CMake package
+registry for CMake configuration files for the project to be found
+(i.e. Ceres in the case of ``find_package(Ceres)``). Specifically it
+looks for:
+
+- ``<PROJECT_NAME>Config.cmake`` (or
+ ``<lower_case_project_name>-config.cmake``)
+
+ Which is written by the developers of the project, and is
+ configured with the selected options and installed locations when
+ the project is built and defines the CMake variables:
+ ``<PROJECT_NAME>_INCLUDE_DIRS`` & ``<PROJECT_NAME>_LIBRARIES``
+ which are used by the caller to import the project.
+
+The ``<PROJECT_NAME>Config.cmake`` typically includes a second file
+installed to the same location:
+
+- ``<PROJECT_NAME>Targets.cmake``
+
+ Which is autogenerated by CMake as part of the install process and defines
+ **imported targets** for the project in the caller's CMake scope.
+
+An **imported target** contains the same information about a library
+as a CMake target that was declared locally in the current CMake
+project using ``add_library()``. However, imported targets refer to
+objects that have already been built by a different CMake project.
+Principally, an imported target contains the location of the compiled
+object and all of its public dependencies required to link against it.
+Any locally declared target can depend on an imported target, and
+CMake will manage the dependency chain, just as if the imported target
+had been declared locally by the current project.
+
+Crucially, just like any locally declared CMake target, an imported target is
+identified by its **name** when adding it as a dependency to another target.
+
+Thus, if in a project using Ceres you had the following in your CMakeLists.txt:
+
+.. code-block:: cmake
+
+ find_package(Ceres REQUIRED)
+ message("CERES_LIBRARIES = ${CERES_LIBRARIES}")
+
+You would see the output: ``CERES_LIBRARIES = ceres``. **However**,
+here ``ceres`` is an **imported target** created when
+``CeresTargets.cmake`` was read as part of ``find_package(Ceres
+REQUIRED)``. It does **not** refer (directly) to the compiled Ceres
+library: ``libceres.a/so/dylib/lib``. This distinction is important,
+as depending on the options selected when it was built, Ceres can have
+public link dependencies which are encapsulated in the imported target
+and automatically added to the link step when Ceres is added as a
+dependency of another target by CMake. In this case, linking only
+against ``libceres.a/so/dylib/lib`` without these other public
+dependencies would result in a linker error.
+
+Note that this description applies both to projects that are
+**installed** using CMake, and to those whose **build directory is
+exported** using `export()
+<http://www.cmake.org/cmake/help/v3.2/command/export.html>`_ (instead
+of `install()
+<http://www.cmake.org/cmake/help/v3.2/command/install.html>`_). Ceres
+supports both installation and export of its build directory if the
+``EXPORT_BUILD_DIR`` option is enabled, see
+:ref:`section-customizing`.
+
+.. _section-install-vs-export:
+
+Installing a project with CMake vs Exporting its build directory
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+When a project is **installed**, the compiled libraries and headers
+are copied from the source & build directory to the install location,
+and it is these copied files that are used by any client code. When a
+project's build directory is **exported**, instead of copying the
+compiled libraries and headers, CMake creates an entry for the project
+in the `user's local CMake package registry
+<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
+``<USER_HOME>/.cmake/packages`` on Linux & OS X, which contains the
+path to the project's build directory which will be checked by CMake
+during a call to ``find_package()``. The effect of which is that any
+client code uses the compiled libraries and headers in the build
+directory directly, **thus not requiring the project to be installed
+to be used**.
+
+Installing / Exporting a project that uses Ceres
+--------------------------------------------------
+
+As described in `Understanding the CMake Package System`_, the contents of
+the ``CERES_LIBRARIES`` variable is the **name** of an imported target which
+represents Ceres. If you are installing / exporting your *own* project which
+*uses* Ceres, it is important to understand that:
+
+**Imported targets are not (re)exported when a project which imported them is
+exported**.
+
+Thus, when a project ``Foo`` which uses Ceres is exported, its list of
+dependencies as seen by another project ``Bar`` which imports ``Foo``
+via: ``find_package(Foo REQUIRED)`` will contain: ``ceres``. However,
+the definition of ``ceres`` as an imported target is **not
+(re)exported** when Foo is exported. Hence, without any additional
+steps, when processing ``Bar``, ``ceres`` will not be defined as an
+imported target. Thus, when processing ``Bar``, CMake will assume
+that ``ceres`` refers only to: ``libceres.a/so/dylib/lib`` (the
+compiled Ceres library) directly if it is on the current list of
+search paths. In which case, no CMake errors will occur, but ``Bar``
+will not link properly, as it does not have the required public link
+dependencies of Ceres, which are stored in the imported target
+defintion.
+
+The solution to this is for ``Foo`` (i.e., the project that uses
+Ceres) to invoke ``find_package(Ceres)`` in ``FooConfig.cmake``, thus
+``ceres`` will be defined as an imported target when CMake processes
+``Bar``. An example of the required modifications to
+``FooConfig.cmake`` are show below:
+
+.. code-block:: cmake
+
+ # Importing Ceres in FooConfig.cmake using CMake 2.8.x style.
+ #
+ # When configure_file() is used to generate FooConfig.cmake from
+ # FooConfig.cmake.in, @Ceres_DIR@ will be replaced with the current
+ # value of Ceres_DIR being used by Foo. This should be passed as a hint
+ # when invoking find_package(Ceres) to ensure that the same install of
+ # Ceres is used as was used to build Foo.
+ set(CERES_DIR_HINTS @Ceres_DIR@)
+
+ # Forward the QUIET / REQUIRED options.
+ if (Foo_FIND_QUIETLY)
+ find_package(Ceres QUIET HINTS ${CERES_DIR_HINTS})
+ elseif (Foo_FIND_REQUIRED)
+ find_package(Ceres REQUIRED HINTS ${CERES_DIR_HINTS})
+ else ()
+ find_package(Ceres HINTS ${CERES_DIR_HINTS})
+ endif()
+
+.. code-block:: cmake
+
+ # Importing Ceres in FooConfig.cmake using CMake 3.x style.
+ #
+ # In CMake v3.x, the find_dependency() macro exists to forward the REQUIRED
+ # / QUIET parameters to find_package() when searching for dependencies.
+ #
+ # Note that find_dependency() does not take a path hint, so if Ceres was
+ # installed in a non-standard location, that location must be added to
+ # CMake's search list before this call.
+ include(CMakeFindDependencyMacro)
+ find_dependency(Ceres)
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-interfacing_with_automatic_differentiation:
+
+Interfacing with Automatic Differentiation
+==========================================
+
+Automatic differentiation is straightforward to use in cases where an
+explicit expression for the cost function is available. But this is
+not always possible. Often one has to interface with external routines
+or data. In this chapter we will consider a number of different ways
+of doing so.
+
+To do this, we will consider the problem of finding parameters
+:math:`\theta` and :math:`t` that solve an optimization problem of the
+form:
+
+.. math::
+ \min & \quad \sum_i \left \|y_i - f\left (\|q_{i}\|^2\right) q_i
+ \right \|^2\\
+ \text{such that} & \quad q_i = R(\theta) x_i + t
+
+Here, :math:`R` is a two dimensional rotation matrix parameterized
+using the angle :math:`\theta` and :math:`t` is a two dimensional
+vector. :math:`f` is an external distortion function.
+
+We begin by considering the case, where we have a templated function
+:code:`TemplatedComputeDistortion` that can compute the function
+:math:`f`. Then the implementation of the corresponding residual
+functor is straightforward and will look as follows:
+
+.. code-block:: c++
+ :emphasize-lines: 21
+
+ template <typename T> T TemplatedComputeDistortion(const T r2) {
+ const double k1 = 0.0082;
+ const double k2 = 0.000023;
+ return 1.0 + k1 * y2 + k2 * r2 * r2;
+ }
+
+ struct Affine2DWithDistortion {
+ Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+ x[0] = x_in[0];
+ x[1] = x_in[1];
+ y[0] = y_in[0];
+ y[1] = y_in[1];
+ }
+
+ template <typename T>
+ bool operator()(const T* theta,
+ const T* t,
+ T* residuals) const {
+ const T q_0 = cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+ const T q_1 = sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+ const T f = TemplatedComputeDistortion(q_0 * q_0 + q_1 * q_1);
+ residuals[0] = y[0] - f * q_0;
+ residuals[1] = y[1] - f * q_1;
+ return true;
+ }
+
+ double x[2];
+ double y[2];
+ };
+
+So far so good, but let us now consider three ways of defining
+:math:`f` which are not directly amenable to being used with automatic
+differentiation:
+
+#. A non-templated function that evaluates its value.
+#. A function that evaluates its value and derivative.
+#. A function that is defined as a table of values to be interpolated.
+
+We will consider them in turn below.
+
+A function that returns its value
+----------------------------------
+
+Suppose we were given a function :code:`ComputeDistortionValue` with
+the following signature
+
+.. code-block:: c++
+
+ double ComputeDistortionValue(double r2);
+
+that computes the value of :math:`f`. The actual implementation of the
+function does not matter. Interfacing this function with
+:code:`Affine2DWithDistortion` is a three step process:
+
+1. Wrap :code:`ComputeDistortionValue` into a functor
+ :code:`ComputeDistortionValueFunctor`.
+2. Numerically differentiate :code:`ComputeDistortionValueFunctor`
+ using :class:`NumericDiffCostFunction` to create a
+ :class:`CostFunction`.
+3. Wrap the resulting :class:`CostFunction` object using
+ :class:`CostFunctionToFunctor`. The resulting object is a functor
+ with a templated :code:`operator()` method, which pipes the
+ Jacobian computed by :class:`NumericDiffCostFunction` into the
+ approproate :code:`Jet` objects.
+
+An implementation of the above three steps looks as follows:
+
+.. code-block:: c++
+ :emphasize-lines: 15,16,17,18,19,20, 29
+
+ struct ComputeDistortionValueFunctor {
+ bool operator()(const double* r2, double* value) const {
+ *value = ComputeDistortionValue(r2[0]);
+ return true;
+ }
+ };
+
+ struct Affine2DWithDistortion {
+ Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+ x[0] = x_in[0];
+ x[1] = x_in[1];
+ y[0] = y_in[0];
+ y[1] = y_in[1];
+
+ compute_distortion.reset(new ceres::CostFunctionToFunctor<1, 1>(
+ new ceres::NumericDiffCostFunction<ComputeDistortionValueFunctor,
+ ceres::CENTRAL,
+ 1,
+ 1>(
+ new ComputeDistortionValueFunctor)));
+ }
+
+ template <typename T>
+ bool operator()(const T* theta, const T* t, T* residuals) const {
+ const T q_0 = cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+ const T q_1 = sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+ const T r2 = q_0 * q_0 + q_1 * q_1;
+ T f;
+ (*compute_distortion)(&r2, &f);
+ residuals[0] = y[0] - f * q_0;
+ residuals[1] = y[1] - f * q_1;
+ return true;
+ }
+
+ double x[2];
+ double y[2];
+ std::unique_ptr<ceres::CostFunctionToFunctor<1, 1> > compute_distortion;
+ };
+
+
+A function that returns its value and derivative
+------------------------------------------------
+
+Now suppose we are given a function :code:`ComputeDistortionValue`
+thatis able to compute its value and optionally its Jacobian on demand
+and has the following signature:
+
+.. code-block:: c++
+
+ void ComputeDistortionValueAndJacobian(double r2,
+ double* value,
+ double* jacobian);
+
+Again, the actual implementation of the function does not
+matter. Interfacing this function with :code:`Affine2DWithDistortion`
+is a two step process:
+
+1. Wrap :code:`ComputeDistortionValueAndJacobian` into a
+ :class:`CostFunction` object which we call
+ :code:`ComputeDistortionFunction`.
+2. Wrap the resulting :class:`ComputeDistortionFunction` object using
+ :class:`CostFunctionToFunctor`. The resulting object is a functor
+ with a templated :code:`operator()` method, which pipes the
+ Jacobian computed by :class:`NumericDiffCostFunction` into the
+ approproate :code:`Jet` objects.
+
+The resulting code will look as follows:
+
+.. code-block:: c++
+ :emphasize-lines: 21,22, 33
+
+ class ComputeDistortionFunction : public ceres::SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ ComputeDistortionValueAndJacobian(parameters[0][0], residuals, NULL);
+ } else {
+ ComputeDistortionValueAndJacobian(parameters[0][0], residuals, jacobians[0]);
+ }
+ return true;
+ }
+ };
+
+ struct Affine2DWithDistortion {
+ Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+ x[0] = x_in[0];
+ x[1] = x_in[1];
+ y[0] = y_in[0];
+ y[1] = y_in[1];
+ compute_distortion.reset(
+ new ceres::CostFunctionToFunctor<1, 1>(new ComputeDistortionFunction));
+ }
+
+ template <typename T>
+ bool operator()(const T* theta,
+ const T* t,
+ T* residuals) const {
+ const T q_0 = cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+ const T q_1 = sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+ const T r2 = q_0 * q_0 + q_1 * q_1;
+ T f;
+ (*compute_distortion)(&r2, &f);
+ residuals[0] = y[0] - f * q_0;
+ residuals[1] = y[1] - f * q_1;
+ return true;
+ }
+
+ double x[2];
+ double y[2];
+ std::unique_ptr<ceres::CostFunctionToFunctor<1, 1> > compute_distortion;
+ };
+
+
+A function that is defined as a table of values
+-----------------------------------------------
+
+The third and final case we will consider is where the function
+:math:`f` is defined as a table of values on the interval :math:`[0,
+100)`, with a value for each integer.
+
+.. code-block:: c++
+
+ vector<double> distortion_values;
+
+There are many ways of interpolating a table of values. Perhaps the
+simplest and most common method is linear interpolation. But it is not
+a great idea to use linear interpolation because the interpolating
+function is not differentiable at the sample points.
+
+A simple (well behaved) differentiable interpolation is the `Cubic
+Hermite Spline
+<http://en.wikipedia.org/wiki/Cubic_Hermite_spline>`_. Ceres Solver
+ships with routines to perform Cubic & Bi-Cubic interpolation that is
+automatic differentiation friendly.
+
+Using Cubic interpolation requires first constructing a
+:class:`Grid1D` object to wrap the table of values and then
+constructing a :class:`CubicInterpolator` object using it.
+
+The resulting code will look as follows:
+
+.. code-block:: c++
+ :emphasize-lines: 10,11,12,13, 24, 32,33
+
+ struct Affine2DWithDistortion {
+ Affine2DWithDistortion(const double x_in[2],
+ const double y_in[2],
+ const std::vector<double>& distortion_values) {
+ x[0] = x_in[0];
+ x[1] = x_in[1];
+ y[0] = y_in[0];
+ y[1] = y_in[1];
+
+ grid.reset(new ceres::Grid1D<double, 1>(
+ &distortion_values[0], 0, distortion_values.size()));
+ compute_distortion.reset(
+ new ceres::CubicInterpolator<ceres::Grid1D<double, 1> >(*grid));
+ }
+
+ template <typename T>
+ bool operator()(const T* theta,
+ const T* t,
+ T* residuals) const {
+ const T q_0 = cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+ const T q_1 = sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+ const T r2 = q_0 * q_0 + q_1 * q_1;
+ T f;
+ compute_distortion->Evaluate(r2, &f);
+ residuals[0] = y[0] - f * q_0;
+ residuals[1] = y[1] - f * q_1;
+ return true;
+ }
+
+ double x[2];
+ double y[2];
+ std::unique_ptr<ceres::Grid1D<double, 1> > grid;
+ std::unique_ptr<ceres::CubicInterpolator<ceres::Grid1D<double, 1> > > compute_distortion;
+ };
+
+In the above example we used :class:`Grid1D` and
+:class:`CubicInterpolator` to interpolate a one dimensional table of
+values. :class:`Grid2D` combined with :class:`CubicInterpolator` lets
+the user to interpolate two dimensional tables of values. Note that
+neither :class:`Grid1D` or :class:`Grid2D` are limited to scalar
+valued functions, they also work with vector valued functions.
--- /dev/null
+=======
+License
+=======
+
+Ceres Solver is licensed under the New BSD license, whose terms are as follows.
+
+Copyright 2016 Google Inc. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+2. 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.
+3. 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 Google Inc. 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.
--- /dev/null
+.. _chapter-modeling_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+========
+Modeling
+========
+
+#. Use analytical/automatic derivatives.
+
+ This is the single most important piece of advice we can give to
+ you. It is tempting to take the easy way out and use numeric
+ differentiation. This is a bad idea. Numeric differentiation is
+ slow, ill-behaved, hard to get right, and results in poor
+ convergence behaviour.
+
+ Ceres allows the user to define templated functors which will
+ be automatically differentiated. For most situations this is enough
+ and we recommend using this facility. In some cases the derivatives
+ are simple enough or the performance considerations are such that
+ the overhead of automatic differentiation is too much. In such
+ cases, analytic derivatives are recommended.
+
+ The use of numerical derivatives should be a measure of last
+ resort, where it is simply not possible to write a templated
+ implementation of the cost function.
+
+ In many cases it is not possible to do analytic or automatic
+ differentiation of the entire cost function, but it is generally
+ the case that it is possible to decompose the cost function into
+ parts that need to be numerically differentiated and parts that can
+ be automatically or analytically differentiated.
+
+ To this end, Ceres has extensive support for mixing analytic,
+ automatic and numeric differentiation. See
+ :class:`CostFunctionToFunctor`.
+
+#. When using Quaternions, consider using :class:`QuaternionParameterization`.
+
+ `Quaternions <https://en.wikipedia.org/wiki/Quaternion>`_ are a
+ four dimensional parameterization of the space of three dimensional
+ rotations :math:`SO(3)`. However, the :math:`SO(3)` is a three
+ dimensional set, and so is the tangent space of a
+ Quaternion. Therefore, it is sometimes (not always) benefecial to
+ associate a local parameterization with parameter blocks
+ representing a Quaternion. Assuming that the order of entries in
+ your parameter block is :math:`w,x,y,z`, you can use
+ :class:`QuaternionParameterization`.
+
+ .. NOTE::
+
+ If you are using `Eigen's Quaternion
+ <http://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html>`_
+ object, whose layout is :math:`x,y,z,w`, then you should use
+ :class:`EigenQuaternionParameterization`.
+
+
+#. How do I solve problems with general linear & non-linear
+ **inequality** constraints with Ceres Solver?
+
+ Currently, Ceres Solver only supports upper and lower bounds
+ constraints on the parameter blocks.
+
+ A crude way of dealing with inequality constraints is have one or
+ more of your cost functions check if the inequalities you are
+ interested in are satisfied, and if not return false instead of
+ true. This will prevent the solver from ever stepping into an
+ infeasible region.
+
+ This requires that the starting point for the optimization be a
+ feasible point. You also risk pre-mature convergence using this
+ method.
+
+#. How do I solve problems with general linear & non-linear **equality**
+ constraints with Ceres Solver?
+
+ There is no built in support in ceres for solving problems with
+ equality constraints. Currently, Ceres Solver only supports upper
+ and lower bounds constraints on the parameter blocks.
+
+ The trick described above for dealing with inequality
+ constraints will **not** work for equality constraints.
+
+#. How do I set one or more components of a parameter block constant?
+
+ Using :class:`SubsetParameterization`.
+
+#. Putting `Inverse Function Theorem
+ <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ to use.
+
+ Every now and then we have to deal with functions which cannot be
+ evaluated analytically. Computing the Jacobian in such cases is
+ tricky. A particularly interesting case is where the inverse of the
+ function is easy to compute analytically. An example of such a
+ function is the Coordinate transformation between the `ECEF
+ <http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
+ <http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
+ conversion from WGS84 to ECEF is analytic, but the conversion
+ back to WGS84 uses an iterative algorithm. So how do you compute the
+ derivative of the ECEF to WGS84 transformation?
+
+ One obvious approach would be to numerically
+ differentiate the conversion function. This is not a good idea. For
+ one, it will be slow, but it will also be numerically quite
+ bad.
+
+ Turns out you can use the `Inverse Function Theorem
+ <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ in this
+ case to compute the derivatives more or less analytically.
+
+ The key result here is. If :math:`x = f^{-1}(y)`, and :math:`Df(x)`
+ is the invertible Jacobian of :math:`f` at :math:`x`. Then the
+ Jacobian :math:`Df^{-1}(y) = [Df(x)]^{-1}`, i.e., the Jacobian of
+ the :math:`f^{-1}` is the inverse of the Jacobian of :math:`f`.
+
+ Algorithmically this means that given :math:`y`, compute :math:`x =
+ f^{-1}(y)` by whatever means you can. Evaluate the Jacobian of
+ :math:`f` at :math:`x`. If the Jacobian matrix is invertible, then
+ its inverse is the Jacobian of :math:`f^{-1}(y)` at :math:`y`.
+
+ One can put this into practice with the following code fragment.
+
+ .. code-block:: c++
+
+ Eigen::Vector3d ecef; // Fill some values
+ // Iterative computation.
+ Eigen::Vector3d lla = ECEFToLLA(ecef);
+ // Analytic derivatives
+ Eigen::Matrix3d lla_to_ecef_jacobian = LLAToECEFJacobian(lla);
+ bool invertible;
+ Eigen::Matrix3d ecef_to_lla_jacobian;
+ lla_to_ecef_jacobian.computeInverseWithCheck(ecef_to_lla_jacobian, invertible);
--- /dev/null
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-nnls_covariance:
+
+=====================
+Covariance Estimation
+=====================
+
+Introduction
+============
+
+One way to assess the quality of the solution returned by a non-linear
+least squares solver is to analyze the covariance of the solution.
+
+Let us consider the non-linear regression problem
+
+.. math:: y = f(x) + N(0, I)
+
+i.e., the observation :math:`y` is a random non-linear function of the
+independent variable :math:`x` with mean :math:`f(x)` and identity
+covariance. Then the maximum likelihood estimate of :math:`x` given
+observations :math:`y` is the solution to the non-linear least squares
+problem:
+
+.. math:: x^* = \arg \min_x \|f(x)\|^2
+
+And the covariance of :math:`x^*` is given by
+
+.. math:: C(x^*) = \left(J'(x^*)J(x^*)\right)^{-1}
+
+Here :math:`J(x^*)` is the Jacobian of :math:`f` at :math:`x^*`. The
+above formula assumes that :math:`J(x^*)` has full column rank.
+
+If :math:`J(x^*)` is rank deficient, then the covariance matrix :math:`C(x^*)`
+is also rank deficient and is given by the Moore-Penrose pseudo inverse.
+
+.. math:: C(x^*) = \left(J'(x^*)J(x^*)\right)^{\dagger}
+
+Note that in the above, we assumed that the covariance matrix for
+:math:`y` was identity. This is an important assumption. If this is
+not the case and we have
+
+.. math:: y = f(x) + N(0, S)
+
+Where :math:`S` is a positive semi-definite matrix denoting the
+covariance of :math:`y`, then the maximum likelihood problem to be
+solved is
+
+.. math:: x^* = \arg \min_x f'(x) S^{-1} f(x)
+
+and the corresponding covariance estimate of :math:`x^*` is given by
+
+.. math:: C(x^*) = \left(J'(x^*) S^{-1} J(x^*)\right)^{-1}
+
+So, if it is the case that the observations being fitted to have a
+covariance matrix not equal to identity, then it is the user's
+responsibility that the corresponding cost functions are correctly
+scaled, e.g. in the above case the cost function for this problem
+should evaluate :math:`S^{-1/2} f(x)` instead of just :math:`f(x)`,
+where :math:`S^{-1/2}` is the inverse square root of the covariance
+matrix :math:`S`.
+
+Gauge Invariance
+================
+
+In structure from motion (3D reconstruction) problems, the
+reconstruction is ambiguous upto a similarity transform. This is
+known as a *Gauge Ambiguity*. Handling Gauges correctly requires the
+use of SVD or custom inversion algorithms. For small problems the
+user can use the dense algorithm. For more details see the work of
+Kanatani & Morris [KanataniMorris]_.
+
+
+:class:`Covariance`
+===================
+
+:class:`Covariance` allows the user to evaluate the covariance for a
+non-linear least squares problem and provides random access to its
+blocks. The computation assumes that the cost functions compute
+residuals such that their covariance is identity.
+
+Since the computation of the covariance matrix requires computing the
+inverse of a potentially large matrix, this can involve a rather large
+amount of time and memory. However, it is usually the case that the
+user is only interested in a small part of the covariance
+matrix. Quite often just the block diagonal. :class:`Covariance`
+allows the user to specify the parts of the covariance matrix that she
+is interested in and then uses this information to only compute and
+store those parts of the covariance matrix.
+
+Rank of the Jacobian
+====================
+
+As we noted above, if the Jacobian is rank deficient, then the inverse
+of :math:`J'J` is not defined and instead a pseudo inverse needs to be
+computed.
+
+The rank deficiency in :math:`J` can be *structural* -- columns
+which are always known to be zero or *numerical* -- depending on the
+exact values in the Jacobian.
+
+Structural rank deficiency occurs when the problem contains parameter
+blocks that are constant. This class correctly handles structural rank
+deficiency like that.
+
+Numerical rank deficiency, where the rank of the matrix cannot be
+predicted by its sparsity structure and requires looking at its
+numerical values is more complicated. Here again there are two
+cases.
+
+ a. The rank deficiency arises from overparameterization. e.g., a
+ four dimensional quaternion used to parameterize :math:`SO(3)`,
+ which is a three dimensional manifold. In cases like this, the
+ user should use an appropriate
+ :class:`LocalParameterization`. Not only will this lead to better
+ numerical behaviour of the Solver, it will also expose the rank
+ deficiency to the :class:`Covariance` object so that it can
+ handle it correctly.
+
+ b. More general numerical rank deficiency in the Jacobian requires
+ the computation of the so called Singular Value Decomposition
+ (SVD) of :math:`J'J`. We do not know how to do this for large
+ sparse matrices efficiently. For small and moderate sized
+ problems this is done using dense linear algebra.
+
+
+:class:`Covariance::Options`
+
+.. class:: Covariance::Options
+
+.. member:: int Covariance::Options::num_threads
+
+ Default: ``1``
+
+ Number of threads to be used for evaluating the Jacobian and
+ estimation of covariance.
+
+.. member:: SparseLinearAlgebraLibraryType Covariance::Options::sparse_linear_algebra_library_type
+
+ Default: ``SUITE_SPARSE`` Ceres Solver is built with support for
+ `SuiteSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_
+ and ``EIGEN_SPARSE`` otherwise. Note that ``EIGEN_SPARSE`` is
+ always available.
+
+.. member:: CovarianceAlgorithmType Covariance::Options::algorithm_type
+
+ Default: ``SPARSE_QR``
+
+ Ceres supports two different algorithms for covariance estimation,
+ which represent different tradeoffs in speed, accuracy and
+ reliability.
+
+ 1. ``SPARSE_QR`` uses the sparse QR factorization algorithm to
+ compute the decomposition
+
+ .. math::
+
+ QR &= J\\
+ \left(J^\top J\right)^{-1} &= \left(R^\top R\right)^{-1}
+
+ The speed of this algorithm depends on the sparse linear algebra
+ library being used. ``Eigen``'s sparse QR factorization is a
+ moderately fast algorithm suitable for small to medium sized
+ matrices. For best performance we recommend using
+ ``SuiteSparseQR`` which is enabled by setting
+ :member:`Covaraince::Options::sparse_linear_algebra_library_type`
+ to ``SUITE_SPARSE``.
+
+ Neither ``SPARSE_QR`` cannot compute the covariance if the
+ Jacobian is rank deficient.
+
+
+ 2. ``DENSE_SVD`` uses ``Eigen``'s ``JacobiSVD`` to perform the
+ computations. It computes the singular value decomposition
+
+ .. math:: U S V^\top = J
+
+ and then uses it to compute the pseudo inverse of J'J as
+
+ .. math:: (J'J)^{\dagger} = V S^{\dagger} V^\top
+
+ It is an accurate but slow method and should only be used for
+ small to moderate sized problems. It can handle full-rank as
+ well as rank deficient Jacobians.
+
+
+.. member:: int Covariance::Options::min_reciprocal_condition_number
+
+ Default: :math:`10^{-14}`
+
+ If the Jacobian matrix is near singular, then inverting :math:`J'J`
+ will result in unreliable results, e.g, if
+
+ .. math::
+
+ J = \begin{bmatrix}
+ 1.0& 1.0 \\
+ 1.0& 1.0000001
+ \end{bmatrix}
+
+ which is essentially a rank deficient matrix, we have
+
+ .. math::
+
+ (J'J)^{-1} = \begin{bmatrix}
+ 2.0471e+14& -2.0471e+14 \\
+ -2.0471e+14 2.0471e+14
+ \end{bmatrix}
+
+
+ This is not a useful result. Therefore, by default
+ :func:`Covariance::Compute` will return ``false`` if a rank
+ deficient Jacobian is encountered. How rank deficiency is detected
+ depends on the algorithm being used.
+
+ 1. ``DENSE_SVD``
+
+ .. math:: \frac{\sigma_{\text{min}}}{\sigma_{\text{max}}} < \sqrt{\text{min_reciprocal_condition_number}}
+
+ where :math:`\sigma_{\text{min}}` and
+ :math:`\sigma_{\text{max}}` are the minimum and maxiumum
+ singular values of :math:`J` respectively.
+
+ 2. ``SPARSE_QR``
+
+ .. math:: \operatorname{rank}(J) < \operatorname{num\_col}(J)
+
+ Here :math:`\operatorname{rank}(J)` is the estimate of the rank
+ of :math:`J` returned by the sparse QR factorization
+ algorithm. It is a fairly reliable indication of rank
+ deficiency.
+
+.. member:: int Covariance::Options::null_space_rank
+
+ When using ``DENSE_SVD``, the user has more control in dealing
+ with singular and near singular covariance matrices.
+
+ As mentioned above, when the covariance matrix is near singular,
+ instead of computing the inverse of :math:`J'J`, the Moore-Penrose
+ pseudoinverse of :math:`J'J` should be computed.
+
+ If :math:`J'J` has the eigen decomposition :math:`(\lambda_i,
+ e_i)`, where :math:`\lambda_i` is the :math:`i^\textrm{th}`
+ eigenvalue and :math:`e_i` is the corresponding eigenvector, then
+ the inverse of :math:`J'J` is
+
+ .. math:: (J'J)^{-1} = \sum_i \frac{1}{\lambda_i} e_i e_i'
+
+ and computing the pseudo inverse involves dropping terms from this
+ sum that correspond to small eigenvalues.
+
+ How terms are dropped is controlled by
+ `min_reciprocal_condition_number` and `null_space_rank`.
+
+ If `null_space_rank` is non-negative, then the smallest
+ `null_space_rank` eigenvalue/eigenvectors are dropped irrespective
+ of the magnitude of :math:`\lambda_i`. If the ratio of the
+ smallest non-zero eigenvalue to the largest eigenvalue in the
+ truncated matrix is still below min_reciprocal_condition_number,
+ then the `Covariance::Compute()` will fail and return `false`.
+
+ Setting `null_space_rank = -1` drops all terms for which
+
+ .. math:: \frac{\lambda_i}{\lambda_{\textrm{max}}} < \textrm{min_reciprocal_condition_number}
+
+ This option has no effect on ``SPARSE_QR``.
+
+.. member:: bool Covariance::Options::apply_loss_function
+
+ Default: `true`
+
+ Even though the residual blocks in the problem may contain loss
+ functions, setting ``apply_loss_function`` to false will turn off
+ the application of the loss function to the output of the cost
+ function and in turn its effect on the covariance.
+
+.. class:: Covariance
+
+ :class:`Covariance::Options` as the name implies is used to control
+ the covariance estimation algorithm. Covariance estimation is a
+ complicated and numerically sensitive procedure. Please read the
+ entire documentation for :class:`Covariance::Options` before using
+ :class:`Covariance`.
+
+.. function:: bool Covariance::Compute(const vector<pair<const double*, const double*> >& covariance_blocks, Problem* problem)
+
+ Compute a part of the covariance matrix.
+
+ The vector ``covariance_blocks``, indexes into the covariance
+ matrix block-wise using pairs of parameter blocks. This allows the
+ covariance estimation algorithm to only compute and store these
+ blocks.
+
+ Since the covariance matrix is symmetric, if the user passes
+ ``<block1, block2>``, then ``GetCovarianceBlock`` can be called with
+ ``block1``, ``block2`` as well as ``block2``, ``block1``.
+
+ ``covariance_blocks`` cannot contain duplicates. Bad things will
+ happen if they do.
+
+ Note that the list of ``covariance_blocks`` is only used to
+ determine what parts of the covariance matrix are computed. The
+ full Jacobian is used to do the computation, i.e. they do not have
+ an impact on what part of the Jacobian is used for computation.
+
+ The return value indicates the success or failure of the covariance
+ computation. Please see the documentation for
+ :class:`Covariance::Options` for more on the conditions under which
+ this function returns ``false``.
+
+.. function:: bool GetCovarianceBlock(const double* parameter_block1, const double* parameter_block2, double* covariance_block) const
+
+ Return the block of the cross-covariance matrix corresponding to
+ ``parameter_block1`` and ``parameter_block2``.
+
+ Compute must be called before the first call to ``GetCovarianceBlock``
+ and the pair ``<parameter_block1, parameter_block2>`` OR the pair
+ ``<parameter_block2, parameter_block1>`` must have been present in the
+ vector covariance_blocks when ``Compute`` was called. Otherwise
+ ``GetCovarianceBlock`` will return false.
+
+ ``covariance_block`` must point to a memory location that can store
+ a ``parameter_block1_size x parameter_block2_size`` matrix. The
+ returned covariance will be a row-major matrix.
+
+.. function:: bool GetCovarianceBlockInTangentSpace(const double* parameter_block1, const double* parameter_block2, double* covariance_block) const
+
+ Return the block of the cross-covariance matrix corresponding to
+ ``parameter_block1`` and ``parameter_block2``.
+ Returns cross-covariance in the tangent space if a local
+ parameterization is associated with either parameter block;
+ else returns cross-covariance in the ambient space.
+
+ Compute must be called before the first call to ``GetCovarianceBlock``
+ and the pair ``<parameter_block1, parameter_block2>`` OR the pair
+ ``<parameter_block2, parameter_block1>`` must have been present in the
+ vector covariance_blocks when ``Compute`` was called. Otherwise
+ ``GetCovarianceBlock`` will return false.
+
+ ``covariance_block`` must point to a memory location that can store
+ a ``parameter_block1_local_size x parameter_block2_local_size`` matrix. The
+ returned covariance will be a row-major matrix.
+
+Example Usage
+=============
+
+.. code-block:: c++
+
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 2);
+ <Build Problem>
+ <Solve Problem>
+
+ Covariance::Options options;
+ Covariance covariance(options);
+
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(x, x));
+ covariance_blocks.push_back(make_pair(y, y));
+ covariance_blocks.push_back(make_pair(x, y));
+
+ CHECK(covariance.Compute(covariance_blocks, &problem));
+
+ double covariance_xx[3 * 3];
+ double covariance_yy[2 * 2];
+ double covariance_xy[3 * 2];
+ covariance.GetCovarianceBlock(x, x, covariance_xx)
+ covariance.GetCovarianceBlock(y, y, covariance_yy)
+ covariance.GetCovarianceBlock(x, y, covariance_xy)
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _`chapter-nnls_modeling`:
+
+=================================
+Modeling Non-linear Least Squares
+=================================
+
+Introduction
+============
+
+Ceres solver consists of two distinct parts. A modeling API which
+provides a rich set of tools to construct an optimization problem one
+term at a time and a solver API that controls the minimization
+algorithm. This chapter is devoted to the task of modeling
+optimization problems using Ceres. :ref:`chapter-nnls_solving` discusses
+the various ways in which an optimization problem can be solved using
+Ceres.
+
+Ceres solves robustified bounds constrained non-linear least squares
+problems of the form:
+
+.. math:: :label: ceresproblem
+
+ \min_{\mathbf{x}} &\quad \frac{1}{2}\sum_{i}
+ \rho_i\left(\left\|f_i\left(x_{i_1},
+ ... ,x_{i_k}\right)\right\|^2\right) \\
+ \text{s.t.} &\quad l_j \le x_j \le u_j
+
+In Ceres parlance, the expression
+:math:`\rho_i\left(\left\|f_i\left(x_{i_1},...,x_{i_k}\right)\right\|^2\right)`
+is known as a **residual block**, where :math:`f_i(\cdot)` is a
+:class:`CostFunction` that depends on the **parameter blocks**
+:math:`\left\{x_{i_1},... , x_{i_k}\right\}`.
+
+In most optimization problems small groups of scalars occur
+together. For example the three components of a translation vector and
+the four components of the quaternion that define the pose of a
+camera. We refer to such a group of scalars as a **parameter block**. Of
+course a parameter block can be just a single scalar too.
+
+:math:`\rho_i` is a :class:`LossFunction`. A :class:`LossFunction` is
+a scalar valued function that is used to reduce the influence of
+outliers on the solution of non-linear least squares problems.
+
+:math:`l_j` and :math:`u_j` are lower and upper bounds on the
+parameter block :math:`x_j`.
+
+As a special case, when :math:`\rho_i(x) = x`, i.e., the identity
+function, and :math:`l_j = -\infty` and :math:`u_j = \infty` we get
+the more familiar unconstrained `non-linear least squares problem
+<http://en.wikipedia.org/wiki/Non-linear_least_squares>`_.
+
+.. math:: :label: ceresproblemunconstrained
+
+ \frac{1}{2}\sum_{i} \left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2.
+
+:class:`CostFunction`
+=====================
+
+For each term in the objective function, a :class:`CostFunction` is
+responsible for computing a vector of residuals and if asked a vector
+of Jacobian matrices, i.e., given :math:`\left[x_{i_1}, ... ,
+x_{i_k}\right]`, compute the vector
+:math:`f_i\left(x_{i_1},...,x_{i_k}\right)` and the matrices
+
+ .. math:: J_{ij} = \frac{\partial}{\partial
+ x_{i_j}}f_i\left(x_{i_1},...,x_{i_k}\right),\quad \forall j
+ \in \{1, \ldots, k\}
+
+.. class:: CostFunction
+
+ .. code-block:: c++
+
+ class CostFunction {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) = 0;
+ const vector<int32>& parameter_block_sizes();
+ int num_residuals() const;
+
+ protected:
+ vector<int32>* mutable_parameter_block_sizes();
+ void set_num_residuals(int num_residuals);
+ };
+
+
+The signature of the :class:`CostFunction` (number and sizes of input
+parameter blocks and number of outputs) is stored in
+:member:`CostFunction::parameter_block_sizes_` and
+:member:`CostFunction::num_residuals_` respectively. User code
+inheriting from this class is expected to set these two members with
+the corresponding accessors. This information will be verified by the
+:class:`Problem` when added with :func:`Problem::AddResidualBlock`.
+
+.. function:: bool CostFunction::Evaluate(double const* const* parameters, double* residuals, double** jacobians)
+
+ Compute the residual vector and the Jacobian matrices.
+
+ ``parameters`` is an array of pointers to arrays containing the
+ various parameter blocks. ``parameters`` has the same number of
+ elements as :member:`CostFunction::parameter_block_sizes_` and the
+ parameter blocks are in the same order as
+ :member:`CostFunction::parameter_block_sizes_`.
+
+ ``residuals`` is an array of size ``num_residuals_``.
+
+ ``jacobians`` is an array of size
+ :member:`CostFunction::parameter_block_sizes_` containing pointers
+ to storage for Jacobian matrices corresponding to each parameter
+ block. The Jacobian matrices are in the same order as
+ :member:`CostFunction::parameter_block_sizes_`. ``jacobians[i]`` is
+ an array that contains :member:`CostFunction::num_residuals_` x
+ :member:`CostFunction::parameter_block_sizes_` ``[i]``
+ elements. Each Jacobian matrix is stored in row-major order, i.e.,
+ ``jacobians[i][r * parameter_block_size_[i] + c]`` =
+ :math:`\frac{\partial residual[r]}{\partial parameters[i][c]}`
+
+
+ If ``jacobians`` is ``NULL``, then no derivatives are returned;
+ this is the case when computing cost only. If ``jacobians[i]`` is
+ ``NULL``, then the Jacobian matrix corresponding to the
+ :math:`i^{\textrm{th}}` parameter block must not be returned, this
+ is the case when a parameter block is marked constant.
+
+ **NOTE** The return value indicates whether the computation of the
+ residuals and/or jacobians was successful or not.
+
+ This can be used to communicate numerical failures in Jacobian
+ computations for instance.
+
+:class:`SizedCostFunction`
+==========================
+
+.. class:: SizedCostFunction
+
+ If the size of the parameter blocks and the size of the residual
+ vector is known at compile time (this is the common case),
+ :class:`SizeCostFunction` can be used where these values can be
+ specified as template parameters and the user only needs to
+ implement :func:`CostFunction::Evaluate`.
+
+ .. code-block:: c++
+
+ template<int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+ class SizedCostFunction : public CostFunction {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const = 0;
+ };
+
+
+:class:`AutoDiffCostFunction`
+=============================
+
+.. class:: AutoDiffCostFunction
+
+ Defining a :class:`CostFunction` or a :class:`SizedCostFunction`
+ can be a tedious and error prone especially when computing
+ derivatives. To this end Ceres provides `automatic differentiation
+ <http://en.wikipedia.org/wiki/Automatic_differentiation>`_.
+
+ .. code-block:: c++
+
+ template <typename CostFunctor,
+ int kNumResiduals, // Number of residuals, or ceres::DYNAMIC.
+ int N0, // Number of parameters in block 0.
+ int N1 = 0, // Number of parameters in block 1.
+ int N2 = 0, // Number of parameters in block 2.
+ int N3 = 0, // Number of parameters in block 3.
+ int N4 = 0, // Number of parameters in block 4.
+ int N5 = 0, // Number of parameters in block 5.
+ int N6 = 0, // Number of parameters in block 6.
+ int N7 = 0, // Number of parameters in block 7.
+ int N8 = 0, // Number of parameters in block 8.
+ int N9 = 0> // Number of parameters in block 9.
+ class AutoDiffCostFunction : public
+ SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+ public:
+ explicit AutoDiffCostFunction(CostFunctor* functor);
+ // Ignore the template parameter kNumResiduals and use
+ // num_residuals instead.
+ AutoDiffCostFunction(CostFunctor* functor, int num_residuals);
+ };
+
+ To get an auto differentiated cost function, you must define a
+ class with a templated ``operator()`` (a functor) that computes the
+ cost function in terms of the template parameter ``T``. The
+ autodiff framework substitutes appropriate ``Jet`` objects for
+ ``T`` in order to compute the derivative when necessary, but this
+ is hidden, and you should write the function as if ``T`` were a
+ scalar type (e.g. a double-precision floating point number).
+
+ The function must write the computed value in the last argument
+ (the only non-``const`` one) and return true to indicate success.
+
+ For example, consider a scalar error :math:`e = k - x^\top y`,
+ where both :math:`x` and :math:`y` are two-dimensional vector
+ parameters and :math:`k` is a constant. The form of this error,
+ which is the difference between a constant and an expression, is a
+ common pattern in least squares problems. For example, the value
+ :math:`x^\top y` might be the model expectation for a series of
+ measurements, where there is an instance of the cost function for
+ each measurement :math:`k`.
+
+ The actual cost added to the total problem is :math:`e^2`, or
+ :math:`(k - x^\top y)^2`; however, the squaring is implicitly done
+ by the optimization framework.
+
+ To write an auto-differentiable cost function for the above model,
+ first define the object
+
+ .. code-block:: c++
+
+ class MyScalarCostFunctor {
+ MyScalarCostFunctor(double k): k_(k) {}
+
+ template <typename T>
+ bool operator()(const T* const x , const T* const y, T* e) const {
+ e[0] = k_ - x[0] * y[0] - x[1] * y[1];
+ return true;
+ }
+
+ private:
+ double k_;
+ };
+
+
+ Note that in the declaration of ``operator()`` the input parameters
+ ``x`` and ``y`` come first, and are passed as const pointers to arrays
+ of ``T``. If there were three input parameters, then the third input
+ parameter would come after ``y``. The output is always the last
+ parameter, and is also a pointer to an array. In the example above,
+ ``e`` is a scalar, so only ``e[0]`` is set.
+
+ Then given this class definition, the auto differentiated cost
+ function for it can be constructed as follows.
+
+ .. code-block:: c++
+
+ CostFunction* cost_function
+ = new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>(
+ new MyScalarCostFunctor(1.0)); ^ ^ ^
+ | | |
+ Dimension of residual ------+ | |
+ Dimension of x ----------------+ |
+ Dimension of y -------------------+
+
+
+ In this example, there is usually an instance for each measurement
+ of ``k``.
+
+ In the instantiation above, the template parameters following
+ ``MyScalarCostFunction``, ``<1, 2, 2>`` describe the functor as
+ computing a 1-dimensional output from two arguments, both
+ 2-dimensional.
+
+ :class:`AutoDiffCostFunction` also supports cost functions with a
+ runtime-determined number of residuals. For example:
+
+ .. code-block:: c++
+
+ CostFunction* cost_function
+ = new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>(
+ new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+ runtime_number_of_residuals); <----+ | | |
+ | | | |
+ | | | |
+ Actual number of residuals ------+ | | |
+ Indicate dynamic number of residuals --------+ | |
+ Dimension of x ------------------------------------+ |
+ Dimension of y ---------------------------------------+
+
+ The framework can currently accommodate cost functions of up to 10
+ independent variables, and there is no limit on the dimensionality
+ of each of them.
+
+ **WARNING 1** A common beginner's error when first using
+ :class:`AutoDiffCostFunction` is to get the sizing wrong. In particular,
+ there is a tendency to set the template parameters to (dimension of
+ residual, number of parameters) instead of passing a dimension
+ parameter for *every parameter block*. In the example above, that
+ would be ``<MyScalarCostFunction, 1, 2>``, which is missing the 2
+ as the last template argument.
+
+
+:class:`DynamicAutoDiffCostFunction`
+====================================
+
+.. class:: DynamicAutoDiffCostFunction
+
+ :class:`AutoDiffCostFunction` requires that the number of parameter
+ blocks and their sizes be known at compile time. It also has an
+ upper limit of 10 parameter blocks. In a number of applications,
+ this is not enough e.g., Bezier curve fitting, Neural Network
+ training etc.
+
+ .. code-block:: c++
+
+ template <typename CostFunctor, int Stride = 4>
+ class DynamicAutoDiffCostFunction : public CostFunction {
+ };
+
+ In such cases :class:`DynamicAutoDiffCostFunction` can be
+ used. Like :class:`AutoDiffCostFunction` the user must define a
+ templated functor, but the signature of the functor differs
+ slightly. The expected interface for the cost functors is:
+
+ .. code-block:: c++
+
+ struct MyCostFunctor {
+ template<typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ }
+ }
+
+ Since the sizing of the parameters is done at runtime, you must
+ also specify the sizes after creating the dynamic autodiff cost
+ function. For example:
+
+ .. code-block:: c++
+
+ DynamicAutoDiffCostFunction<MyCostFunctor, 4>* cost_function =
+ new DynamicAutoDiffCostFunction<MyCostFunctor, 4>(
+ new MyCostFunctor());
+ cost_function->AddParameterBlock(5);
+ cost_function->AddParameterBlock(10);
+ cost_function->SetNumResiduals(21);
+
+ Under the hood, the implementation evaluates the cost function
+ multiple times, computing a small set of the derivatives (four by
+ default, controlled by the ``Stride`` template parameter) with each
+ pass. There is a performance tradeoff with the size of the passes;
+ Smaller sizes are more cache efficient but result in larger number
+ of passes, and larger stride lengths can destroy cache-locality
+ while reducing the number of passes over the cost function. The
+ optimal value depends on the number and sizes of the various
+ parameter blocks.
+
+ As a rule of thumb, try using :class:`AutoDiffCostFunction` before
+ you use :class:`DynamicAutoDiffCostFunction`.
+
+:class:`NumericDiffCostFunction`
+================================
+
+.. class:: NumericDiffCostFunction
+
+ In some cases, its not possible to define a templated cost functor,
+ for example when the evaluation of the residual involves a call to a
+ library function that you do not have control over. In such a
+ situation, `numerical differentiation
+ <http://en.wikipedia.org/wiki/Numerical_differentiation>`_ can be
+ used.
+
+ .. NOTE ::
+
+ TODO(sameeragarwal): Add documentation for the constructor and for
+ NumericDiffOptions. Update DynamicNumericDiffOptions in a similar
+ manner.
+
+ .. code-block:: c++
+
+ template <typename CostFunctor,
+ NumericDiffMethodType method = CENTRAL,
+ int kNumResiduals, // Number of residuals, or ceres::DYNAMIC.
+ int N0, // Number of parameters in block 0.
+ int N1 = 0, // Number of parameters in block 1.
+ int N2 = 0, // Number of parameters in block 2.
+ int N3 = 0, // Number of parameters in block 3.
+ int N4 = 0, // Number of parameters in block 4.
+ int N5 = 0, // Number of parameters in block 5.
+ int N6 = 0, // Number of parameters in block 6.
+ int N7 = 0, // Number of parameters in block 7.
+ int N8 = 0, // Number of parameters in block 8.
+ int N9 = 0> // Number of parameters in block 9.
+ class NumericDiffCostFunction : public
+ SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+ };
+
+ To get a numerically differentiated :class:`CostFunction`, you must
+ define a class with a ``operator()`` (a functor) that computes the
+ residuals. The functor must write the computed value in the last
+ argument (the only non-``const`` one) and return ``true`` to
+ indicate success. Please see :class:`CostFunction` for details on
+ how the return value may be used to impose simple constraints on the
+ parameter block. e.g., an object of the form
+
+ .. code-block:: c++
+
+ struct ScalarFunctor {
+ public:
+ bool operator()(const double* const x1,
+ const double* const x2,
+ double* residuals) const;
+ }
+
+ For example, consider a scalar error :math:`e = k - x'y`, where both
+ :math:`x` and :math:`y` are two-dimensional column vector
+ parameters, the prime sign indicates transposition, and :math:`k` is
+ a constant. The form of this error, which is the difference between
+ a constant and an expression, is a common pattern in least squares
+ problems. For example, the value :math:`x'y` might be the model
+ expectation for a series of measurements, where there is an instance
+ of the cost function for each measurement :math:`k`.
+
+ To write an numerically-differentiable class:`CostFunction` for the
+ above model, first define the object
+
+ .. code-block:: c++
+
+ class MyScalarCostFunctor {
+ MyScalarCostFunctor(double k): k_(k) {}
+
+ bool operator()(const double* const x,
+ const double* const y,
+ double* residuals) const {
+ residuals[0] = k_ - x[0] * y[0] + x[1] * y[1];
+ return true;
+ }
+
+ private:
+ double k_;
+ };
+
+ Note that in the declaration of ``operator()`` the input parameters
+ ``x`` and ``y`` come first, and are passed as const pointers to
+ arrays of ``double`` s. If there were three input parameters, then
+ the third input parameter would come after ``y``. The output is
+ always the last parameter, and is also a pointer to an array. In the
+ example above, the residual is a scalar, so only ``residuals[0]`` is
+ set.
+
+ Then given this class definition, the numerically differentiated
+ :class:`CostFunction` with central differences used for computing
+ the derivative can be constructed as follows.
+
+ .. code-block:: c++
+
+ CostFunction* cost_function
+ = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
+ new MyScalarCostFunctor(1.0)); ^ ^ ^ ^
+ | | | |
+ Finite Differencing Scheme -+ | | |
+ Dimension of residual ------------+ | |
+ Dimension of x ----------------------+ |
+ Dimension of y -------------------------+
+
+ In this example, there is usually an instance for each measurement
+ of `k`.
+
+ In the instantiation above, the template parameters following
+ ``MyScalarCostFunctor``, ``1, 2, 2``, describe the functor as
+ computing a 1-dimensional output from two arguments, both
+ 2-dimensional.
+
+ NumericDiffCostFunction also supports cost functions with a
+ runtime-determined number of residuals. For example:
+
+ .. code-block:: c++
+
+ CostFunction* cost_function
+ = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
+ new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+ TAKE_OWNERSHIP, | | |
+ runtime_number_of_residuals); <----+ | | |
+ | | | |
+ | | | |
+ Actual number of residuals ------+ | | |
+ Indicate dynamic number of residuals --------------------+ | |
+ Dimension of x ------------------------------------------------+ |
+ Dimension of y ---------------------------------------------------+
+
+
+ The framework can currently accommodate cost functions of up to 10
+ independent variables, and there is no limit on the dimensionality
+ of each of them.
+
+ There are three available numeric differentiation schemes in ceres-solver:
+
+ The ``FORWARD`` difference method, which approximates :math:`f'(x)`
+ by computing :math:`\frac{f(x+h)-f(x)}{h}`, computes the cost
+ function one additional time at :math:`x+h`. It is the fastest but
+ least accurate method.
+
+ The ``CENTRAL`` difference method is more accurate at the cost of
+ twice as many function evaluations than forward difference,
+ estimating :math:`f'(x)` by computing
+ :math:`\frac{f(x+h)-f(x-h)}{2h}`.
+
+ The ``RIDDERS`` difference method[Ridders]_ is an adaptive scheme
+ that estimates derivatives by performing multiple central
+ differences at varying scales. Specifically, the algorithm starts at
+ a certain :math:`h` and as the derivative is estimated, this step
+ size decreases. To conserve function evaluations and estimate the
+ derivative error, the method performs Richardson extrapolations
+ between the tested step sizes. The algorithm exhibits considerably
+ higher accuracy, but does so by additional evaluations of the cost
+ function.
+
+ Consider using ``CENTRAL`` differences to begin with. Based on the
+ results, either try forward difference to improve performance or
+ Ridders' method to improve accuracy.
+
+ **WARNING** A common beginner's error when first using
+ :class:`NumericDiffCostFunction` is to get the sizing wrong. In
+ particular, there is a tendency to set the template parameters to
+ (dimension of residual, number of parameters) instead of passing a
+ dimension parameter for *every parameter*. In the example above,
+ that would be ``<MyScalarCostFunctor, 1, 2>``, which is missing the
+ last ``2`` argument. Please be careful when setting the size
+ parameters.
+
+
+Numeric Differentiation & LocalParameterization
+-----------------------------------------------
+
+ If your cost function depends on a parameter block that must lie on
+ a manifold and the functor cannot be evaluated for values of that
+ parameter block not on the manifold then you may have problems
+ numerically differentiating such functors.
+
+ This is because numeric differentiation in Ceres is performed by
+ perturbing the individual coordinates of the parameter blocks that
+ a cost functor depends on. In doing so, we assume that the
+ parameter blocks live in an Euclidean space and ignore the
+ structure of manifold that they live As a result some of the
+ perturbations may not lie on the manifold corresponding to the
+ parameter block.
+
+ For example consider a four dimensional parameter block that is
+ interpreted as a unit Quaternion. Perturbing the coordinates of
+ this parameter block will violate the unit norm property of the
+ parameter block.
+
+ Fixing this problem requires that :class:`NumericDiffCostFunction`
+ be aware of the :class:`LocalParameterization` associated with each
+ parameter block and only generate perturbations in the local
+ tangent space of each parameter block.
+
+ For now this is not considered to be a serious enough problem to
+ warrant changing the :class:`NumericDiffCostFunction` API. Further,
+ in most cases it is relatively straightforward to project a point
+ off the manifold back onto the manifold before using it in the
+ functor. For example in case of the Quaternion, normalizing the
+ 4-vector before using it does the trick.
+
+ **Alternate Interface**
+
+ For a variety of reasons, including compatibility with legacy code,
+ :class:`NumericDiffCostFunction` can also take
+ :class:`CostFunction` objects as input. The following describes
+ how.
+
+ To get a numerically differentiated cost function, define a
+ subclass of :class:`CostFunction` such that the
+ :func:`CostFunction::Evaluate` function ignores the ``jacobians``
+ parameter. The numeric differentiation wrapper will fill in the
+ jacobian parameter if necessary by repeatedly calling the
+ :func:`CostFunction::Evaluate` with small changes to the
+ appropriate parameters, and computing the slope. For performance,
+ the numeric differentiation wrapper class is templated on the
+ concrete cost function, even though it could be implemented only in
+ terms of the :class:`CostFunction` interface.
+
+ The numerically differentiated version of a cost function for a
+ cost function can be constructed as follows:
+
+ .. code-block:: c++
+
+ CostFunction* cost_function
+ = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+ new MyCostFunction(...), TAKE_OWNERSHIP);
+
+ where ``MyCostFunction`` has 1 residual and 2 parameter blocks with
+ sizes 4 and 8 respectively. Look at the tests for a more detailed
+ example.
+
+:class:`DynamicNumericDiffCostFunction`
+=======================================
+
+.. class:: DynamicNumericDiffCostFunction
+
+ Like :class:`AutoDiffCostFunction` :class:`NumericDiffCostFunction`
+ requires that the number of parameter blocks and their sizes be
+ known at compile time. It also has an upper limit of 10 parameter
+ blocks. In a number of applications, this is not enough.
+
+ .. code-block:: c++
+
+ template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
+ class DynamicNumericDiffCostFunction : public CostFunction {
+ };
+
+ In such cases when numeric differentiation is desired,
+ :class:`DynamicNumericDiffCostFunction` can be used.
+
+ Like :class:`NumericDiffCostFunction` the user must define a
+ functor, but the signature of the functor differs slightly. The
+ expected interface for the cost functors is:
+
+ .. code-block:: c++
+
+ struct MyCostFunctor {
+ bool operator()(double const* const* parameters, double* residuals) const {
+ }
+ }
+
+ Since the sizing of the parameters is done at runtime, you must
+ also specify the sizes after creating the dynamic numeric diff cost
+ function. For example:
+
+ .. code-block:: c++
+
+ DynamicNumericDiffCostFunction<MyCostFunctor>* cost_function =
+ new DynamicNumericDiffCostFunction<MyCostFunctor>(new MyCostFunctor);
+ cost_function->AddParameterBlock(5);
+ cost_function->AddParameterBlock(10);
+ cost_function->SetNumResiduals(21);
+
+ As a rule of thumb, try using :class:`NumericDiffCostFunction` before
+ you use :class:`DynamicNumericDiffCostFunction`.
+
+ **WARNING** The same caution about mixing local parameterizations
+ with numeric differentiation applies as is the case with
+ :class:`NumericDiffCostFunction`.
+
+:class:`CostFunctionToFunctor`
+==============================
+
+.. class:: CostFunctionToFunctor
+
+ :class:`CostFunctionToFunctor` is an adapter class that allows
+ users to use :class:`CostFunction` objects in templated functors
+ which are to be used for automatic differentiation. This allows
+ the user to seamlessly mix analytic, numeric and automatic
+ differentiation.
+
+ For example, let us assume that
+
+ .. code-block:: c++
+
+ class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
+ public:
+ IntrinsicProjection(const double* observation);
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+ };
+
+ is a :class:`CostFunction` that implements the projection of a
+ point in its local coordinate system onto its image plane and
+ subtracts it from the observed point projection. It can compute its
+ residual and either via analytic or numerical differentiation can
+ compute its jacobians.
+
+ Now we would like to compose the action of this
+ :class:`CostFunction` with the action of camera extrinsics, i.e.,
+ rotation and translation. Say we have a templated function
+
+ .. code-block:: c++
+
+ template<typename T>
+ void RotateAndTranslatePoint(const T* rotation,
+ const T* translation,
+ const T* point,
+ T* result);
+
+
+ Then we can now do the following,
+
+ .. code-block:: c++
+
+ struct CameraProjection {
+ CameraProjection(double* observation)
+ : intrinsic_projection_(new IntrinsicProjection(observation)) {
+ }
+
+ template <typename T>
+ bool operator()(const T* rotation,
+ const T* translation,
+ const T* intrinsics,
+ const T* point,
+ T* residual) const {
+ T transformed_point[3];
+ RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+
+ // Note that we call intrinsic_projection_, just like it was
+ // any other templated functor.
+ return intrinsic_projection_(intrinsics, transformed_point, residual);
+ }
+
+ private:
+ CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+ };
+
+ Note that :class:`CostFunctionToFunctor` takes ownership of the
+ :class:`CostFunction` that was passed in to the constructor.
+
+ In the above example, we assumed that ``IntrinsicProjection`` is a
+ ``CostFunction`` capable of evaluating its value and its
+ derivatives. Suppose, if that were not the case and
+ ``IntrinsicProjection`` was defined as follows:
+
+ .. code-block:: c++
+
+ struct IntrinsicProjection
+ IntrinsicProjection(const double* observation) {
+ observation_[0] = observation[0];
+ observation_[1] = observation[1];
+ }
+
+ bool operator()(const double* calibration,
+ const double* point,
+ double* residuals) {
+ double projection[2];
+ ThirdPartyProjectionFunction(calibration, point, projection);
+ residuals[0] = observation_[0] - projection[0];
+ residuals[1] = observation_[1] - projection[1];
+ return true;
+ }
+ double observation_[2];
+ };
+
+
+ Here ``ThirdPartyProjectionFunction`` is some third party library
+ function that we have no control over. So this function can compute
+ its value and we would like to use numeric differentiation to
+ compute its derivatives. In this case we can use a combination of
+ ``NumericDiffCostFunction`` and ``CostFunctionToFunctor`` to get the
+ job done.
+
+ .. code-block:: c++
+
+ struct CameraProjection {
+ CameraProjection(double* observation)
+ intrinsic_projection_(
+ new NumericDiffCostFunction<IntrinsicProjection, CENTRAL, 2, 5, 3>(
+ new IntrinsicProjection(observation)) {
+ }
+
+ template <typename T>
+ bool operator()(const T* rotation,
+ const T* translation,
+ const T* intrinsics,
+ const T* point,
+ T* residuals) const {
+ T transformed_point[3];
+ RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+ return intrinsic_projection_(intrinsics, transformed_point, residual);
+ }
+
+ private:
+ CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+ };
+
+:class:`DynamicCostFunctionToFunctor`
+=====================================
+
+.. class:: DynamicCostFunctionToFunctor
+
+ :class:`DynamicCostFunctionToFunctor` provides the same functionality as
+ :class:`CostFunctionToFunctor` for cases where the number and size of the
+ parameter vectors and residuals are not known at compile-time. The API
+ provided by :class:`DynamicCostFunctionToFunctor` matches what would be
+ expected by :class:`DynamicAutoDiffCostFunction`, i.e. it provides a
+ templated functor of this form:
+
+ .. code-block:: c++
+
+ template<typename T>
+ bool operator()(T const* const* parameters, T* residuals) const;
+
+ Similar to the example given for :class:`CostFunctionToFunctor`, let us
+ assume that
+
+ .. code-block:: c++
+
+ class IntrinsicProjection : public CostFunction {
+ public:
+ IntrinsicProjection(const double* observation);
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+ };
+
+ is a :class:`CostFunction` that projects a point in its local coordinate
+ system onto its image plane and subtracts it from the observed point
+ projection.
+
+ Using this :class:`CostFunction` in a templated functor would then look like
+ this:
+
+ .. code-block:: c++
+
+ struct CameraProjection {
+ CameraProjection(double* observation)
+ : intrinsic_projection_(new IntrinsicProjection(observation)) {
+ }
+
+ template <typename T>
+ bool operator()(T const* const* parameters,
+ T* residual) const {
+ const T* rotation = parameters[0];
+ const T* translation = parameters[1];
+ const T* intrinsics = parameters[2];
+ const T* point = parameters[3];
+
+ T transformed_point[3];
+ RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+
+ const T* projection_parameters[2];
+ projection_parameters[0] = intrinsics;
+ projection_parameters[1] = transformed_point;
+ return intrinsic_projection_(projection_parameters, residual);
+ }
+
+ private:
+ DynamicCostFunctionToFunctor intrinsic_projection_;
+ };
+
+ Like :class:`CostFunctionToFunctor`, :class:`DynamicCostFunctionToFunctor`
+ takes ownership of the :class:`CostFunction` that was passed in to the
+ constructor.
+
+:class:`ConditionedCostFunction`
+================================
+
+.. class:: ConditionedCostFunction
+
+ This class allows you to apply different conditioning to the residual
+ values of a wrapped cost function. An example where this is useful is
+ where you have an existing cost function that produces N values, but you
+ want the total cost to be something other than just the sum of these
+ squared values - maybe you want to apply a different scaling to some
+ values, to change their contribution to the cost.
+
+ Usage:
+
+ .. code-block:: c++
+
+ // my_cost_function produces N residuals
+ CostFunction* my_cost_function = ...
+ CHECK_EQ(N, my_cost_function->num_residuals());
+ vector<CostFunction*> conditioners;
+
+ // Make N 1x1 cost functions (1 parameter, 1 residual)
+ CostFunction* f_1 = ...
+ conditioners.push_back(f_1);
+
+ CostFunction* f_N = ...
+ conditioners.push_back(f_N);
+ ConditionedCostFunction* ccf =
+ new ConditionedCostFunction(my_cost_function, conditioners);
+
+
+ Now ``ccf`` 's ``residual[i]`` (i=0..N-1) will be passed though the
+ :math:`i^{\text{th}}` conditioner.
+
+ .. code-block:: c++
+
+ ccf_residual[i] = f_i(my_cost_function_residual[i])
+
+ and the Jacobian will be affected appropriately.
+
+
+:class:`GradientChecker`
+================================
+
+.. class:: GradientChecker
+
+ This class compares the Jacobians returned by a cost function against
+ derivatives estimated using finite differencing. It is meant as a tool for
+ unit testing, giving you more fine-grained control than the check_gradients
+ option in the solver options.
+
+ The condition enforced is that
+
+ .. math:: \forall{i,j}: \frac{J_{ij} - J'_{ij}}{max_{ij}(J_{ij} - J'_{ij})} < r
+
+ where :math:`J_{ij}` is the jacobian as computed by the supplied cost
+ function (by the user) multiplied by the local parameterization Jacobian,
+ :math:`J'_{ij}` is the jacobian as computed by finite differences,
+ multiplied by the local parameterization Jacobian as well, and :math:`r`
+ is the relative precision.
+
+ Usage:
+
+ .. code-block:: c++
+
+ // my_cost_function takes two parameter blocks. The first has a local
+ // parameterization associated with it.
+ CostFunction* my_cost_function = ...
+ LocalParameterization* my_parameterization = ...
+ NumericDiffOptions numeric_diff_options;
+
+ std::vector<LocalParameterization*> local_parameterizations;
+ local_parameterizations.push_back(my_parameterization);
+ local_parameterizations.push_back(NULL);
+
+ std::vector parameter1;
+ std::vector parameter2;
+ // Fill parameter 1 & 2 with test data...
+
+ std::vector<double*> parameter_blocks;
+ parameter_blocks.push_back(parameter1.data());
+ parameter_blocks.push_back(parameter2.data());
+
+ GradientChecker gradient_checker(my_cost_function,
+ local_parameterizations, numeric_diff_options);
+ GradientCheckResults results;
+ if (!gradient_checker.Probe(parameter_blocks.data(), 1e-9, &results) {
+ LOG(ERROR) << "An error has occurred:\n" << results.error_log;
+ }
+
+
+:class:`NormalPrior`
+====================
+
+.. class:: NormalPrior
+
+ .. code-block:: c++
+
+ class NormalPrior: public CostFunction {
+ public:
+ // Check that the number of rows in the vector b are the same as the
+ // number of columns in the matrix A, crash otherwise.
+ NormalPrior(const Matrix& A, const Vector& b);
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+ };
+
+ Implements a cost function of the form
+
+ .. math:: cost(x) = ||A(x - b)||^2
+
+ where, the matrix :math:`A` and the vector :math:`b` are fixed and :math:`x`
+ is the variable. In case the user is interested in implementing a cost
+ function of the form
+
+ .. math:: cost(x) = (x - \mu)^T S^{-1} (x - \mu)
+
+ where, :math:`\mu` is a vector and :math:`S` is a covariance matrix,
+ then, :math:`A = S^{-1/2}`, i.e the matrix :math:`A` is the square
+ root of the inverse of the covariance, also known as the stiffness
+ matrix. There are however no restrictions on the shape of
+ :math:`A`. It is free to be rectangular, which would be the case if
+ the covariance matrix :math:`S` is rank deficient.
+
+
+
+.. _`section-loss_function`:
+
+:class:`LossFunction`
+=====================
+
+.. class:: LossFunction
+
+ For least squares problems where the minimization may encounter
+ input terms that contain outliers, that is, completely bogus
+ measurements, it is important to use a loss function that reduces
+ their influence.
+
+ Consider a structure from motion problem. The unknowns are 3D
+ points and camera parameters, and the measurements are image
+ coordinates describing the expected reprojected position for a
+ point in a camera. For example, we want to model the geometry of a
+ street scene with fire hydrants and cars, observed by a moving
+ camera with unknown parameters, and the only 3D points we care
+ about are the pointy tippy-tops of the fire hydrants. Our magic
+ image processing algorithm, which is responsible for producing the
+ measurements that are input to Ceres, has found and matched all
+ such tippy-tops in all image frames, except that in one of the
+ frame it mistook a car's headlight for a hydrant. If we didn't do
+ anything special the residual for the erroneous measurement will
+ result in the entire solution getting pulled away from the optimum
+ to reduce the large error that would otherwise be attributed to the
+ wrong measurement.
+
+ Using a robust loss function, the cost for large residuals is
+ reduced. In the example above, this leads to outlier terms getting
+ down-weighted so they do not overly influence the final solution.
+
+ .. code-block:: c++
+
+ class LossFunction {
+ public:
+ virtual void Evaluate(double s, double out[3]) const = 0;
+ };
+
+
+ The key method is :func:`LossFunction::Evaluate`, which given a
+ non-negative scalar ``s``, computes
+
+ .. math:: out = \begin{bmatrix}\rho(s), & \rho'(s), & \rho''(s)\end{bmatrix}
+
+ Here the convention is that the contribution of a term to the cost
+ function is given by :math:`\frac{1}{2}\rho(s)`, where :math:`s
+ =\|f_i\|^2`. Calling the method with a negative value of :math:`s`
+ is an error and the implementations are not required to handle that
+ case.
+
+ Most sane choices of :math:`\rho` satisfy:
+
+ .. math::
+
+ \rho(0) &= 0\\
+ \rho'(0) &= 1\\
+ \rho'(s) &< 1 \text{ in the outlier region}\\
+ \rho''(s) &< 0 \text{ in the outlier region}
+
+ so that they mimic the squared cost for small residuals.
+
+ **Scaling**
+
+ Given one robustifier :math:`\rho(s)` one can change the length
+ scale at which robustification takes place, by adding a scale
+ factor :math:`a > 0` which gives us :math:`\rho(s,a) = a^2 \rho(s /
+ a^2)` and the first and second derivatives as :math:`\rho'(s /
+ a^2)` and :math:`(1 / a^2) \rho''(s / a^2)` respectively.
+
+
+ The reason for the appearance of squaring is that :math:`a` is in
+ the units of the residual vector norm whereas :math:`s` is a squared
+ norm. For applications it is more convenient to specify :math:`a` than
+ its square.
+
+Instances
+---------
+
+Ceres includes a number of predefined loss functions. For simplicity
+we described their unscaled versions. The figure below illustrates
+their shape graphically. More details can be found in
+``include/ceres/loss_function.h``.
+
+.. figure:: loss.png
+ :figwidth: 500px
+ :height: 400px
+ :align: center
+
+ Shape of the various common loss functions.
+
+.. class:: TrivialLoss
+
+ .. math:: \rho(s) = s
+
+.. class:: HuberLoss
+
+ .. math:: \rho(s) = \begin{cases} s & s \le 1\\ 2 \sqrt{s} - 1 & s > 1 \end{cases}
+
+.. class:: SoftLOneLoss
+
+ .. math:: \rho(s) = 2 (\sqrt{1+s} - 1)
+
+.. class:: CauchyLoss
+
+ .. math:: \rho(s) = \log(1 + s)
+
+.. class:: ArctanLoss
+
+ .. math:: \rho(s) = \arctan(s)
+
+.. class:: TolerantLoss
+
+ .. math:: \rho(s,a,b) = b \log(1 + e^{(s - a) / b}) - b \log(1 + e^{-a / b})
+
+.. class:: ComposedLoss
+
+ Given two loss functions ``f`` and ``g``, implements the loss
+ function ``h(s) = f(g(s))``.
+
+ .. code-block:: c++
+
+ class ComposedLoss : public LossFunction {
+ public:
+ explicit ComposedLoss(const LossFunction* f,
+ Ownership ownership_f,
+ const LossFunction* g,
+ Ownership ownership_g);
+ };
+
+.. class:: ScaledLoss
+
+ Sometimes you want to simply scale the output value of the
+ robustifier. For example, you might want to weight different error
+ terms differently (e.g., weight pixel reprojection errors
+ differently from terrain errors).
+
+ Given a loss function :math:`\rho(s)` and a scalar :math:`a`, :class:`ScaledLoss`
+ implements the function :math:`a \rho(s)`.
+
+ Since we treat a ``NULL`` Loss function as the Identity loss
+ function, :math:`rho` = ``NULL``: is a valid input and will result
+ in the input being scaled by :math:`a`. This provides a simple way
+ of implementing a scaled ResidualBlock.
+
+.. class:: LossFunctionWrapper
+
+ Sometimes after the optimization problem has been constructed, we
+ wish to mutate the scale of the loss function. For example, when
+ performing estimation from data which has substantial outliers,
+ convergence can be improved by starting out with a large scale,
+ optimizing the problem and then reducing the scale. This can have
+ better convergence behavior than just using a loss function with a
+ small scale.
+
+ This templated class allows the user to implement a loss function
+ whose scale can be mutated after an optimization problem has been
+ constructed, e.g,
+
+ .. code-block:: c++
+
+ Problem problem;
+
+ // Add parameter blocks
+
+ CostFunction* cost_function =
+ new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>(
+ new UW_Camera_Mapper(feature_x, feature_y));
+
+ LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP);
+ problem.AddResidualBlock(cost_function, loss_function, parameters);
+
+ Solver::Options options;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP);
+ Solve(options, &problem, &summary);
+
+
+Theory
+------
+
+Let us consider a problem with a single problem and a single parameter
+block.
+
+.. math::
+
+ \min_x \frac{1}{2}\rho(f^2(x))
+
+
+Then, the robustified gradient and the Gauss-Newton Hessian are
+
+.. math::
+
+ g(x) &= \rho'J^\top(x)f(x)\\
+ H(x) &= J^\top(x)\left(\rho' + 2 \rho''f(x)f^\top(x)\right)J(x)
+
+where the terms involving the second derivatives of :math:`f(x)` have
+been ignored. Note that :math:`H(x)` is indefinite if
+:math:`\rho''f(x)^\top f(x) + \frac{1}{2}\rho' < 0`. If this is not
+the case, then its possible to re-weight the residual and the Jacobian
+matrix such that the corresponding linear least squares problem for
+the robustified Gauss-Newton step.
+
+
+Let :math:`\alpha` be a root of
+
+.. math:: \frac{1}{2}\alpha^2 - \alpha - \frac{\rho''}{\rho'}\|f(x)\|^2 = 0.
+
+
+Then, define the rescaled residual and Jacobian as
+
+.. math::
+
+ \tilde{f}(x) &= \frac{\sqrt{\rho'}}{1 - \alpha} f(x)\\
+ \tilde{J}(x) &= \sqrt{\rho'}\left(1 - \alpha
+ \frac{f(x)f^\top(x)}{\left\|f(x)\right\|^2} \right)J(x)
+
+
+In the case :math:`2 \rho''\left\|f(x)\right\|^2 + \rho' \lesssim 0`,
+we limit :math:`\alpha \le 1- \epsilon` for some small
+:math:`\epsilon`. For more details see [Triggs]_.
+
+With this simple rescaling, one can use any Jacobian based non-linear
+least squares algorithm to robustified non-linear least squares
+problems.
+
+
+:class:`LocalParameterization`
+==============================
+
+.. class:: LocalParameterization
+
+ .. code-block:: c++
+
+ class LocalParameterization {
+ public:
+ virtual ~LocalParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const = 0;
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+ virtual bool MultiplyByJacobian(const double* x,
+ const int num_rows,
+ const double* global_matrix,
+ double* local_matrix) const;
+ virtual int GlobalSize() const = 0;
+ virtual int LocalSize() const = 0;
+ };
+
+ Sometimes the parameters :math:`x` can overparameterize a
+ problem. In that case it is desirable to choose a parameterization
+ to remove the null directions of the cost. More generally, if
+ :math:`x` lies on a manifold of a smaller dimension than the
+ ambient space that it is embedded in, then it is numerically and
+ computationally more effective to optimize it using a
+ parameterization that lives in the tangent space of that manifold
+ at each point.
+
+ For example, a sphere in three dimensions is a two dimensional
+ manifold, embedded in a three dimensional space. At each point on
+ the sphere, the plane tangent to it defines a two dimensional
+ tangent space. For a cost function defined on this sphere, given a
+ point :math:`x`, moving in the direction normal to the sphere at
+ that point is not useful. Thus a better way to parameterize a point
+ on a sphere is to optimize over two dimensional vector
+ :math:`\Delta x` in the tangent space at the point on the sphere
+ point and then "move" to the point :math:`x + \Delta x`, where the
+ move operation involves projecting back onto the sphere. Doing so
+ removes a redundant dimension from the optimization, making it
+ numerically more robust and efficient.
+
+ More generally we can define a function
+
+ .. math:: x' = \boxplus(x, \Delta x),
+
+ where :math:`x'` has the same size as :math:`x`, and :math:`\Delta
+ x` is of size less than or equal to :math:`x`. The function
+ :math:`\boxplus`, generalizes the definition of vector
+ addition. Thus it satisfies the identity
+
+ .. math:: \boxplus(x, 0) = x,\quad \forall x.
+
+ Instances of :class:`LocalParameterization` implement the
+ :math:`\boxplus` operation and its derivative with respect to
+ :math:`\Delta x` at :math:`\Delta x = 0`.
+
+
+.. function:: int LocalParameterization::GlobalSize()
+
+ The dimension of the ambient space in which the parameter block
+ :math:`x` lives.
+
+.. function:: int LocalParameterization::LocalSize()
+
+ The size of the tangent space
+ that :math:`\Delta x` lives in.
+
+.. function:: bool LocalParameterization::Plus(const double* x, const double* delta, double* x_plus_delta) const
+
+ :func:`LocalParameterization::Plus` implements :math:`\boxplus(x,\Delta x)`.
+
+.. function:: bool LocalParameterization::ComputeJacobian(const double* x, double* jacobian) const
+
+ Computes the Jacobian matrix
+
+ .. math:: J = \left . \frac{\partial }{\partial \Delta x} \boxplus(x,\Delta x)\right|_{\Delta x = 0}
+
+ in row major form.
+
+.. function:: bool MultiplyByJacobian(const double* x, const int num_rows, const double* global_matrix, double* local_matrix) const
+
+ local_matrix = global_matrix * jacobian
+
+ global_matrix is a num_rows x GlobalSize row major matrix.
+ local_matrix is a num_rows x LocalSize row major matrix.
+ jacobian is the matrix returned by :func:`LocalParameterization::ComputeJacobian` at :math:`x`.
+
+ This is only used by GradientProblem. For most normal uses, it is
+ okay to use the default implementation.
+
+Instances
+---------
+
+.. class:: IdentityParameterization
+
+ A trivial version of :math:`\boxplus` is when :math:`\Delta x` is
+ of the same size as :math:`x` and
+
+ .. math:: \boxplus(x, \Delta x) = x + \Delta x
+
+.. class:: SubsetParameterization
+
+ A more interesting case if :math:`x` is a two dimensional vector,
+ and the user wishes to hold the first coordinate constant. Then,
+ :math:`\Delta x` is a scalar and :math:`\boxplus` is defined as
+
+ .. math::
+
+ \boxplus(x, \Delta x) = x + \left[ \begin{array}{c} 0 \\ 1
+ \end{array} \right] \Delta x
+
+ :class:`SubsetParameterization` generalizes this construction to
+ hold any part of a parameter block constant.
+
+.. class:: QuaternionParameterization
+
+ Another example that occurs commonly in Structure from Motion
+ problems is when camera rotations are parameterized using a
+ quaternion. There, it is useful only to make updates orthogonal to
+ that 4-vector defining the quaternion. One way to do this is to let
+ :math:`\Delta x` be a 3 dimensional vector and define
+ :math:`\boxplus` to be
+
+ .. math:: \boxplus(x, \Delta x) = \left[ \cos(|\Delta x|), \frac{\sin\left(|\Delta x|\right)}{|\Delta x|} \Delta x \right] * x
+ :label: quaternion
+
+ The multiplication between the two 4-vectors on the right hand side
+ is the standard quaternion
+ product. :class:`QuaternionParameterization` is an implementation
+ of :eq:`quaternion`.
+
+.. class:: EigenQuaternionParameterization
+
+ Eigen uses a different internal memory layout for the elements of the
+ quaternion than what is commonly used. Specifically, Eigen stores the
+ elements in memory as [x, y, z, w] where the real part is last
+ whereas it is typically stored first. Note, when creating an Eigen
+ quaternion through the constructor the elements are accepted in w, x,
+ y, z order. Since Ceres operates on parameter blocks which are raw
+ double pointers this difference is important and requires a different
+ parameterization. :class:`EigenQuaternionParameterization` uses the
+ same update as :class:`QuaternionParameterization` but takes into
+ account Eigen's internal memory element ordering.
+
+.. class:: HomogeneousVectorParameterization
+
+ In computer vision, homogeneous vectors are commonly used to
+ represent entities in projective geometry such as points in
+ projective space. One example where it is useful to use this
+ over-parameterization is in representing points whose triangulation
+ is ill-conditioned. Here it is advantageous to use homogeneous
+ vectors, instead of an Euclidean vector, because it can represent
+ points at infinity.
+
+ When using homogeneous vectors it is useful to only make updates
+ orthogonal to that :math:`n`-vector defining the homogeneous
+ vector [HartleyZisserman]_. One way to do this is to let :math:`\Delta x`
+ be a :math:`n-1` dimensional vector and define :math:`\boxplus` to be
+
+ .. math:: \boxplus(x, \Delta x) = \left[ \frac{\sin\left(0.5 |\Delta x|\right)}{|\Delta x|} \Delta x, \cos(0.5 |\Delta x|) \right] * x
+
+ The multiplication between the two vectors on the right hand side
+ is defined as an operator which applies the update orthogonal to
+ :math:`x` to remain on the sphere. Note, it is assumed that
+ last element of :math:`x` is the scalar component of the homogeneous
+ vector.
+
+
+.. class:: ProductParameterization
+
+ Consider an optimization problem over the space of rigid
+ transformations :math:`SE(3)`, which is the Cartesian product of
+ :math:`SO(3)` and :math:`\mathbb{R}^3`. Suppose you are using
+ Quaternions to represent the rotation, Ceres ships with a local
+ parameterization for that and :math:`\mathbb{R}^3` requires no, or
+ :class:`IdentityParameterization` parameterization. So how do we
+ construct a local parameterization for a parameter block a rigid
+ transformation?
+
+ In cases, where a parameter block is the Cartesian product of a
+ number of manifolds and you have the local parameterization of the
+ individual manifolds available, :class:`ProductParameterization`
+ can be used to construct a local parameterization of the cartesian
+ product. For the case of the rigid transformation, where say you
+ have a parameter block of size 7, where the first four entries
+ represent the rotation as a quaternion, a local parameterization
+ can be constructed as
+
+ .. code-block:: c++
+
+ ProductParameterization se3_param(new QuaternionParameterization(),
+ new IdentityTransformation(3));
+
+
+:class:`AutoDiffLocalParameterization`
+======================================
+
+.. class:: AutoDiffLocalParameterization
+
+ :class:`AutoDiffLocalParameterization` does for
+ :class:`LocalParameterization` what :class:`AutoDiffCostFunction`
+ does for :class:`CostFunction`. It allows the user to define a
+ templated functor that implements the
+ :func:`LocalParameterization::Plus` operation and it uses automatic
+ differentiation to implement the computation of the Jacobian.
+
+ To get an auto differentiated local parameterization, you must
+ define a class with a templated operator() (a functor) that computes
+
+ .. math:: x' = \boxplus(x, \Delta x),
+
+ For example, Quaternions have a three dimensional local
+ parameterization. Its plus operation can be implemented as (taken
+ from `internal/ceres/autodiff_local_parameterization_test.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/internal/ceres/autodiff_local_parameterization_test.cc>`_
+ )
+
+ .. code-block:: c++
+
+ struct QuaternionPlus {
+ template<typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ const T squared_norm_delta =
+ delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+ T q_delta[4];
+ if (squared_norm_delta > 0.0) {
+ T norm_delta = sqrt(squared_norm_delta);
+ const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ } else {
+ // We do not just use q_delta = [1,0,0,0] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ q_delta[0] = T(1.0);
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+ }
+
+ Quaternionproduct(q_delta, x, x_plus_delta);
+ return true;
+ }
+ };
+
+ Given this struct, the auto differentiated local
+ parameterization can now be constructed as
+
+ .. code-block:: c++
+
+ LocalParameterization* local_parameterization =
+ new AutoDiffLocalParameterization<QuaternionPlus, 4, 3>;
+ | |
+ Global Size ---------------+ |
+ Local Size -------------------+
+
+
+:class:`Problem`
+================
+
+.. class:: Problem
+
+ :class:`Problem` holds the robustified bounds constrained
+ non-linear least squares problem :eq:`ceresproblem`. To create a
+ least squares problem, use the :func:`Problem::AddResidualBlock`
+ and :func:`Problem::AddParameterBlock` methods.
+
+ For example a problem containing 3 parameter blocks of sizes 3, 4
+ and 5 respectively and two residual blocks of size 2 and 6:
+
+ .. code-block:: c++
+
+ double x1[] = { 1.0, 2.0, 3.0 };
+ double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+ double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+
+ Problem problem;
+ problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+ problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+
+ :func:`Problem::AddResidualBlock` as the name implies, adds a
+ residual block to the problem. It adds a :class:`CostFunction`, an
+ optional :class:`LossFunction` and connects the
+ :class:`CostFunction` to a set of parameter block.
+
+ The cost function carries with it information about the sizes of
+ the parameter blocks it expects. The function checks that these
+ match the sizes of the parameter blocks listed in
+ ``parameter_blocks``. The program aborts if a mismatch is
+ detected. ``loss_function`` can be ``NULL``, in which case the cost
+ of the term is just the squared norm of the residuals.
+
+ The user has the option of explicitly adding the parameter blocks
+ using :func:`Problem::AddParameterBlock`. This causes additional
+ correctness checking; however, :func:`Problem::AddResidualBlock`
+ implicitly adds the parameter blocks if they are not present, so
+ calling :func:`Problem::AddParameterBlock` explicitly is not
+ required.
+
+ :func:`Problem::AddParameterBlock` explicitly adds a parameter
+ block to the :class:`Problem`. Optionally it allows the user to
+ associate a :class:`LocalParameterization` object with the
+ parameter block too. Repeated calls with the same arguments are
+ ignored. Repeated calls with the same double pointer but a
+ different size results in undefined behavior.
+
+ You can set any parameter block to be constant using
+ :func:`Problem::SetParameterBlockConstant` and undo this using
+ :func:`SetParameterBlockVariable`.
+
+ In fact you can set any number of parameter blocks to be constant,
+ and Ceres is smart enough to figure out what part of the problem
+ you have constructed depends on the parameter blocks that are free
+ to change and only spends time solving it. So for example if you
+ constructed a problem with a million parameter blocks and 2 million
+ residual blocks, but then set all but one parameter blocks to be
+ constant and say only 10 residual blocks depend on this one
+ non-constant parameter block. Then the computational effort Ceres
+ spends in solving this problem will be the same if you had defined
+ a problem with one parameter block and 10 residual blocks.
+
+ **Ownership**
+
+ :class:`Problem` by default takes ownership of the
+ ``cost_function``, ``loss_function`` and ``local_parameterization``
+ pointers. These objects remain live for the life of the
+ :class:`Problem`. If the user wishes to keep control over the
+ destruction of these objects, then they can do this by setting the
+ corresponding enums in the :class:`Problem::Options` struct.
+
+ Note that even though the Problem takes ownership of ``cost_function``
+ and ``loss_function``, it does not preclude the user from re-using
+ them in another residual block. The destructor takes care to call
+ delete on each ``cost_function`` or ``loss_function`` pointer only
+ once, regardless of how many residual blocks refer to them.
+
+.. function:: ResidualBlockId Problem::AddResidualBlock(CostFunction* cost_function, LossFunction* loss_function, const vector<double*> parameter_blocks)
+
+ Add a residual block to the overall cost function. The cost
+ function carries with it information about the sizes of the
+ parameter blocks it expects. The function checks that these match
+ the sizes of the parameter blocks listed in parameter_blocks. The
+ program aborts if a mismatch is detected. loss_function can be
+ NULL, in which case the cost of the term is just the squared norm
+ of the residuals.
+
+ The user has the option of explicitly adding the parameter blocks
+ using AddParameterBlock. This causes additional correctness
+ checking; however, AddResidualBlock implicitly adds the parameter
+ blocks if they are not present, so calling AddParameterBlock
+ explicitly is not required.
+
+ The Problem object by default takes ownership of the
+ cost_function and loss_function pointers. These objects remain
+ live for the life of the Problem object. If the user wishes to
+ keep control over the destruction of these objects, then they can
+ do this by setting the corresponding enums in the Options struct.
+
+ Note: Even though the Problem takes ownership of cost_function
+ and loss_function, it does not preclude the user from re-using
+ them in another residual block. The destructor takes care to call
+ delete on each cost_function or loss_function pointer only once,
+ regardless of how many residual blocks refer to them.
+
+ Example usage:
+
+ .. code-block:: c++
+
+ double x1[] = {1.0, 2.0, 3.0};
+ double x2[] = {1.0, 2.0, 5.0, 6.0};
+ double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0};
+
+ Problem problem;
+
+ problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
+ problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
+
+
+.. function:: void Problem::AddParameterBlock(double* values, int size, LocalParameterization* local_parameterization)
+
+ Add a parameter block with appropriate size to the problem.
+ Repeated calls with the same arguments are ignored. Repeated calls
+ with the same double pointer but a different size results in
+ undefined behavior.
+
+.. function:: void Problem::AddParameterBlock(double* values, int size)
+
+ Add a parameter block with appropriate size and parameterization to
+ the problem. Repeated calls with the same arguments are
+ ignored. Repeated calls with the same double pointer but a
+ different size results in undefined behavior.
+
+.. function:: void Problem::RemoveResidualBlock(ResidualBlockId residual_block)
+
+ Remove a residual block from the problem. Any parameters that the residual
+ block depends on are not removed. The cost and loss functions for the
+ residual block will not get deleted immediately; won't happen until the
+ problem itself is deleted. If Problem::Options::enable_fast_removal is
+ true, then the removal is fast (almost constant time). Otherwise, removing a
+ residual block will incur a scan of the entire Problem object to verify that
+ the residual_block represents a valid residual in the problem.
+
+ **WARNING:** Removing a residual or parameter block will destroy
+ the implicit ordering, rendering the jacobian or residuals returned
+ from the solver uninterpretable. If you depend on the evaluated
+ jacobian, do not use remove! This may change in a future release.
+ Hold the indicated parameter block constant during optimization.
+
+.. function:: void Problem::RemoveParameterBlock(double* values)
+
+ Remove a parameter block from the problem. The parameterization of
+ the parameter block, if it exists, will persist until the deletion
+ of the problem (similar to cost/loss functions in residual block
+ removal). Any residual blocks that depend on the parameter are also
+ removed, as described above in RemoveResidualBlock(). If
+ Problem::Options::enable_fast_removal is true, then
+ the removal is fast (almost constant time). Otherwise, removing a
+ parameter block will incur a scan of the entire Problem object.
+
+ **WARNING:** Removing a residual or parameter block will destroy
+ the implicit ordering, rendering the jacobian or residuals returned
+ from the solver uninterpretable. If you depend on the evaluated
+ jacobian, do not use remove! This may change in a future release.
+
+.. function:: void Problem::SetParameterBlockConstant(double* values)
+
+ Hold the indicated parameter block constant during optimization.
+
+.. function:: void Problem::SetParameterBlockVariable(double* values)
+
+ Allow the indicated parameter to vary during optimization.
+
+.. function:: void Problem::SetParameterization(double* values, LocalParameterization* local_parameterization)
+
+ Set the local parameterization for one of the parameter blocks.
+ The local_parameterization is owned by the Problem by default. It
+ is acceptable to set the same parameterization for multiple
+ parameters; the destructor is careful to delete local
+ parameterizations only once. The local parameterization can only be
+ set once per parameter, and cannot be changed once set.
+
+.. function:: LocalParameterization* Problem::GetParameterization(double* values) const
+
+ Get the local parameterization object associated with this
+ parameter block. If there is no parameterization object associated
+ then `NULL` is returned
+
+.. function:: void Problem::SetParameterLowerBound(double* values, int index, double lower_bound)
+
+ Set the lower bound for the parameter at position `index` in the
+ parameter block corresponding to `values`. By default the lower
+ bound is :math:`-\infty`.
+
+.. function:: void Problem::SetParameterUpperBound(double* values, int index, double upper_bound)
+
+ Set the upper bound for the parameter at position `index` in the
+ parameter block corresponding to `values`. By default the value is
+ :math:`\infty`.
+
+.. function:: int Problem::NumParameterBlocks() const
+
+ Number of parameter blocks in the problem. Always equals
+ parameter_blocks().size() and parameter_block_sizes().size().
+
+.. function:: int Problem::NumParameters() const
+
+ The size of the parameter vector obtained by summing over the sizes
+ of all the parameter blocks.
+
+.. function:: int Problem::NumResidualBlocks() const
+
+ Number of residual blocks in the problem. Always equals
+ residual_blocks().size().
+
+.. function:: int Problem::NumResiduals() const
+
+ The size of the residual vector obtained by summing over the sizes
+ of all of the residual blocks.
+
+.. function:: int Problem::ParameterBlockSize(const double* values) const
+
+ The size of the parameter block.
+
+.. function:: int Problem::ParameterBlockLocalSize(const double* values) const
+
+ The size of local parameterization for the parameter block. If
+ there is no local parameterization associated with this parameter
+ block, then ``ParameterBlockLocalSize`` = ``ParameterBlockSize``.
+
+.. function:: bool Problem::HasParameterBlock(const double* values) const
+
+ Is the given parameter block present in the problem or not?
+
+.. function:: void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const
+
+ Fills the passed ``parameter_blocks`` vector with pointers to the
+ parameter blocks currently in the problem. After this call,
+ ``parameter_block.size() == NumParameterBlocks``.
+
+.. function:: void Problem::GetResidualBlocks(vector<ResidualBlockId>* residual_blocks) const
+
+ Fills the passed `residual_blocks` vector with pointers to the
+ residual blocks currently in the problem. After this call,
+ `residual_blocks.size() == NumResidualBlocks`.
+
+.. function:: void Problem::GetParameterBlocksForResidualBlock(const ResidualBlockId residual_block, vector<double*>* parameter_blocks) const
+
+ Get all the parameter blocks that depend on the given residual
+ block.
+
+.. function:: void Problem::GetResidualBlocksForParameterBlock(const double* values, vector<ResidualBlockId>* residual_blocks) const
+
+ Get all the residual blocks that depend on the given parameter
+ block.
+
+ If `Problem::Options::enable_fast_removal` is
+ `true`, then getting the residual blocks is fast and depends only
+ on the number of residual blocks. Otherwise, getting the residual
+ blocks for a parameter block will incur a scan of the entire
+ :class:`Problem` object.
+
+.. function:: const CostFunction* GetCostFunctionForResidualBlock(const ResidualBlockId residual_block) const
+
+ Get the :class:`CostFunction` for the given residual block.
+
+.. function:: const LossFunction* GetLossFunctionForResidualBlock(const ResidualBlockId residual_block) const
+
+ Get the :class:`LossFunction` for the given residual block.
+
+.. function:: bool Problem::Evaluate(const Problem::EvaluateOptions& options, double* cost, vector<double>* residuals, vector<double>* gradient, CRSMatrix* jacobian)
+
+ Evaluate a :class:`Problem`. Any of the output pointers can be
+ `NULL`. Which residual blocks and parameter blocks are used is
+ controlled by the :class:`Problem::EvaluateOptions` struct below.
+
+ .. NOTE::
+
+ The evaluation will use the values stored in the memory
+ locations pointed to by the parameter block pointers used at the
+ time of the construction of the problem, for example in the
+ following code:
+
+ .. code-block:: c++
+
+ Problem problem;
+ double x = 1;
+ problem.Add(new MyCostFunction, NULL, &x);
+
+ double cost = 0.0;
+ problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+
+ The cost is evaluated at `x = 1`. If you wish to evaluate the
+ problem at `x = 2`, then
+
+ .. code-block:: c++
+
+ x = 2;
+ problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+
+ is the way to do so.
+
+ .. NOTE::
+
+ If no local parameterizations are used, then the size of
+ the gradient vector is the sum of the sizes of all the parameter
+ blocks. If a parameter block has a local parameterization, then
+ it contributes "LocalSize" entries to the gradient vector.
+
+ .. NOTE::
+
+ This function cannot be called while the problem is being
+ solved, for example it cannot be called from an
+ :class:`IterationCallback` at the end of an iteration during a
+ solve.
+
+.. class:: Problem::EvaluateOptions
+
+ Options struct that is used to control :func:`Problem::Evaluate`.
+
+.. member:: vector<double*> Problem::EvaluateOptions::parameter_blocks
+
+ The set of parameter blocks for which evaluation should be
+ performed. This vector determines the order in which parameter
+ blocks occur in the gradient vector and in the columns of the
+ jacobian matrix. If parameter_blocks is empty, then it is assumed
+ to be equal to a vector containing ALL the parameter
+ blocks. Generally speaking the ordering of the parameter blocks in
+ this case depends on the order in which they were added to the
+ problem and whether or not the user removed any parameter blocks.
+
+ **NOTE** This vector should contain the same pointers as the ones
+ used to add parameter blocks to the Problem. These parameter block
+ should NOT point to new memory locations. Bad things will happen if
+ you do.
+
+.. member:: vector<ResidualBlockId> Problem::EvaluateOptions::residual_blocks
+
+ The set of residual blocks for which evaluation should be
+ performed. This vector determines the order in which the residuals
+ occur, and how the rows of the jacobian are ordered. If
+ residual_blocks is empty, then it is assumed to be equal to the
+ vector containing all the parameter blocks.
+
+.. member:: bool Problem::EvaluateOptions::apply_loss_function
+
+ Even though the residual blocks in the problem may contain loss
+ functions, setting apply_loss_function to false will turn off the
+ application of the loss function to the output of the cost
+ function. This is of use for example if the user wishes to analyse
+ the solution quality by studying the distribution of residuals
+ before and after the solve.
+
+.. member:: int Problem::EvaluateOptions::num_threads
+
+ Number of threads to use. (Requires OpenMP).
+
+``rotation.h``
+==============
+
+Many applications of Ceres Solver involve optimization problems where
+some of the variables correspond to rotations. To ease the pain of
+work with the various representations of rotations (angle-axis,
+quaternion and matrix) we provide a handy set of templated
+functions. These functions are templated so that the user can use them
+within Ceres Solver's automatic differentiation framework.
+
+.. function:: template <typename T> void AngleAxisToQuaternion(T const* angle_axis, T* quaternion)
+
+ Convert a value in combined axis-angle representation to a
+ quaternion.
+
+ The value ``angle_axis`` is a triple whose norm is an angle in radians,
+ and whose direction is aligned with the axis of rotation, and
+ ``quaternion`` is a 4-tuple that will contain the resulting quaternion.
+
+.. function:: template <typename T> void QuaternionToAngleAxis(T const* quaternion, T* angle_axis)
+
+ Convert a quaternion to the equivalent combined axis-angle
+ representation.
+
+ The value ``quaternion`` must be a unit quaternion - it is not
+ normalized first, and ``angle_axis`` will be filled with a value
+ whose norm is the angle of rotation in radians, and whose direction
+ is the axis of rotation.
+
+.. function:: template <typename T, int row_stride, int col_stride> void RotationMatrixToAngleAxis(const MatrixAdapter<const T, row_stride, col_stride>& R, T * angle_axis)
+.. function:: template <typename T, int row_stride, int col_stride> void AngleAxisToRotationMatrix(T const * angle_axis, const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void RotationMatrixToAngleAxis(T const * R, T * angle_axis)
+.. function:: template <typename T> void AngleAxisToRotationMatrix(T const * angle_axis, T * R)
+
+ Conversions between 3x3 rotation matrix with given column and row strides and
+ axis-angle rotation representations. The functions that take a pointer to T instead
+ of a MatrixAdapter assume a column major representation with unit row stride and a column stride of 3.
+
+.. function:: template <typename T, int row_stride, int col_stride> void EulerAnglesToRotationMatrix(const T* euler, const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R)
+
+ Conversions between 3x3 rotation matrix with given column and row strides and
+ Euler angle (in degrees) rotation representations.
+
+ The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z}
+ axes, respectively. They are applied in that same order, so the
+ total rotation R is Rz * Ry * Rx.
+
+ The function that takes a pointer to T as the rotation matrix assumes a row
+ major representation with unit column stride and a row stride of 3.
+ The additional parameter row_stride is required to be 3.
+
+.. function:: template <typename T, int row_stride, int col_stride> void QuaternionToScaledRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void QuaternionToScaledRotation(const T q[4], T R[3 * 3])
+
+ Convert a 4-vector to a 3x3 scaled rotation matrix.
+
+ The choice of rotation is such that the quaternion
+ :math:`\begin{bmatrix} 1 &0 &0 &0\end{bmatrix}` goes to an identity
+ matrix and for small :math:`a, b, c` the quaternion
+ :math:`\begin{bmatrix}1 &a &b &c\end{bmatrix}` goes to the matrix
+
+ .. math::
+
+ I + 2 \begin{bmatrix} 0 & -c & b \\ c & 0 & -a\\ -b & a & 0
+ \end{bmatrix} + O(q^2)
+
+ which corresponds to a Rodrigues approximation, the last matrix
+ being the cross-product matrix of :math:`\begin{bmatrix} a& b&
+ c\end{bmatrix}`. Together with the property that :math:`R(q1 * q2)
+ = R(q1) * R(q2)` this uniquely defines the mapping from :math:`q` to
+ :math:`R`.
+
+ In the function that accepts a pointer to T instead of a MatrixAdapter,
+ the rotation matrix ``R`` is a row-major matrix with unit column stride
+ and a row stride of 3.
+
+ No normalization of the quaternion is performed, i.e.
+ :math:`R = \|q\|^2 Q`, where :math:`Q` is an orthonormal matrix
+ such that :math:`\det(Q) = 1` and :math:`Q*Q' = I`.
+
+
+.. function:: template <typename T> void QuaternionToRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void QuaternionToRotation(const T q[4], T R[3 * 3])
+
+ Same as above except that the rotation matrix is normalized by the
+ Frobenius norm, so that :math:`R R' = I` (and :math:`\det(R) = 1`).
+
+.. function:: template <typename T> void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
+
+ Rotates a point pt by a quaternion q:
+
+ .. math:: \text{result} = R(q) \text{pt}
+
+ Assumes the quaternion is unit norm. If you pass in a quaternion
+ with :math:`|q|^2 = 2` then you WILL NOT get back 2 times the
+ result you get for a unit quaternion.
+
+
+.. function:: template <typename T> void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
+
+ With this function you do not need to assume that :math:`q` has unit norm.
+ It does assume that the norm is non-zero.
+
+.. function:: template <typename T> void QuaternionProduct(const T z[4], const T w[4], T zw[4])
+
+ .. math:: zw = z * w
+
+ where :math:`*` is the Quaternion product between 4-vectors.
+
+
+.. function:: template <typename T> void CrossProduct(const T x[3], const T y[3], T x_cross_y[3])
+
+ .. math:: \text{x_cross_y} = x \times y
+
+.. function:: template <typename T> void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3])
+
+ .. math:: y = R(\text{angle_axis}) x
+
+
+Cubic Interpolation
+===================
+
+Optimization problems often involve functions that are given in the
+form of a table of values, for example an image. Evaluating these
+functions and their derivatives requires interpolating these
+values. Interpolating tabulated functions is a vast area of research
+and there are a lot of libraries which implement a variety of
+interpolation schemes. However, using them within the automatic
+differentiation framework in Ceres is quite painful. To this end,
+Ceres provides the ability to interpolate one dimensional and two
+dimensional tabular functions.
+
+The one dimensional interpolation is based on the Cubic Hermite
+Spline, also known as the Catmull-Rom Spline. This produces a first
+order differentiable interpolating function. The two dimensional
+interpolation scheme is a generalization of the one dimensional scheme
+where the interpolating function is assumed to be separable in the two
+dimensions,
+
+More details of the construction can be found `Linear Methods for
+Image Interpolation <http://www.ipol.im/pub/art/2011/g_lmii/>`_ by
+Pascal Getreuer.
+
+.. class:: CubicInterpolator
+
+Given as input an infinite one dimensional grid, which provides the
+following interface.
+
+.. code::
+
+ struct Grid1D {
+ enum { DATA_DIMENSION = 2; };
+ void GetValue(int n, double* f) const;
+ };
+
+Where, ``GetValue`` gives us the value of a function :math:`f`
+(possibly vector valued) for any integer :math:`n` and the enum
+``DATA_DIMENSION`` indicates the dimensionality of the function being
+interpolated. For example if you are interpolating rotations in
+axis-angle format over time, then ``DATA_DIMENSION = 3``.
+
+:class:`CubicInterpolator` uses Cubic Hermite splines to produce a
+smooth approximation to it that can be used to evaluate the
+:math:`f(x)` and :math:`f'(x)` at any point on the real number
+line. For example, the following code interpolates an array of four
+numbers.
+
+.. code::
+
+ const double data[] = {1.0, 2.0, 5.0, 6.0};
+ Grid1D<double, 1> array(x, 0, 4);
+ CubicInterpolator interpolator(array);
+ double f, dfdx;
+ interpolator.Evaluate(1.5, &f, &dfdx);
+
+
+In the above code we use ``Grid1D`` a templated helper class that
+allows easy interfacing between ``C++`` arrays and
+:class:`CubicInterpolator`.
+
+``Grid1D`` supports vector valued functions where the various
+coordinates of the function can be interleaved or stacked. It also
+allows the use of any numeric type as input, as long as it can be
+safely cast to a double.
+
+.. class:: BiCubicInterpolator
+
+Given as input an infinite two dimensional grid, which provides the
+following interface:
+
+.. code::
+
+ struct Grid2D {
+ enum { DATA_DIMENSION = 2 };
+ void GetValue(int row, int col, double* f) const;
+ };
+
+Where, ``GetValue`` gives us the value of a function :math:`f`
+(possibly vector valued) for any pair of integers :code:`row` and
+:code:`col` and the enum ``DATA_DIMENSION`` indicates the
+dimensionality of the function being interpolated. For example if you
+are interpolating a color image with three channels (Red, Green &
+Blue), then ``DATA_DIMENSION = 3``.
+
+:class:`BiCubicInterpolator` uses the cubic convolution interpolation
+algorithm of R. Keys [Keys]_, to produce a smooth approximation to it
+that can be used to evaluate the :math:`f(r,c)`, :math:`\frac{\partial
+f(r,c)}{\partial r}` and :math:`\frac{\partial f(r,c)}{\partial c}` at
+any any point in the real plane.
+
+For example the following code interpolates a two dimensional array.
+
+.. code::
+
+ const double data[] = {1.0, 3.0, -1.0, 4.0,
+ 3.6, 2.1, 4.2, 2.0,
+ 2.0, 1.0, 3.1, 5.2};
+ Grid2D<double, 1> array(data, 0, 3, 0, 4);
+ BiCubicInterpolator interpolator(array);
+ double f, dfdr, dfdc;
+ interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
+
+In the above code, the templated helper class ``Grid2D`` is used to
+make a ``C++`` array look like a two dimensional table to
+:class:`BiCubicInterpolator`.
+
+``Grid2D`` supports row or column major layouts. It also supports
+vector valued functions where the individual coordinates of the
+function may be interleaved or stacked. It also allows the use of any
+numeric type as input, as long as it can be safely cast to double.
--- /dev/null
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-nnls_solving:
+
+================================
+Solving Non-linear Least Squares
+================================
+
+Introduction
+============
+
+Effective use of Ceres requires some familiarity with the basic
+components of a non-linear least squares solver, so before we describe
+how to configure and use the solver, we will take a brief look at how
+some of the core optimization algorithms in Ceres work.
+
+Let :math:`x \in \mathbb{R}^n` be an :math:`n`-dimensional vector of
+variables, and
+:math:`F(x) = \left[f_1(x), ... , f_{m}(x) \right]^{\top}` be a
+:math:`m`-dimensional function of :math:`x`. We are interested in
+solving the optimization problem [#f1]_
+
+.. math:: \arg \min_x \frac{1}{2}\|F(x)\|^2\ . \\
+ L \le x \le U
+ :label: nonlinsq
+
+Where, :math:`L` and :math:`U` are lower and upper bounds on the
+parameter vector :math:`x`.
+
+Since the efficient global minimization of :eq:`nonlinsq` for
+general :math:`F(x)` is an intractable problem, we will have to settle
+for finding a local minimum.
+
+In the following, the Jacobian :math:`J(x)` of :math:`F(x)` is an
+:math:`m\times n` matrix, where :math:`J_{ij}(x) = \partial_j f_i(x)`
+and the gradient vector is :math:`g(x) = \nabla \frac{1}{2}\|F(x)\|^2
+= J(x)^\top F(x)`.
+
+The general strategy when solving non-linear optimization problems is
+to solve a sequence of approximations to the original problem
+[NocedalWright]_. At each iteration, the approximation is solved to
+determine a correction :math:`\Delta x` to the vector :math:`x`. For
+non-linear least squares, an approximation can be constructed by using
+the linearization :math:`F(x+\Delta x) \approx F(x) + J(x)\Delta x`,
+which leads to the following linear least squares problem:
+
+.. math:: \min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2
+ :label: linearapprox
+
+Unfortunately, naively solving a sequence of these problems and
+updating :math:`x \leftarrow x+ \Delta x` leads to an algorithm that
+may not converge. To get a convergent algorithm, we need to control
+the size of the step :math:`\Delta x`. Depending on how the size of
+the step :math:`\Delta x` is controlled, non-linear optimization
+algorithms can be divided into two major categories [NocedalWright]_.
+
+1. **Trust Region** The trust region approach approximates the
+ objective function using using a model function (often a quadratic)
+ over a subset of the search space known as the trust region. If the
+ model function succeeds in minimizing the true objective function
+ the trust region is expanded; conversely, otherwise it is
+ contracted and the model optimization problem is solved again.
+
+2. **Line Search** The line search approach first finds a descent
+ direction along which the objective function will be reduced and
+ then computes a step size that decides how far should move along
+ that direction. The descent direction can be computed by various
+ methods, such as gradient descent, Newton's method and Quasi-Newton
+ method. The step size can be determined either exactly or
+ inexactly.
+
+Trust region methods are in some sense dual to line search methods:
+trust region methods first choose a step size (the size of the trust
+region) and then a step direction while line search methods first
+choose a step direction and then a step size. Ceres implements
+multiple algorithms in both categories.
+
+.. _section-trust-region-methods:
+
+Trust Region Methods
+====================
+
+The basic trust region algorithm looks something like this.
+
+ 1. Given an initial point :math:`x` and a trust region radius :math:`\mu`.
+ 2. Solve
+
+ .. math::
+ \arg \min_{\Delta x}& \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 \\
+ \text{such that} &\|D(x)\Delta x\|^2 \le \mu\\
+ &L \le x + \Delta x \le U.
+
+ 3. :math:`\rho = \frac{\displaystyle \|F(x + \Delta x)\|^2 -
+ \|F(x)\|^2}{\displaystyle \|J(x)\Delta x + F(x)\|^2 -
+ \|F(x)\|^2}`
+ 4. if :math:`\rho > \epsilon` then :math:`x = x + \Delta x`.
+ 5. if :math:`\rho > \eta_1` then :math:`\mu = 2 \mu`
+ 6. else if :math:`\rho < \eta_2` then :math:`\mu = 0.5 * \mu`
+ 7. Go to 2.
+
+Here, :math:`\mu` is the trust region radius, :math:`D(x)` is some
+matrix used to define a metric on the domain of :math:`F(x)` and
+:math:`\rho` measures the quality of the step :math:`\Delta x`, i.e.,
+how well did the linear model predict the decrease in the value of the
+non-linear objective. The idea is to increase or decrease the radius
+of the trust region depending on how well the linearization predicts
+the behavior of the non-linear objective, which in turn is reflected
+in the value of :math:`\rho`.
+
+The key computational step in a trust-region algorithm is the solution
+of the constrained optimization problem
+
+.. math::
+ \arg \min_{\Delta x}&\quad \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 \\
+ \text{such that} &\quad \|D(x)\Delta x\|^2 \le \mu\\
+ &\quad L \le x + \Delta x \le U.
+ :label: trp
+
+There are a number of different ways of solving this problem, each
+giving rise to a different concrete trust-region algorithm. Currently,
+Ceres implements two trust-region algorithms - Levenberg-Marquardt
+and Dogleg, each of which is augmented with a line search if bounds
+constraints are present [Kanzow]_. The user can choose between them by
+setting :member:`Solver::Options::trust_region_strategy_type`.
+
+.. rubric:: Footnotes
+
+.. [#f1] At the level of the non-linear solver, the block structure is
+ not relevant, therefore our discussion here is in terms of an
+ optimization problem defined over a state vector of size
+ :math:`n`. Similarly the presence of loss functions is also
+ ignored as the problem is internally converted into a pure
+ non-linear least squares problem.
+
+
+.. _section-levenberg-marquardt:
+
+Levenberg-Marquardt
+-------------------
+
+The Levenberg-Marquardt algorithm [Levenberg]_ [Marquardt]_ is the
+most popular algorithm for solving non-linear least squares problems.
+It was also the first trust region algorithm to be developed
+[Levenberg]_ [Marquardt]_. Ceres implements an exact step [Madsen]_
+and an inexact step variant of the Levenberg-Marquardt algorithm
+[WrightHolt]_ [NashSofer]_.
+
+It can be shown, that the solution to :eq:`trp` can be obtained by
+solving an unconstrained optimization of the form
+
+.. math:: \arg\min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 +\lambda \|D(x)\Delta x\|^2
+
+Where, :math:`\lambda` is a Lagrange multiplier that is inverse
+related to :math:`\mu`. In Ceres, we solve for
+
+.. math:: \arg\min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 + \frac{1}{\mu} \|D(x)\Delta x\|^2
+ :label: lsqr
+
+The matrix :math:`D(x)` is a non-negative diagonal matrix, typically
+the square root of the diagonal of the matrix :math:`J(x)^\top J(x)`.
+
+Before going further, let us make some notational simplifications. We
+will assume that the matrix :math:`\sqrt{\mu} D` has been concatenated
+at the bottom of the matrix :math:`J` and similarly a vector of zeros
+has been added to the bottom of the vector :math:`f` and the rest of
+our discussion will be in terms of :math:`J` and :math:`f`, i.e, the
+linear least squares problem.
+
+.. math:: \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+ :label: simple
+
+For all but the smallest problems the solution of :eq:`simple` in
+each iteration of the Levenberg-Marquardt algorithm is the dominant
+computational cost in Ceres. Ceres provides a number of different
+options for solving :eq:`simple`. There are two major classes of
+methods - factorization and iterative.
+
+The factorization methods are based on computing an exact solution of
+:eq:`lsqr` using a Cholesky or a QR factorization and lead to an exact
+step Levenberg-Marquardt algorithm. But it is not clear if an exact
+solution of :eq:`lsqr` is necessary at each step of the LM algorithm
+to solve :eq:`nonlinsq`. In fact, we have already seen evidence
+that this may not be the case, as :eq:`lsqr` is itself a regularized
+version of :eq:`linearapprox`. Indeed, it is possible to
+construct non-linear optimization algorithms in which the linearized
+problem is solved approximately. These algorithms are known as inexact
+Newton or truncated Newton methods [NocedalWright]_.
+
+An inexact Newton method requires two ingredients. First, a cheap
+method for approximately solving systems of linear
+equations. Typically an iterative linear solver like the Conjugate
+Gradients method is used for this
+purpose [NocedalWright]_. Second, a termination rule for
+the iterative solver. A typical termination rule is of the form
+
+.. math:: \|H(x) \Delta x + g(x)\| \leq \eta_k \|g(x)\|.
+ :label: inexact
+
+Here, :math:`k` indicates the Levenberg-Marquardt iteration number and
+:math:`0 < \eta_k <1` is known as the forcing sequence. [WrightHolt]_
+prove that a truncated Levenberg-Marquardt algorithm that uses an
+inexact Newton step based on :eq:`inexact` converges for any
+sequence :math:`\eta_k \leq \eta_0 < 1` and the rate of convergence
+depends on the choice of the forcing sequence :math:`\eta_k`.
+
+Ceres supports both exact and inexact step solution strategies. When
+the user chooses a factorization based linear solver, the exact step
+Levenberg-Marquardt algorithm is used. When the user chooses an
+iterative linear solver, the inexact step Levenberg-Marquardt
+algorithm is used.
+
+.. _section-dogleg:
+
+Dogleg
+------
+
+Another strategy for solving the trust region problem :eq:`trp` was
+introduced by M. J. D. Powell. The key idea there is to compute two
+vectors
+
+.. math::
+
+ \Delta x^{\text{Gauss-Newton}} &= \arg \min_{\Delta x}\frac{1}{2} \|J(x)\Delta x + f(x)\|^2.\\
+ \Delta x^{\text{Cauchy}} &= -\frac{\|g(x)\|^2}{\|J(x)g(x)\|^2}g(x).
+
+Note that the vector :math:`\Delta x^{\text{Gauss-Newton}}` is the
+solution to :eq:`linearapprox` and :math:`\Delta
+x^{\text{Cauchy}}` is the vector that minimizes the linear
+approximation if we restrict ourselves to moving along the direction
+of the gradient. Dogleg methods finds a vector :math:`\Delta x`
+defined by :math:`\Delta x^{\text{Gauss-Newton}}` and :math:`\Delta
+x^{\text{Cauchy}}` that solves the trust region problem. Ceres
+supports two variants that can be chose by setting
+:member:`Solver::Options::dogleg_type`.
+
+``TRADITIONAL_DOGLEG`` as described by Powell, constructs two line
+segments using the Gauss-Newton and Cauchy vectors and finds the point
+farthest along this line shaped like a dogleg (hence the name) that is
+contained in the trust-region. For more details on the exact reasoning
+and computations, please see Madsen et al [Madsen]_.
+
+``SUBSPACE_DOGLEG`` is a more sophisticated method that considers the
+entire two dimensional subspace spanned by these two vectors and finds
+the point that minimizes the trust region problem in this subspace
+[ByrdSchnabel]_.
+
+The key advantage of the Dogleg over Levenberg-Marquardt is that if
+the step computation for a particular choice of :math:`\mu` does not
+result in sufficient decrease in the value of the objective function,
+Levenberg-Marquardt solves the linear approximation from scratch with
+a smaller value of :math:`\mu`. Dogleg on the other hand, only needs
+to compute the interpolation between the Gauss-Newton and the Cauchy
+vectors, as neither of them depend on the value of :math:`\mu`.
+
+The Dogleg method can only be used with the exact factorization based
+linear solvers.
+
+.. _section-inner-iterations:
+
+Inner Iterations
+----------------
+
+Some non-linear least squares problems have additional structure in
+the way the parameter blocks interact that it is beneficial to modify
+the way the trust region step is computed. For example, consider the
+following regression problem
+
+.. math:: y = a_1 e^{b_1 x} + a_2 e^{b_3 x^2 + c_1}
+
+
+Given a set of pairs :math:`\{(x_i, y_i)\}`, the user wishes to estimate
+:math:`a_1, a_2, b_1, b_2`, and :math:`c_1`.
+
+Notice that the expression on the left is linear in :math:`a_1` and
+:math:`a_2`, and given any value for :math:`b_1, b_2` and :math:`c_1`,
+it is possible to use linear regression to estimate the optimal values
+of :math:`a_1` and :math:`a_2`. It's possible to analytically
+eliminate the variables :math:`a_1` and :math:`a_2` from the problem
+entirely. Problems like these are known as separable least squares
+problem and the most famous algorithm for solving them is the Variable
+Projection algorithm invented by Golub & Pereyra [GolubPereyra]_.
+
+Similar structure can be found in the matrix factorization with
+missing data problem. There the corresponding algorithm is known as
+Wiberg's algorithm [Wiberg]_.
+
+Ruhe & Wedin present an analysis of various algorithms for solving
+separable non-linear least squares problems and refer to *Variable
+Projection* as Algorithm I in their paper [RuheWedin]_.
+
+Implementing Variable Projection is tedious and expensive. Ruhe &
+Wedin present a simpler algorithm with comparable convergence
+properties, which they call Algorithm II. Algorithm II performs an
+additional optimization step to estimate :math:`a_1` and :math:`a_2`
+exactly after computing a successful Newton step.
+
+
+This idea can be generalized to cases where the residual is not
+linear in :math:`a_1` and :math:`a_2`, i.e.,
+
+.. math:: y = f_1(a_1, e^{b_1 x}) + f_2(a_2, e^{b_3 x^2 + c_1})
+
+In this case, we solve for the trust region step for the full problem,
+and then use it as the starting point to further optimize just `a_1`
+and `a_2`. For the linear case, this amounts to doing a single linear
+least squares solve. For non-linear problems, any method for solving
+the :math:`a_1` and :math:`a_2` optimization problems will do. The
+only constraint on :math:`a_1` and :math:`a_2` (if they are two
+different parameter block) is that they do not co-occur in a residual
+block.
+
+This idea can be further generalized, by not just optimizing
+:math:`(a_1, a_2)`, but decomposing the graph corresponding to the
+Hessian matrix's sparsity structure into a collection of
+non-overlapping independent sets and optimizing each of them.
+
+Setting :member:`Solver::Options::use_inner_iterations` to ``true``
+enables the use of this non-linear generalization of Ruhe & Wedin's
+Algorithm II. This version of Ceres has a higher iteration
+complexity, but also displays better convergence behavior per
+iteration.
+
+Setting :member:`Solver::Options::num_threads` to the maximum number
+possible is highly recommended.
+
+.. _section-non-monotonic-steps:
+
+Non-monotonic Steps
+-------------------
+
+Note that the basic trust-region algorithm described in
+:ref:`section-trust-region-methods` is a descent algorithm in that it
+only accepts a point if it strictly reduces the value of the objective
+function.
+
+Relaxing this requirement allows the algorithm to be more efficient in
+the long term at the cost of some local increase in the value of the
+objective function.
+
+This is because allowing for non-decreasing objective function values
+in a principled manner allows the algorithm to *jump over boulders* as
+the method is not restricted to move into narrow valleys while
+preserving its convergence properties.
+
+Setting :member:`Solver::Options::use_nonmonotonic_steps` to ``true``
+enables the non-monotonic trust region algorithm as described by Conn,
+Gould & Toint in [Conn]_.
+
+Even though the value of the objective function may be larger
+than the minimum value encountered over the course of the
+optimization, the final parameters returned to the user are the
+ones corresponding to the minimum cost over all iterations.
+
+The option to take non-monotonic steps is available for all trust
+region strategies.
+
+
+.. _section-line-search-methods:
+
+Line Search Methods
+===================
+
+The line search method in Ceres Solver cannot handle bounds
+constraints right now, so it can only be used for solving
+unconstrained problems.
+
+Line search algorithms
+
+ 1. Given an initial point :math:`x`
+ 2. :math:`\Delta x = -H^{-1}(x) g(x)`
+ 3. :math:`\arg \min_\mu \frac{1}{2} \| F(x + \mu \Delta x) \|^2`
+ 4. :math:`x = x + \mu \Delta x`
+ 5. Goto 2.
+
+Here :math:`H(x)` is some approximation to the Hessian of the
+objective function, and :math:`g(x)` is the gradient at
+:math:`x`. Depending on the choice of :math:`H(x)` we get a variety of
+different search directions :math:`\Delta x`.
+
+Step 4, which is a one dimensional optimization or `Line Search` along
+:math:`\Delta x` is what gives this class of methods its name.
+
+Different line search algorithms differ in their choice of the search
+direction :math:`\Delta x` and the method used for one dimensional
+optimization along :math:`\Delta x`. The choice of :math:`H(x)` is the
+primary source of computational complexity in these
+methods. Currently, Ceres Solver supports three choices of search
+directions, all aimed at large scale problems.
+
+1. ``STEEPEST_DESCENT`` This corresponds to choosing :math:`H(x)` to
+ be the identity matrix. This is not a good search direction for
+ anything but the simplest of the problems. It is only included here
+ for completeness.
+
+2. ``NONLINEAR_CONJUGATE_GRADIENT`` A generalization of the Conjugate
+ Gradient method to non-linear functions. The generalization can be
+ performed in a number of different ways, resulting in a variety of
+ search directions. Ceres Solver currently supports
+ ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and ``HESTENES_STIEFEL``
+ directions.
+
+3. ``BFGS`` A generalization of the Secant method to multiple
+ dimensions in which a full, dense approximation to the inverse
+ Hessian is maintained and used to compute a quasi-Newton step
+ [NocedalWright]_. BFGS is currently the best known general
+ quasi-Newton algorithm.
+
+4. ``LBFGS`` A limited memory approximation to the full ``BFGS``
+ method in which the last `M` iterations are used to approximate the
+ inverse Hessian used to compute a quasi-Newton step [Nocedal]_,
+ [ByrdNocedal]_.
+
+Currently Ceres Solver supports both a backtracking and interpolation
+based Armijo line search algorithm, and a sectioning / zoom
+interpolation (strong) Wolfe condition line search algorithm.
+However, note that in order for the assumptions underlying the
+``BFGS`` and ``LBFGS`` methods to be guaranteed to be satisfied the
+Wolfe line search algorithm should be used.
+
+.. _section-linear-solver:
+
+LinearSolver
+============
+
+Recall that in both of the trust-region methods described above, the
+key computational cost is the solution of a linear least squares
+problem of the form
+
+.. math:: \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+ :label: simple2
+
+Let :math:`H(x)= J(x)^\top J(x)` and :math:`g(x) = -J(x)^\top
+f(x)`. For notational convenience let us also drop the dependence on
+:math:`x`. Then it is easy to see that solving :eq:`simple2` is
+equivalent to solving the *normal equations*.
+
+.. math:: H \Delta x = g
+ :label: normal
+
+Ceres provides a number of different options for solving :eq:`normal`.
+
+.. _section-qr:
+
+``DENSE_QR``
+------------
+
+For small problems (a couple of hundred parameters and a few thousand
+residuals) with relatively dense Jacobians, ``DENSE_QR`` is the method
+of choice [Bjorck]_. Let :math:`J = QR` be the QR-decomposition of
+:math:`J`, where :math:`Q` is an orthonormal matrix and :math:`R` is
+an upper triangular matrix [TrefethenBau]_. Then it can be shown that
+the solution to :eq:`normal` is given by
+
+.. math:: \Delta x^* = -R^{-1}Q^\top f
+
+
+Ceres uses ``Eigen`` 's dense QR factorization routines.
+
+.. _section-cholesky:
+
+``DENSE_NORMAL_CHOLESKY`` & ``SPARSE_NORMAL_CHOLESKY``
+------------------------------------------------------
+
+Large non-linear least square problems are usually sparse. In such
+cases, using a dense QR factorization is inefficient. Let :math:`H =
+R^\top R` be the Cholesky factorization of the normal equations, where
+:math:`R` is an upper triangular matrix, then the solution to
+:eq:`normal` is given by
+
+.. math::
+
+ \Delta x^* = R^{-1} R^{-\top} g.
+
+
+The observant reader will note that the :math:`R` in the Cholesky
+factorization of :math:`H` is the same upper triangular matrix
+:math:`R` in the QR factorization of :math:`J`. Since :math:`Q` is an
+orthonormal matrix, :math:`J=QR` implies that :math:`J^\top J = R^\top
+Q^\top Q R = R^\top R`. There are two variants of Cholesky
+factorization -- sparse and dense.
+
+``DENSE_NORMAL_CHOLESKY`` as the name implies performs a dense
+Cholesky factorization of the normal equations. Ceres uses
+``Eigen`` 's dense LDLT factorization routines.
+
+``SPARSE_NORMAL_CHOLESKY``, as the name implies performs a sparse
+Cholesky factorization of the normal equations. This leads to
+substantial savings in time and memory for large sparse
+problems. Ceres uses the sparse Cholesky factorization routines in
+Professor Tim Davis' ``SuiteSparse`` or ``CXSparse`` packages [Chen]_
+or the sparse Cholesky factorization algorithm in ``Eigen`` (which
+incidently is a port of the algorithm implemented inside ``CXSparse``)
+
+.. _section-cgnr:
+
+``CGNR``
+--------
+
+For general sparse problems, if the problem is too large for
+``CHOLMOD`` or a sparse linear algebra library is not linked into
+Ceres, another option is the ``CGNR`` solver. This solver uses the
+Conjugate Gradients solver on the *normal equations*, but without
+forming the normal equations explicitly. It exploits the relation
+
+.. math::
+ H x = J^\top J x = J^\top(J x)
+
+The convergence of Conjugate Gradients depends on the conditioner
+number :math:`\kappa(H)`. Usually :math:`H` is poorly conditioned and
+a :ref:`section-preconditioner` must be used to get reasonable
+performance. Currently only the ``JACOBI`` preconditioner is available
+for use with ``CGNR``. It uses the block diagonal of :math:`H` to
+precondition the normal equations.
+
+When the user chooses ``CGNR`` as the linear solver, Ceres
+automatically switches from the exact step algorithm to an inexact
+step algorithm.
+
+.. _section-schur:
+
+``DENSE_SCHUR`` & ``SPARSE_SCHUR``
+----------------------------------
+
+While it is possible to use ``SPARSE_NORMAL_CHOLESKY`` to solve bundle
+adjustment problems, bundle adjustment problem have a special
+structure, and a more efficient scheme for solving :eq:`normal`
+can be constructed.
+
+Suppose that the SfM problem consists of :math:`p` cameras and
+:math:`q` points and the variable vector :math:`x` has the block
+structure :math:`x = [y_{1}, ... ,y_{p},z_{1}, ... ,z_{q}]`. Where,
+:math:`y` and :math:`z` correspond to camera and point parameters,
+respectively. Further, let the camera blocks be of size :math:`c` and
+the point blocks be of size :math:`s` (for most problems :math:`c` =
+:math:`6`--`9` and :math:`s = 3`). Ceres does not impose any constancy
+requirement on these block sizes, but choosing them to be constant
+simplifies the exposition.
+
+A key characteristic of the bundle adjustment problem is that there is
+no term :math:`f_{i}` that includes two or more point blocks. This in
+turn implies that the matrix :math:`H` is of the form
+
+.. math:: H = \left[ \begin{matrix} B & E\\ E^\top & C \end{matrix} \right]\ ,
+ :label: hblock
+
+where :math:`B \in \mathbb{R}^{pc\times pc}` is a block sparse matrix
+with :math:`p` blocks of size :math:`c\times c` and :math:`C \in
+\mathbb{R}^{qs\times qs}` is a block diagonal matrix with :math:`q` blocks
+of size :math:`s\times s`. :math:`E \in \mathbb{R}^{pc\times qs}` is a
+general block sparse matrix, with a block of size :math:`c\times s`
+for each observation. Let us now block partition :math:`\Delta x =
+[\Delta y,\Delta z]` and :math:`g=[v,w]` to restate :eq:`normal`
+as the block structured linear system
+
+.. math:: \left[ \begin{matrix} B & E\\ E^\top & C \end{matrix}
+ \right]\left[ \begin{matrix} \Delta y \\ \Delta z
+ \end{matrix} \right] = \left[ \begin{matrix} v\\ w
+ \end{matrix} \right]\ ,
+ :label: linear2
+
+and apply Gaussian elimination to it. As we noted above, :math:`C` is
+a block diagonal matrix, with small diagonal blocks of size
+:math:`s\times s`. Thus, calculating the inverse of :math:`C` by
+inverting each of these blocks is cheap. This allows us to eliminate
+:math:`\Delta z` by observing that :math:`\Delta z = C^{-1}(w - E^\top
+\Delta y)`, giving us
+
+.. math:: \left[B - EC^{-1}E^\top\right] \Delta y = v - EC^{-1}w\ .
+ :label: schur
+
+The matrix
+
+.. math:: S = B - EC^{-1}E^\top
+
+is the Schur complement of :math:`C` in :math:`H`. It is also known as
+the *reduced camera matrix*, because the only variables
+participating in :eq:`schur` are the ones corresponding to the
+cameras. :math:`S \in \mathbb{R}^{pc\times pc}` is a block structured
+symmetric positive definite matrix, with blocks of size :math:`c\times
+c`. The block :math:`S_{ij}` corresponding to the pair of images
+:math:`i` and :math:`j` is non-zero if and only if the two images
+observe at least one common point.
+
+
+Now, :eq:`linear2` can be solved by first forming :math:`S`, solving for
+:math:`\Delta y`, and then back-substituting :math:`\Delta y` to
+obtain the value of :math:`\Delta z`. Thus, the solution of what was
+an :math:`n\times n`, :math:`n=pc+qs` linear system is reduced to the
+inversion of the block diagonal matrix :math:`C`, a few matrix-matrix
+and matrix-vector multiplies, and the solution of block sparse
+:math:`pc\times pc` linear system :eq:`schur`. For almost all
+problems, the number of cameras is much smaller than the number of
+points, :math:`p \ll q`, thus solving :eq:`schur` is
+significantly cheaper than solving :eq:`linear2`. This is the
+*Schur complement trick* [Brown]_.
+
+This still leaves open the question of solving :eq:`schur`. The
+method of choice for solving symmetric positive definite systems
+exactly is via the Cholesky factorization [TrefethenBau]_ and
+depending upon the structure of the matrix, there are, in general, two
+options. The first is direct factorization, where we store and factor
+:math:`S` as a dense matrix [TrefethenBau]_. This method has
+:math:`O(p^2)` space complexity and :math:`O(p^3)` time complexity and
+is only practical for problems with up to a few hundred cameras. Ceres
+implements this strategy as the ``DENSE_SCHUR`` solver.
+
+
+But, :math:`S` is typically a fairly sparse matrix, as most images
+only see a small fraction of the scene. This leads us to the second
+option: Sparse Direct Methods. These methods store :math:`S` as a
+sparse matrix, use row and column re-ordering algorithms to maximize
+the sparsity of the Cholesky decomposition, and focus their compute
+effort on the non-zero part of the factorization [Chen]_. Sparse
+direct methods, depending on the exact sparsity structure of the Schur
+complement, allow bundle adjustment algorithms to significantly scale
+up over those based on dense factorization. Ceres implements this
+strategy as the ``SPARSE_SCHUR`` solver.
+
+.. _section-iterative_schur:
+
+``ITERATIVE_SCHUR``
+-------------------
+
+Another option for bundle adjustment problems is to apply
+Preconditioned Conjugate Gradients to the reduced camera matrix
+:math:`S` instead of :math:`H`. One reason to do this is that
+:math:`S` is a much smaller matrix than :math:`H`, but more
+importantly, it can be shown that :math:`\kappa(S)\leq \kappa(H)`.
+Ceres implements Conjugate Gradients on :math:`S` as the
+``ITERATIVE_SCHUR`` solver. When the user chooses ``ITERATIVE_SCHUR``
+as the linear solver, Ceres automatically switches from the exact step
+algorithm to an inexact step algorithm.
+
+The key computational operation when using Conjuagate Gradients is the
+evaluation of the matrix vector product :math:`Sx` for an arbitrary
+vector :math:`x`. There are two ways in which this product can be
+evaluated, and this can be controlled using
+``Solver::Options::use_explicit_schur_complement``. Depending on the
+problem at hand, the performance difference between these two methods
+can be quite substantial.
+
+ 1. **Implicit** This is default. Implicit evaluation is suitable for
+ large problems where the cost of computing and storing the Schur
+ Complement :math:`S` is prohibitive. Because PCG only needs
+ access to :math:`S` via its product with a vector, one way to
+ evaluate :math:`Sx` is to observe that
+
+ .. math:: x_1 &= E^\top x
+ .. math:: x_2 &= C^{-1} x_1
+ .. math:: x_3 &= Ex_2\\
+ .. math:: x_4 &= Bx\\
+ .. math:: Sx &= x_4 - x_3
+ :label: schurtrick1
+
+ Thus, we can run PCG on :math:`S` with the same computational
+ effort per iteration as PCG on :math:`H`, while reaping the
+ benefits of a more powerful preconditioner. In fact, we do not
+ even need to compute :math:`H`, :eq:`schurtrick1` can be
+ implemented using just the columns of :math:`J`.
+
+ Equation :eq:`schurtrick1` is closely related to *Domain
+ Decomposition methods* for solving large linear systems that
+ arise in structural engineering and partial differential
+ equations. In the language of Domain Decomposition, each point in
+ a bundle adjustment problem is a domain, and the cameras form the
+ interface between these domains. The iterative solution of the
+ Schur complement then falls within the sub-category of techniques
+ known as Iterative Sub-structuring [Saad]_ [Mathew]_.
+
+ 2. **Explicit** The complexity of implicit matrix-vector product
+ evaluation scales with the number of non-zeros in the
+ Jacobian. For small to medium sized problems, the cost of
+ constructing the Schur Complement is small enough that it is
+ better to construct it explicitly in memory and use it to
+ evaluate the product :math:`Sx`.
+
+When the user chooses ``ITERATIVE_SCHUR`` as the linear solver, Ceres
+automatically switches from the exact step algorithm to an inexact
+step algorithm.
+
+ .. NOTE::
+
+ In exact arithmetic, the choice of implicit versus explicit Schur
+ complement would have no impact on solution quality. However, in
+ practice if the Jacobian is poorly conditioned, one may observe
+ (usually small) differences in solution quality. This is a
+ natural consequence of performing computations in finite arithmetic.
+
+
+.. _section-preconditioner:
+
+Preconditioner
+--------------
+
+The convergence rate of Conjugate Gradients for
+solving :eq:`normal` depends on the distribution of eigenvalues
+of :math:`H` [Saad]_. A useful upper bound is
+:math:`\sqrt{\kappa(H)}`, where, :math:`\kappa(H)` is the condition
+number of the matrix :math:`H`. For most bundle adjustment problems,
+:math:`\kappa(H)` is high and a direct application of Conjugate
+Gradients to :eq:`normal` results in extremely poor performance.
+
+The solution to this problem is to replace :eq:`normal` with a
+*preconditioned* system. Given a linear system, :math:`Ax =b` and a
+preconditioner :math:`M` the preconditioned system is given by
+:math:`M^{-1}Ax = M^{-1}b`. The resulting algorithm is known as
+Preconditioned Conjugate Gradients algorithm (PCG) and its worst case
+complexity now depends on the condition number of the *preconditioned*
+matrix :math:`\kappa(M^{-1}A)`.
+
+The computational cost of using a preconditioner :math:`M` is the cost
+of computing :math:`M` and evaluating the product :math:`M^{-1}y` for
+arbitrary vectors :math:`y`. Thus, there are two competing factors to
+consider: How much of :math:`H`'s structure is captured by :math:`M`
+so that the condition number :math:`\kappa(HM^{-1})` is low, and the
+computational cost of constructing and using :math:`M`. The ideal
+preconditioner would be one for which :math:`\kappa(M^{-1}A)
+=1`. :math:`M=A` achieves this, but it is not a practical choice, as
+applying this preconditioner would require solving a linear system
+equivalent to the unpreconditioned problem. It is usually the case
+that the more information :math:`M` has about :math:`H`, the more
+expensive it is use. For example, Incomplete Cholesky factorization
+based preconditioners have much better convergence behavior than the
+Jacobi preconditioner, but are also much more expensive.
+
+The simplest of all preconditioners is the diagonal or Jacobi
+preconditioner, i.e., :math:`M=\operatorname{diag}(A)`, which for
+block structured matrices like :math:`H` can be generalized to the
+block Jacobi preconditioner. Ceres implements the block Jacobi
+preconditioner and refers to it as ``JACOBI``. When used with
+:ref:`section-cgnr` it refers to the block diagonal of :math:`H` and
+when used with :ref:`section-iterative_schur` it refers to the block
+diagonal of :math:`B` [Mandel]_.
+
+Another obvious choice for :ref:`section-iterative_schur` is the block
+diagonal of the Schur complement matrix :math:`S`, i.e, the block
+Jacobi preconditioner for :math:`S`. Ceres implements it and refers to
+is as the ``SCHUR_JACOBI`` preconditioner.
+
+For bundle adjustment problems arising in reconstruction from
+community photo collections, more effective preconditioners can be
+constructed by analyzing and exploiting the camera-point visibility
+structure of the scene [KushalAgarwal]_. Ceres implements the two
+visibility based preconditioners described by Kushal & Agarwal as
+``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL``. These are fairly new
+preconditioners and Ceres' implementation of them is in its early
+stages and is not as mature as the other preconditioners described
+above.
+
+.. _section-ordering:
+
+Ordering
+--------
+
+The order in which variables are eliminated in a linear solver can
+have a significant of impact on the efficiency and accuracy of the
+method. For example when doing sparse Cholesky factorization, there
+are matrices for which a good ordering will give a Cholesky factor
+with :math:`O(n)` storage, where as a bad ordering will result in an
+completely dense factor.
+
+Ceres allows the user to provide varying amounts of hints to the
+solver about the variable elimination ordering to use. This can range
+from no hints, where the solver is free to decide the best ordering
+based on the user's choices like the linear solver being used, to an
+exact order in which the variables should be eliminated, and a variety
+of possibilities in between.
+
+Instances of the :class:`ParameterBlockOrdering` class are used to
+communicate this information to Ceres.
+
+Formally an ordering is an ordered partitioning of the parameter
+blocks. Each parameter block belongs to exactly one group, and each
+group has a unique integer associated with it, that determines its
+order in the set of groups. We call these groups *Elimination Groups*
+
+Given such an ordering, Ceres ensures that the parameter blocks in the
+lowest numbered elimination group are eliminated first, and then the
+parameter blocks in the next lowest numbered elimination group and so
+on. Within each elimination group, Ceres is free to order the
+parameter blocks as it chooses. For example, consider the linear system
+
+.. math::
+ x + y &= 3\\
+ 2x + 3y &= 7
+
+There are two ways in which it can be solved. First eliminating
+:math:`x` from the two equations, solving for :math:`y` and then back
+substituting for :math:`x`, or first eliminating :math:`y`, solving
+for :math:`x` and back substituting for :math:`y`. The user can
+construct three orderings here.
+
+1. :math:`\{0: x\}, \{1: y\}` : Eliminate :math:`x` first.
+2. :math:`\{0: y\}, \{1: x\}` : Eliminate :math:`y` first.
+3. :math:`\{0: x, y\}` : Solver gets to decide the elimination order.
+
+Thus, to have Ceres determine the ordering automatically using
+heuristics, put all the variables in the same elimination group. The
+identity of the group does not matter. This is the same as not
+specifying an ordering at all. To control the ordering for every
+variable, create an elimination group per variable, ordering them in
+the desired order.
+
+If the user is using one of the Schur solvers (``DENSE_SCHUR``,
+``SPARSE_SCHUR``, ``ITERATIVE_SCHUR``) and chooses to specify an
+ordering, it must have one important property. The lowest numbered
+elimination group must form an independent set in the graph
+corresponding to the Hessian, or in other words, no two parameter
+blocks in in the first elimination group should co-occur in the same
+residual block. For the best performance, this elimination group
+should be as large as possible. For standard bundle adjustment
+problems, this corresponds to the first elimination group containing
+all the 3d points, and the second containing the all the cameras
+parameter blocks.
+
+If the user leaves the choice to Ceres, then the solver uses an
+approximate maximum independent set algorithm to identify the first
+elimination group [LiSaad]_.
+
+.. _section-solver-options:
+
+:class:`Solver::Options`
+========================
+
+.. class:: Solver::Options
+
+ :class:`Solver::Options` controls the overall behavior of the
+ solver. We list the various settings and their default values below.
+
+.. function:: bool Solver::Options::IsValid(string* error) const
+
+ Validate the values in the options struct and returns true on
+ success. If there is a problem, the method returns false with
+ ``error`` containing a textual description of the cause.
+
+.. member:: MinimizerType Solver::Options::minimizer_type
+
+ Default: ``TRUST_REGION``
+
+ Choose between ``LINE_SEARCH`` and ``TRUST_REGION`` algorithms. See
+ :ref:`section-trust-region-methods` and
+ :ref:`section-line-search-methods` for more details.
+
+.. member:: LineSearchDirectionType Solver::Options::line_search_direction_type
+
+ Default: ``LBFGS``
+
+ Choices are ``STEEPEST_DESCENT``, ``NONLINEAR_CONJUGATE_GRADIENT``,
+ ``BFGS`` and ``LBFGS``.
+
+.. member:: LineSearchType Solver::Options::line_search_type
+
+ Default: ``WOLFE``
+
+ Choices are ``ARMIJO`` and ``WOLFE`` (strong Wolfe conditions).
+ Note that in order for the assumptions underlying the ``BFGS`` and
+ ``LBFGS`` line search direction algorithms to be guaranteed to be
+ satisifed, the ``WOLFE`` line search should be used.
+
+.. member:: NonlinearConjugateGradientType Solver::Options::nonlinear_conjugate_gradient_type
+
+ Default: ``FLETCHER_REEVES``
+
+ Choices are ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and
+ ``HESTENES_STIEFEL``.
+
+.. member:: int Solver::Options::max_lbfgs_rank
+
+ Default: 20
+
+ The L-BFGS hessian approximation is a low rank approximation to the
+ inverse of the Hessian matrix. The rank of the approximation
+ determines (linearly) the space and time complexity of using the
+ approximation. Higher the rank, the better is the quality of the
+ approximation. The increase in quality is however is bounded for a
+ number of reasons.
+
+ 1. The method only uses secant information and not actual
+ derivatives.
+
+ 2. The Hessian approximation is constrained to be positive
+ definite.
+
+ So increasing this rank to a large number will cost time and space
+ complexity without the corresponding increase in solution
+ quality. There are no hard and fast rules for choosing the maximum
+ rank. The best choice usually requires some problem specific
+ experimentation.
+
+.. member:: bool Solver::Options::use_approximate_eigenvalue_bfgs_scaling
+
+ Default: ``false``
+
+ As part of the ``BFGS`` update step / ``LBFGS`` right-multiply
+ step, the initial inverse Hessian approximation is taken to be the
+ Identity. However, [Oren]_ showed that using instead :math:`I *
+ \gamma`, where :math:`\gamma` is a scalar chosen to approximate an
+ eigenvalue of the true inverse Hessian can result in improved
+ convergence in a wide variety of cases. Setting
+ ``use_approximate_eigenvalue_bfgs_scaling`` to true enables this
+ scaling in ``BFGS`` (before first iteration) and ``LBFGS`` (at each
+ iteration).
+
+ Precisely, approximate eigenvalue scaling equates to
+
+ .. math:: \gamma = \frac{y_k' s_k}{y_k' y_k}
+
+ With:
+
+ .. math:: y_k = \nabla f_{k+1} - \nabla f_k
+ .. math:: s_k = x_{k+1} - x_k
+
+ Where :math:`f()` is the line search objective and :math:`x` the
+ vector of parameter values [NocedalWright]_.
+
+ It is important to note that approximate eigenvalue scaling does
+ **not** *always* improve convergence, and that it can in fact
+ *significantly* degrade performance for certain classes of problem,
+ which is why it is disabled by default. In particular it can
+ degrade performance when the sensitivity of the problem to different
+ parameters varies significantly, as in this case a single scalar
+ factor fails to capture this variation and detrimentally downscales
+ parts of the Jacobian approximation which correspond to
+ low-sensitivity parameters. It can also reduce the robustness of the
+ solution to errors in the Jacobians.
+
+.. member:: LineSearchIterpolationType Solver::Options::line_search_interpolation_type
+
+ Default: ``CUBIC``
+
+ Degree of the polynomial used to approximate the objective
+ function. Valid values are ``BISECTION``, ``QUADRATIC`` and
+ ``CUBIC``.
+
+.. member:: double Solver::Options::min_line_search_step_size
+
+ The line search terminates if:
+
+ .. math:: \|\Delta x_k\|_\infty < \text{min_line_search_step_size}
+
+ where :math:`\|\cdot\|_\infty` refers to the max norm, and
+ :math:`\Delta x_k` is the step change in the parameter values at
+ the :math:`k`-th iteration.
+
+.. member:: double Solver::Options::line_search_sufficient_function_decrease
+
+ Default: ``1e-4``
+
+ Solving the line search problem exactly is computationally
+ prohibitive. Fortunately, line search based optimization algorithms
+ can still guarantee convergence if instead of an exact solution,
+ the line search algorithm returns a solution which decreases the
+ value of the objective function sufficiently. More precisely, we
+ are looking for a step size s.t.
+
+ .. math:: f(\text{step_size}) \le f(0) + \text{sufficient_decrease} * [f'(0) * \text{step_size}]
+
+ This condition is known as the Armijo condition.
+
+.. member:: double Solver::Options::max_line_search_step_contraction
+
+ Default: ``1e-3``
+
+ In each iteration of the line search,
+
+ .. math:: \text{new_step_size} >= \text{max_line_search_step_contraction} * \text{step_size}
+
+ Note that by definition, for contraction:
+
+ .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: double Solver::Options::min_line_search_step_contraction
+
+ Default: ``0.6``
+
+ In each iteration of the line search,
+
+ .. math:: \text{new_step_size} <= \text{min_line_search_step_contraction} * \text{step_size}
+
+ Note that by definition, for contraction:
+
+ .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: int Solver::Options::max_num_line_search_step_size_iterations
+
+ Default: ``20``
+
+ Maximum number of trial step size iterations during each line
+ search, if a step size satisfying the search conditions cannot be
+ found within this number of trials, the line search will stop.
+
+ As this is an 'artificial' constraint (one imposed by the user, not
+ the underlying math), if ``WOLFE`` line search is being used, *and*
+ points satisfying the Armijo sufficient (function) decrease
+ condition have been found during the current search (in :math:`<=`
+ ``max_num_line_search_step_size_iterations``). Then, the step size
+ with the lowest function value which satisfies the Armijo condition
+ will be returned as the new valid step, even though it does *not*
+ satisfy the strong Wolfe conditions. This behaviour protects
+ against early termination of the optimizer at a sub-optimal point.
+
+.. member:: int Solver::Options::max_num_line_search_direction_restarts
+
+ Default: ``5``
+
+ Maximum number of restarts of the line search direction algorithm
+ before terminating the optimization. Restarts of the line search
+ direction algorithm occur when the current algorithm fails to
+ produce a new descent direction. This typically indicates a
+ numerical failure, or a breakdown in the validity of the
+ approximations used.
+
+.. member:: double Solver::Options::line_search_sufficient_curvature_decrease
+
+ Default: ``0.9``
+
+ The strong Wolfe conditions consist of the Armijo sufficient
+ decrease condition, and an additional requirement that the
+ step size be chosen s.t. the *magnitude* ('strong' Wolfe
+ conditions) of the gradient along the search direction
+ decreases sufficiently. Precisely, this second condition
+ is that we seek a step size s.t.
+
+ .. math:: \|f'(\text{step_size})\| <= \text{sufficient_curvature_decrease} * \|f'(0)\|
+
+ Where :math:`f()` is the line search objective and :math:`f'()` is the derivative
+ of :math:`f` with respect to the step size: :math:`\frac{d f}{d~\text{step size}}`.
+
+.. member:: double Solver::Options::max_line_search_step_expansion
+
+ Default: ``10.0``
+
+ During the bracketing phase of a Wolfe line search, the step size
+ is increased until either a point satisfying the Wolfe conditions
+ is found, or an upper bound for a bracket containing a point
+ satisfying the conditions is found. Precisely, at each iteration
+ of the expansion:
+
+ .. math:: \text{new_step_size} <= \text{max_step_expansion} * \text{step_size}
+
+ By definition for expansion
+
+ .. math:: \text{max_step_expansion} > 1.0
+
+.. member:: TrustRegionStrategyType Solver::Options::trust_region_strategy_type
+
+ Default: ``LEVENBERG_MARQUARDT``
+
+ The trust region step computation algorithm used by
+ Ceres. Currently ``LEVENBERG_MARQUARDT`` and ``DOGLEG`` are the two
+ valid choices. See :ref:`section-levenberg-marquardt` and
+ :ref:`section-dogleg` for more details.
+
+.. member:: DoglegType Solver::Options::dogleg_type
+
+ Default: ``TRADITIONAL_DOGLEG``
+
+ Ceres supports two different dogleg strategies.
+ ``TRADITIONAL_DOGLEG`` method by Powell and the ``SUBSPACE_DOGLEG``
+ method described by [ByrdSchnabel]_ . See :ref:`section-dogleg`
+ for more details.
+
+.. member:: bool Solver::Options::use_nonmonotonic_steps
+
+ Default: ``false``
+
+ Relax the requirement that the trust-region algorithm take strictly
+ decreasing steps. See :ref:`section-non-monotonic-steps` for more
+ details.
+
+.. member:: int Solver::Options::max_consecutive_nonmonotonic_steps
+
+ Default: ``5``
+
+ The window size used by the step selection algorithm to accept
+ non-monotonic steps.
+
+.. member:: int Solver::Options::max_num_iterations
+
+ Default: ``50``
+
+ Maximum number of iterations for which the solver should run.
+
+.. member:: double Solver::Options::max_solver_time_in_seconds
+
+ Default: ``1e6``
+ Maximum amount of time for which the solver should run.
+
+.. member:: int Solver::Options::num_threads
+
+ Default: ``1``
+
+ Number of threads used by Ceres to evaluate the Jacobian.
+
+.. member:: double Solver::Options::initial_trust_region_radius
+
+ Default: ``1e4``
+
+ The size of the initial trust region. When the
+ ``LEVENBERG_MARQUARDT`` strategy is used, the reciprocal of this
+ number is the initial regularization parameter.
+
+.. member:: double Solver::Options::max_trust_region_radius
+
+ Default: ``1e16``
+
+ The trust region radius is not allowed to grow beyond this value.
+
+.. member:: double Solver::Options::min_trust_region_radius
+
+ Default: ``1e-32``
+
+ The solver terminates, when the trust region becomes smaller than
+ this value.
+
+.. member:: double Solver::Options::min_relative_decrease
+
+ Default: ``1e-3``
+
+ Lower threshold for relative decrease before a trust-region step is
+ accepted.
+
+.. member:: double Solver::Options::min_lm_diagonal
+
+ Default: ``1e6``
+
+ The ``LEVENBERG_MARQUARDT`` strategy, uses a diagonal matrix to
+ regularize the trust region step. This is the lower bound on
+ the values of this diagonal matrix.
+
+.. member:: double Solver::Options::max_lm_diagonal
+
+ Default: ``1e32``
+
+ The ``LEVENBERG_MARQUARDT`` strategy, uses a diagonal matrix to
+ regularize the trust region step. This is the upper bound on
+ the values of this diagonal matrix.
+
+.. member:: int Solver::Options::max_num_consecutive_invalid_steps
+
+ Default: ``5``
+
+ The step returned by a trust region strategy can sometimes be
+ numerically invalid, usually because of conditioning
+ issues. Instead of crashing or stopping the optimization, the
+ optimizer can go ahead and try solving with a smaller trust
+ region/better conditioned problem. This parameter sets the number
+ of consecutive retries before the minimizer gives up.
+
+.. member:: double Solver::Options::function_tolerance
+
+ Default: ``1e-6``
+
+ Solver terminates if
+
+ .. math:: \frac{|\Delta \text{cost}|}{\text{cost}} <= \text{function_tolerance}
+
+ where, :math:`\Delta \text{cost}` is the change in objective
+ function value (up or down) in the current iteration of
+ Levenberg-Marquardt.
+
+.. member:: double Solver::Options::gradient_tolerance
+
+ Default: ``1e-10``
+
+ Solver terminates if
+
+ .. math:: \|x - \Pi \boxplus(x, -g(x))\|_\infty <= \text{gradient_tolerance}
+
+ where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
+ is projection onto the bounds constraints and :math:`\boxplus` is
+ Plus operation for the overall local parameterization associated
+ with the parameter vector.
+
+.. member:: double Solver::Options::parameter_tolerance
+
+ Default: ``1e-8``
+
+ Solver terminates if
+
+ .. math:: \|\Delta x\| <= (\|x\| + \text{parameter_tolerance}) * \text{parameter_tolerance}
+
+ where :math:`\Delta x` is the step computed by the linear solver in
+ the current iteration.
+
+.. member:: LinearSolverType Solver::Options::linear_solver_type
+
+ Default: ``SPARSE_NORMAL_CHOLESKY`` / ``DENSE_QR``
+
+ Type of linear solver used to compute the solution to the linear
+ least squares problem in each iteration of the Levenberg-Marquardt
+ algorithm. If Ceres is built with support for ``SuiteSparse`` or
+ ``CXSparse`` or ``Eigen``'s sparse Cholesky factorization, the
+ default is ``SPARSE_NORMAL_CHOLESKY``, it is ``DENSE_QR``
+ otherwise.
+
+.. member:: PreconditionerType Solver::Options::preconditioner_type
+
+ Default: ``JACOBI``
+
+ The preconditioner used by the iterative linear solver. The default
+ is the block Jacobi preconditioner. Valid values are (in increasing
+ order of complexity) ``IDENTITY``, ``JACOBI``, ``SCHUR_JACOBI``,
+ ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL``. See
+ :ref:`section-preconditioner` for more details.
+
+.. member:: VisibilityClusteringType Solver::Options::visibility_clustering_type
+
+ Default: ``CANONICAL_VIEWS``
+
+ Type of clustering algorithm to use when constructing a visibility
+ based preconditioner. The original visibility based preconditioning
+ paper and implementation only used the canonical views algorithm.
+
+ This algorithm gives high quality results but for large dense
+ graphs can be particularly expensive. As its worst case complexity
+ is cubic in size of the graph.
+
+ Another option is to use ``SINGLE_LINKAGE`` which is a simple
+ thresholded single linkage clustering algorithm that only pays
+ attention to tightly coupled blocks in the Schur complement. This
+ is a fast algorithm that works well.
+
+ The optimal choice of the clustering algorithm depends on the
+ sparsity structure of the problem, but generally speaking we
+ recommend that you try ``CANONICAL_VIEWS`` first and if it is too
+ expensive try ``SINGLE_LINKAGE``.
+
+.. member:: DenseLinearAlgebraLibrary Solver::Options::dense_linear_algebra_library_type
+
+ Default:``EIGEN``
+
+ Ceres supports using multiple dense linear algebra libraries for
+ dense matrix factorizations. Currently ``EIGEN`` and ``LAPACK`` are
+ the valid choices. ``EIGEN`` is always available, ``LAPACK`` refers
+ to the system ``BLAS + LAPACK`` library which may or may not be
+ available.
+
+ This setting affects the ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY``
+ and ``DENSE_SCHUR`` solvers. For small to moderate sized probem
+ ``EIGEN`` is a fine choice but for large problems, an optimized
+ ``LAPACK + BLAS`` implementation can make a substantial difference
+ in performance.
+
+.. member:: SparseLinearAlgebraLibrary Solver::Options::sparse_linear_algebra_library_type
+
+ Default: The highest available according to: ``SUITE_SPARSE`` >
+ ``CX_SPARSE`` > ``EIGEN_SPARSE`` > ``NO_SPARSE``
+
+ Ceres supports the use of three sparse linear algebra libraries,
+ ``SuiteSparse``, which is enabled by setting this parameter to
+ ``SUITE_SPARSE``, ``CXSparse``, which can be selected by setting
+ this parameter to ``CX_SPARSE`` and ``Eigen`` which is enabled by
+ setting this parameter to ``EIGEN_SPARSE``. Lastly, ``NO_SPARSE``
+ means that no sparse linear solver should be used; note that this is
+ irrespective of whether Ceres was compiled with support for one.
+
+ ``SuiteSparse`` is a sophisticated and complex sparse linear
+ algebra library and should be used in general.
+
+ If your needs/platforms prevent you from using ``SuiteSparse``,
+ consider using ``CXSparse``, which is a much smaller, easier to
+ build library. As can be expected, its performance on large
+ problems is not comparable to that of ``SuiteSparse``.
+
+ Last but not the least you can use the sparse linear algebra
+ routines in ``Eigen``. Currently the performance of this library is
+ the poorest of the three. But this should change in the near
+ future.
+
+ Another thing to consider here is that the sparse Cholesky
+ factorization libraries in Eigen are licensed under ``LGPL`` and
+ building Ceres with support for ``EIGEN_SPARSE`` will result in an
+ LGPL licensed library (since the corresponding code from Eigen is
+ compiled into the library).
+
+ The upside is that you do not need to build and link to an external
+ library to use ``EIGEN_SPARSE``.
+
+.. member:: int Solver::Options::num_linear_solver_threads
+
+ Default: ``1``
+
+ Number of threads used by the linear solver.
+
+.. member:: shared_ptr<ParameterBlockOrdering> Solver::Options::linear_solver_ordering
+
+ Default: ``NULL``
+
+ An instance of the ordering object informs the solver about the
+ desired order in which parameter blocks should be eliminated by the
+ linear solvers. See section~\ref{sec:ordering`` for more details.
+
+ If ``NULL``, the solver is free to choose an ordering that it
+ thinks is best.
+
+ See :ref:`section-ordering` for more details.
+
+.. member:: bool Solver::Options::use_explicit_schur_complement
+
+ Default: ``false``
+
+ Use an explicitly computed Schur complement matrix with
+ ``ITERATIVE_SCHUR``.
+
+ By default this option is disabled and ``ITERATIVE_SCHUR``
+ evaluates evaluates matrix-vector products between the Schur
+ complement and a vector implicitly by exploiting the algebraic
+ expression for the Schur complement.
+
+ The cost of this evaluation scales with the number of non-zeros in
+ the Jacobian.
+
+ For small to medium sized problems there is a sweet spot where
+ computing the Schur complement is cheap enough that it is much more
+ efficient to explicitly compute it and use it for evaluating the
+ matrix-vector products.
+
+ Enabling this option tells ``ITERATIVE_SCHUR`` to use an explicitly
+ computed Schur complement. This can improve the performance of the
+ ``ITERATIVE_SCHUR`` solver significantly.
+
+ .. NOTE:
+
+ This option can only be used with the ``SCHUR_JACOBI``
+ preconditioner.
+
+.. member:: bool Solver::Options::use_post_ordering
+
+ Default: ``false``
+
+ Sparse Cholesky factorization algorithms use a fill-reducing
+ ordering to permute the columns of the Jacobian matrix. There are
+ two ways of doing this.
+
+ 1. Compute the Jacobian matrix in some order and then have the
+ factorization algorithm permute the columns of the Jacobian.
+
+ 2. Compute the Jacobian with its columns already permuted.
+
+ The first option incurs a significant memory penalty. The
+ factorization algorithm has to make a copy of the permuted Jacobian
+ matrix, thus Ceres pre-permutes the columns of the Jacobian matrix
+ and generally speaking, there is no performance penalty for doing
+ so.
+
+ In some rare cases, it is worth using a more complicated reordering
+ algorithm which has slightly better runtime performance at the
+ expense of an extra copy of the Jacobian matrix. Setting
+ ``use_postordering`` to ``true`` enables this tradeoff.
+
+.. member:: bool Solver::Options::dynamic_sparsity
+
+ Some non-linear least squares problems are symbolically dense but
+ numerically sparse. i.e. at any given state only a small number of
+ Jacobian entries are non-zero, but the position and number of
+ non-zeros is different depending on the state. For these problems
+ it can be useful to factorize the sparse jacobian at each solver
+ iteration instead of including all of the zero entries in a single
+ general factorization.
+
+ If your problem does not have this property (or you do not know),
+ then it is probably best to keep this false, otherwise it will
+ likely lead to worse performance.
+
+ This setting only affects the `SPARSE_NORMAL_CHOLESKY` solver.
+
+.. member:: int Solver::Options::min_linear_solver_iterations
+
+ Default: ``0``
+
+ Minimum number of iterations used by the linear solver. This only
+ makes sense when the linear solver is an iterative solver, e.g.,
+ ``ITERATIVE_SCHUR`` or ``CGNR``.
+
+.. member:: int Solver::Options::max_linear_solver_iterations
+
+ Default: ``500``
+
+ Minimum number of iterations used by the linear solver. This only
+ makes sense when the linear solver is an iterative solver, e.g.,
+ ``ITERATIVE_SCHUR`` or ``CGNR``.
+
+.. member:: double Solver::Options::eta
+
+ Default: ``1e-1``
+
+ Forcing sequence parameter. The truncated Newton solver uses this
+ number to control the relative accuracy with which the Newton step
+ is computed. This constant is passed to
+ ``ConjugateGradientsSolver`` which uses it to terminate the
+ iterations when
+
+ .. math:: \frac{Q_i - Q_{i-1}}{Q_i} < \frac{\eta}{i}
+
+.. member:: bool Solver::Options::jacobi_scaling
+
+ Default: ``true``
+
+ ``true`` means that the Jacobian is scaled by the norm of its
+ columns before being passed to the linear solver. This improves the
+ numerical conditioning of the normal equations.
+
+.. member:: bool Solver::Options::use_inner_iterations
+
+ Default: ``false``
+
+ Use a non-linear version of a simplified variable projection
+ algorithm. Essentially this amounts to doing a further optimization
+ on each Newton/Trust region step using a coordinate descent
+ algorithm. For more details, see :ref:`section-inner-iterations`.
+
+.. member:: double Solver::Options::inner_iteration_tolerance
+
+ Default: ``1e-3``
+
+ Generally speaking, inner iterations make significant progress in
+ the early stages of the solve and then their contribution drops
+ down sharply, at which point the time spent doing inner iterations
+ is not worth it.
+
+ Once the relative decrease in the objective function due to inner
+ iterations drops below ``inner_iteration_tolerance``, the use of
+ inner iterations in subsequent trust region minimizer iterations is
+ disabled.
+
+.. member:: shared_ptr<ParameterBlockOrdering> Solver::Options::inner_iteration_ordering
+
+ Default: ``NULL``
+
+ If :member:`Solver::Options::use_inner_iterations` true, then the
+ user has two choices.
+
+ 1. Let the solver heuristically decide which parameter blocks to
+ optimize in each inner iteration. To do this, set
+ :member:`Solver::Options::inner_iteration_ordering` to ``NULL``.
+
+ 2. Specify a collection of of ordered independent sets. The lower
+ numbered groups are optimized before the higher number groups
+ during the inner optimization phase. Each group must be an
+ independent set. Not all parameter blocks need to be included in
+ the ordering.
+
+ See :ref:`section-ordering` for more details.
+
+.. member:: LoggingType Solver::Options::logging_type
+
+ Default: ``PER_MINIMIZER_ITERATION``
+
+.. member:: bool Solver::Options::minimizer_progress_to_stdout
+
+ Default: ``false``
+
+ By default the :class:`Minimizer` progress is logged to ``STDERR``
+ depending on the ``vlog`` level. If this flag is set to true, and
+ :member:`Solver::Options::logging_type` is not ``SILENT``, the logging
+ output is sent to ``STDOUT``.
+
+ For ``TRUST_REGION_MINIMIZER`` the progress display looks like
+
+ .. code-block:: bash
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
+ 1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
+ 2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
+
+ Here
+
+ #. ``cost`` is the value of the objective function.
+ #. ``cost_change`` is the change in the value of the objective
+ function if the step computed in this iteration is accepted.
+ #. ``|gradient|`` is the max norm of the gradient.
+ #. ``|step|`` is the change in the parameter vector.
+ #. ``tr_ratio`` is the ratio of the actual change in the objective
+ function value to the change in the value of the trust
+ region model.
+ #. ``tr_radius`` is the size of the trust region radius.
+ #. ``ls_iter`` is the number of linear solver iterations used to
+ compute the trust region step. For direct/factorization based
+ solvers it is always 1, for iterative solvers like
+ ``ITERATIVE_SCHUR`` it is the number of iterations of the
+ Conjugate Gradients algorithm.
+ #. ``iter_time`` is the time take by the current iteration.
+ #. ``total_time`` is the total time taken by the minimizer.
+
+ For ``LINE_SEARCH_MINIMIZER`` the progress display looks like
+
+ .. code-block:: bash
+
+ 0: f: 2.317806e+05 d: 0.00e+00 g: 3.19e-01 h: 0.00e+00 s: 0.00e+00 e: 0 it: 2.98e-02 tt: 8.50e-02
+ 1: f: 2.312019e+05 d: 5.79e+02 g: 3.18e-01 h: 2.41e+01 s: 1.00e+00 e: 1 it: 4.54e-02 tt: 1.31e-01
+ 2: f: 2.300462e+05 d: 1.16e+03 g: 3.17e-01 h: 4.90e+01 s: 2.54e-03 e: 1 it: 4.96e-02 tt: 1.81e-01
+
+ Here
+
+ #. ``f`` is the value of the objective function.
+ #. ``d`` is the change in the value of the objective function if
+ the step computed in this iteration is accepted.
+ #. ``g`` is the max norm of the gradient.
+ #. ``h`` is the change in the parameter vector.
+ #. ``s`` is the optimal step length computed by the line search.
+ #. ``it`` is the time take by the current iteration.
+ #. ``tt`` is the total time taken by the minimizer.
+
+.. member:: vector<int> Solver::Options::trust_region_minimizer_iterations_to_dump
+
+ Default: ``empty``
+
+ List of iterations at which the trust region minimizer should dump
+ the trust region problem. Useful for testing and benchmarking. If
+ ``empty``, no problems are dumped.
+
+.. member:: string Solver::Options::trust_region_problem_dump_directory
+
+ Default: ``/tmp``
+
+ Directory to which the problems should be written to. Should be
+ non-empty if
+ :member:`Solver::Options::trust_region_minimizer_iterations_to_dump` is
+ non-empty and
+ :member:`Solver::Options::trust_region_problem_dump_format_type` is not
+ ``CONSOLE``.
+
+.. member:: DumpFormatType Solver::Options::trust_region_problem_dump_format
+
+ Default: ``TEXTFILE``
+
+ The format in which trust region problems should be logged when
+ :member:`Solver::Options::trust_region_minimizer_iterations_to_dump`
+ is non-empty. There are three options:
+
+ * ``CONSOLE`` prints the linear least squares problem in a human
+ readable format to ``stderr``. The Jacobian is printed as a
+ dense matrix. The vectors :math:`D`, :math:`x` and :math:`f` are
+ printed as dense vectors. This should only be used for small
+ problems.
+
+ * ``TEXTFILE`` Write out the linear least squares problem to the
+ directory pointed to by
+ :member:`Solver::Options::trust_region_problem_dump_directory` as
+ text files which can be read into ``MATLAB/Octave``. The Jacobian
+ is dumped as a text file containing :math:`(i,j,s)` triplets, the
+ vectors :math:`D`, `x` and `f` are dumped as text files
+ containing a list of their values.
+
+ A ``MATLAB/Octave`` script called
+ ``ceres_solver_iteration_???.m`` is also output, which can be
+ used to parse and load the problem into memory.
+
+.. member:: bool Solver::Options::check_gradients
+
+ Default: ``false``
+
+ Check all Jacobians computed by each residual block with finite
+ differences. This is expensive since it involves computing the
+ derivative by normal means (e.g. user specified, autodiff, etc),
+ then also computing it using finite differences. The results are
+ compared, and if they differ substantially, the optimization fails
+ and the details are stored in the solver summary.
+
+.. member:: double Solver::Options::gradient_check_relative_precision
+
+ Default: ``1e08``
+
+ Precision to check for in the gradient checker. If the relative
+ difference between an element in a Jacobian exceeds this number,
+ then the Jacobian for that cost term is dumped.
+
+.. member:: double Solver::Options::gradient_check_numeric_derivative_relative_step_size
+
+ Default: ``1e-6``
+
+ .. NOTE::
+
+ This option only applies to the numeric differentiation used for
+ checking the user provided derivatives when when
+ `Solver::Options::check_gradients` is true. If you are using
+ :class:`NumericDiffCostFunction` and are interested in changing
+ the step size for numeric differentiation in your cost function,
+ please have a look at :class:`NumericDiffOptions`.
+
+ Relative shift used for taking numeric derivatives when
+ `Solver::Options::check_gradients` is `true`.
+
+ For finite differencing, each dimension is evaluated at slightly
+ shifted values, e.g., for forward differences, the numerical
+ derivative is
+
+ .. math::
+
+ \delta &= gradient\_check\_numeric\_derivative\_relative\_step\_size\\
+ \Delta f &= \frac{f((1 + \delta) x) - f(x)}{\delta x}
+
+ The finite differencing is done along each dimension. The reason to
+ use a relative (rather than absolute) step size is that this way,
+ numeric differentiation works for functions where the arguments are
+ typically large (e.g. :math:`10^9`) and when the values are small
+ (e.g. :math:`10^{-5}`). It is possible to construct *torture cases*
+ which break this finite difference heuristic, but they do not come
+ up often in practice.
+
+.. member:: vector<IterationCallback> Solver::Options::callbacks
+
+ Callbacks that are executed at the end of each iteration of the
+ :class:`Minimizer`. They are executed in the order that they are
+ specified in this vector. By default, parameter blocks are updated
+ only at the end of the optimization, i.e., when the
+ :class:`Minimizer` terminates. This behavior is controlled by
+ :member:`Solver::Options::update_state_every_variable`. If the user
+ wishes to have access to the update parameter blocks when his/her
+ callbacks are executed, then set
+ :member:`Solver::Options::update_state_every_iteration` to true.
+
+ The solver does NOT take ownership of these pointers.
+
+.. member:: bool Solver::Options::update_state_every_iteration
+
+ Default: ``false``
+
+ Normally the parameter blocks are only updated when the solver
+ terminates. Setting this to true update them in every
+ iteration. This setting is useful when building an interactive
+ application using Ceres and using an :class:`IterationCallback`.
+
+:class:`ParameterBlockOrdering`
+===============================
+
+.. class:: ParameterBlockOrdering
+
+ ``ParameterBlockOrdering`` is a class for storing and manipulating
+ an ordered collection of groups/sets with the following semantics:
+
+ Group IDs are non-negative integer values. Elements are any type
+ that can serve as a key in a map or an element of a set.
+
+ An element can only belong to one group at a time. A group may
+ contain an arbitrary number of elements.
+
+ Groups are ordered by their group id.
+
+.. function:: bool ParameterBlockOrdering::AddElementToGroup(const double* element, const int group)
+
+ Add an element to a group. If a group with this id does not exist,
+ one is created. This method can be called any number of times for
+ the same element. Group ids should be non-negative numbers. Return
+ value indicates if adding the element was a success.
+
+.. function:: void ParameterBlockOrdering::Clear()
+
+ Clear the ordering.
+
+.. function:: bool ParameterBlockOrdering::Remove(const double* element)
+
+ Remove the element, no matter what group it is in. If the element
+ is not a member of any group, calling this method will result in a
+ crash. Return value indicates if the element was actually removed.
+
+.. function:: void ParameterBlockOrdering::Reverse()
+
+ Reverse the order of the groups in place.
+
+.. function:: int ParameterBlockOrdering::GroupId(const double* element) const
+
+ Return the group id for the element. If the element is not a member
+ of any group, return -1.
+
+.. function:: bool ParameterBlockOrdering::IsMember(const double* element) const
+
+ True if there is a group containing the parameter block.
+
+.. function:: int ParameterBlockOrdering::GroupSize(const int group) const
+
+ This function always succeeds, i.e., implicitly there exists a
+ group for every integer.
+
+.. function:: int ParameterBlockOrdering::NumElements() const
+
+ Number of elements in the ordering.
+
+.. function:: int ParameterBlockOrdering::NumGroups() const
+
+ Number of groups with one or more elements.
+
+
+:class:`IterationCallback`
+==========================
+
+.. class:: IterationSummary
+
+ :class:`IterationSummary` describes the state of the minimizer at
+ the end of each iteration.
+
+.. member:: int32 IterationSummary::iteration
+
+ Current iteration number.
+
+.. member:: bool IterationSummary::step_is_valid
+
+ Step was numerically valid, i.e., all values are finite and the
+ step reduces the value of the linearized model.
+
+ **Note**: :member:`IterationSummary::step_is_valid` is `false`
+ when :member:`IterationSummary::iteration` = 0.
+
+.. member:: bool IterationSummary::step_is_nonmonotonic
+
+ Step did not reduce the value of the objective function
+ sufficiently, but it was accepted because of the relaxed
+ acceptance criterion used by the non-monotonic trust region
+ algorithm.
+
+ **Note**: :member:`IterationSummary::step_is_nonmonotonic` is
+ `false` when when :member:`IterationSummary::iteration` = 0.
+
+.. member:: bool IterationSummary::step_is_successful
+
+ Whether or not the minimizer accepted this step or not.
+
+ If the ordinary trust region algorithm is used, this means that the
+ relative reduction in the objective function value was greater than
+ :member:`Solver::Options::min_relative_decrease`. However, if the
+ non-monotonic trust region algorithm is used
+ (:member:`Solver::Options::use_nonmonotonic_steps` = `true`), then
+ even if the relative decrease is not sufficient, the algorithm may
+ accept the step and the step is declared successful.
+
+ **Note**: :member:`IterationSummary::step_is_successful` is `false`
+ when when :member:`IterationSummary::iteration` = 0.
+
+.. member:: double IterationSummary::cost
+
+ Value of the objective function.
+
+.. member:: double IterationSummary::cost_change
+
+ Change in the value of the objective function in this
+ iteration. This can be positive or negative.
+
+.. member:: double IterationSummary::gradient_max_norm
+
+ Infinity norm of the gradient vector.
+
+.. member:: double IterationSummary::gradient_norm
+
+ 2-norm of the gradient vector.
+
+.. member:: double IterationSummary::step_norm
+
+ 2-norm of the size of the step computed in this iteration.
+
+.. member:: double IterationSummary::relative_decrease
+
+ For trust region algorithms, the ratio of the actual change in cost
+ and the change in the cost of the linearized approximation.
+
+ This field is not used when a linear search minimizer is used.
+
+.. member:: double IterationSummary::trust_region_radius
+
+ Size of the trust region at the end of the current iteration. For
+ the Levenberg-Marquardt algorithm, the regularization parameter is
+ 1.0 / member::`IterationSummary::trust_region_radius`.
+
+.. member:: double IterationSummary::eta
+
+ For the inexact step Levenberg-Marquardt algorithm, this is the
+ relative accuracy with which the step is solved. This number is
+ only applicable to the iterative solvers capable of solving linear
+ systems inexactly. Factorization-based exact solvers always have an
+ eta of 0.0.
+
+.. member:: double IterationSummary::step_size
+
+ Step sized computed by the line search algorithm.
+
+ This field is not used when a trust region minimizer is used.
+
+.. member:: int IterationSummary::line_search_function_evaluations
+
+ Number of function evaluations used by the line search algorithm.
+
+ This field is not used when a trust region minimizer is used.
+
+.. member:: int IterationSummary::linear_solver_iterations
+
+ Number of iterations taken by the linear solver to solve for the
+ trust region step.
+
+ Currently this field is not used when a line search minimizer is
+ used.
+
+.. member:: double IterationSummary::iteration_time_in_seconds
+
+ Time (in seconds) spent inside the minimizer loop in the current
+ iteration.
+
+.. member:: double IterationSummary::step_solver_time_in_seconds
+
+ Time (in seconds) spent inside the trust region step solver.
+
+.. member:: double IterationSummary::cumulative_time_in_seconds
+
+ Time (in seconds) since the user called Solve().
+
+
+.. class:: IterationCallback
+
+ Interface for specifying callbacks that are executed at the end of
+ each iteration of the minimizer.
+
+ .. code-block:: c++
+
+ class IterationCallback {
+ public:
+ virtual ~IterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) = 0;
+ };
+
+
+ The solver uses the return value of ``operator()`` to decide whether
+ to continue solving or to terminate. The user can return three
+ values.
+
+ #. ``SOLVER_ABORT`` indicates that the callback detected an abnormal
+ situation. The solver returns without updating the parameter
+ blocks (unless ``Solver::Options::update_state_every_iteration`` is
+ set true). Solver returns with ``Solver::Summary::termination_type``
+ set to ``USER_FAILURE``.
+
+ #. ``SOLVER_TERMINATE_SUCCESSFULLY`` indicates that there is no need
+ to optimize anymore (some user specified termination criterion
+ has been met). Solver returns with
+ ``Solver::Summary::termination_type``` set to ``USER_SUCCESS``.
+
+ #. ``SOLVER_CONTINUE`` indicates that the solver should continue
+ optimizing.
+
+ For example, the following :class:`IterationCallback` is used
+ internally by Ceres to log the progress of the optimization.
+
+ .. code-block:: c++
+
+ class LoggingCallback : public IterationCallback {
+ public:
+ explicit LoggingCallback(bool log_to_stdout)
+ : log_to_stdout_(log_to_stdout) {}
+
+ ~LoggingCallback() {}
+
+ CallbackReturnType operator()(const IterationSummary& summary) {
+ const char* kReportRowFormat =
+ "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+ "rho:% 3.2e mu:% 3.2e eta:% 3.2e li:% 3d";
+ string output = StringPrintf(kReportRowFormat,
+ summary.iteration,
+ summary.cost,
+ summary.cost_change,
+ summary.gradient_max_norm,
+ summary.step_norm,
+ summary.relative_decrease,
+ summary.trust_region_radius,
+ summary.eta,
+ summary.linear_solver_iterations);
+ if (log_to_stdout_) {
+ cout << output << endl;
+ } else {
+ VLOG(1) << output;
+ }
+ return SOLVER_CONTINUE;
+ }
+
+ private:
+ const bool log_to_stdout_;
+ };
+
+
+
+:class:`CRSMatrix`
+==================
+
+.. class:: CRSMatrix
+
+ A compressed row sparse matrix used primarily for communicating the
+ Jacobian matrix to the user.
+
+.. member:: int CRSMatrix::num_rows
+
+ Number of rows.
+
+.. member:: int CRSMatrix::num_cols
+
+ Number of columns.
+
+.. member:: vector<int> CRSMatrix::rows
+
+ :member:`CRSMatrix::rows` is a :member:`CRSMatrix::num_rows` + 1
+ sized array that points into the :member:`CRSMatrix::cols` and
+ :member:`CRSMatrix::values` array.
+
+.. member:: vector<int> CRSMatrix::cols
+
+ :member:`CRSMatrix::cols` contain as many entries as there are
+ non-zeros in the matrix.
+
+ For each row ``i``, ``cols[rows[i]]`` ... ``cols[rows[i + 1] - 1]``
+ are the indices of the non-zero columns of row ``i``.
+
+.. member:: vector<int> CRSMatrix::values
+
+ :member:`CRSMatrix::values` contain as many entries as there are
+ non-zeros in the matrix.
+
+ For each row ``i``,
+ ``values[rows[i]]`` ... ``values[rows[i + 1] - 1]`` are the values
+ of the non-zero columns of row ``i``.
+
+e.g., consider the 3x4 sparse matrix
+
+.. code-block:: c++
+
+ 0 10 0 4
+ 0 2 -3 2
+ 1 2 0 0
+
+The three arrays will be:
+
+.. code-block:: c++
+
+ -row0- ---row1--- -row2-
+ rows = [ 0, 2, 5, 7]
+ cols = [ 1, 3, 1, 2, 3, 0, 1]
+ values = [10, 4, 2, -3, 2, 1, 2]
+
+
+:class:`Solver::Summary`
+========================
+
+.. class:: Solver::Summary
+
+ Summary of the various stages of the solver after termination.
+
+.. function:: string Solver::Summary::BriefReport() const
+
+ A brief one line description of the state of the solver after
+ termination.
+
+.. function:: string Solver::Summary::FullReport() const
+
+ A full multiline description of the state of the solver after
+ termination.
+
+.. function:: bool Solver::Summary::IsSolutionUsable() const
+
+ Whether the solution returned by the optimization algorithm can be
+ relied on to be numerically sane. This will be the case if
+ `Solver::Summary:termination_type` is set to `CONVERGENCE`,
+ `USER_SUCCESS` or `NO_CONVERGENCE`, i.e., either the solver
+ converged by meeting one of the convergence tolerances or because
+ the user indicated that it had converged or it ran to the maximum
+ number of iterations or time.
+
+.. member:: MinimizerType Solver::Summary::minimizer_type
+
+ Type of minimization algorithm used.
+
+.. member:: TerminationType Solver::Summary::termination_type
+
+ The cause of the minimizer terminating.
+
+.. member:: string Solver::Summary::message
+
+ Reason why the solver terminated.
+
+.. member:: double Solver::Summary::initial_cost
+
+ Cost of the problem (value of the objective function) before the
+ optimization.
+
+.. member:: double Solver::Summary::final_cost
+
+ Cost of the problem (value of the objective function) after the
+ optimization.
+
+.. member:: double Solver::Summary::fixed_cost
+
+ The part of the total cost that comes from residual blocks that
+ were held fixed by the preprocessor because all the parameter
+ blocks that they depend on were fixed.
+
+.. member:: vector<IterationSummary> Solver::Summary::iterations
+
+ :class:`IterationSummary` for each minimizer iteration in order.
+
+.. member:: int Solver::Summary::num_successful_steps
+
+ Number of minimizer iterations in which the step was
+ accepted. Unless :member:`Solver::Options::use_non_monotonic_steps`
+ is `true` this is also the number of steps in which the objective
+ function value/cost went down.
+
+.. member:: int Solver::Summary::num_unsuccessful_steps
+
+ Number of minimizer iterations in which the step was rejected
+ either because it did not reduce the cost enough or the step was
+ not numerically valid.
+
+.. member:: int Solver::Summary::num_inner_iteration_steps
+
+ Number of times inner iterations were performed.
+
+ .. member:: int Solver::Summary::num_line_search_steps
+
+ Total number of iterations inside the line search algorithm across
+ all invocations. We call these iterations "steps" to distinguish
+ them from the outer iterations of the line search and trust region
+ minimizer algorithms which call the line search algorithm as a
+ subroutine.
+
+.. member:: double Solver::Summary::preprocessor_time_in_seconds
+
+ Time (in seconds) spent in the preprocessor.
+
+.. member:: double Solver::Summary::minimizer_time_in_seconds
+
+ Time (in seconds) spent in the Minimizer.
+
+.. member:: double Solver::Summary::postprocessor_time_in_seconds
+
+ Time (in seconds) spent in the post processor.
+
+.. member:: double Solver::Summary::total_time_in_seconds
+
+ Time (in seconds) spent in the solver.
+
+.. member:: double Solver::Summary::linear_solver_time_in_seconds
+
+ Time (in seconds) spent in the linear solver computing the trust
+ region step.
+
+.. member:: double Solver::Summary::residual_evaluation_time_in_seconds
+
+ Time (in seconds) spent evaluating the residual vector.
+
+.. member:: double Solver::Summary::jacobian_evaluation_time_in_seconds
+
+ Time (in seconds) spent evaluating the Jacobian matrix.
+
+.. member:: double Solver::Summary::inner_iteration_time_in_seconds
+
+ Time (in seconds) spent doing inner iterations.
+
+.. member:: int Solver::Summary::num_parameter_blocks
+
+ Number of parameter blocks in the problem.
+
+.. member:: int Solver::Summary::num_parameters
+
+ Number of parameters in the problem.
+
+.. member:: int Solver::Summary::num_effective_parameters
+
+ Dimension of the tangent space of the problem (or the number of
+ columns in the Jacobian for the problem). This is different from
+ :member:`Solver::Summary::num_parameters` if a parameter block is
+ associated with a :class:`LocalParameterization`.
+
+.. member:: int Solver::Summary::num_residual_blocks
+
+ Number of residual blocks in the problem.
+
+.. member:: int Solver::Summary::num_residuals
+
+ Number of residuals in the problem.
+
+.. member:: int Solver::Summary::num_parameter_blocks_reduced
+
+ Number of parameter blocks in the problem after the inactive and
+ constant parameter blocks have been removed. A parameter block is
+ inactive if no residual block refers to it.
+
+.. member:: int Solver::Summary::num_parameters_reduced
+
+ Number of parameters in the reduced problem.
+
+.. member:: int Solver::Summary::num_effective_parameters_reduced
+
+ Dimension of the tangent space of the reduced problem (or the
+ number of columns in the Jacobian for the reduced problem). This is
+ different from :member:`Solver::Summary::num_parameters_reduced` if
+ a parameter block in the reduced problem is associated with a
+ :class:`LocalParameterization`.
+
+.. member:: int Solver::Summary::num_residual_blocks_reduced
+
+ Number of residual blocks in the reduced problem.
+
+.. member:: int Solver::Summary::num_residuals_reduced
+
+ Number of residuals in the reduced problem.
+
+.. member:: int Solver::Summary::num_threads_given
+
+ Number of threads specified by the user for Jacobian and residual
+ evaluation.
+
+.. member:: int Solver::Summary::num_threads_used
+
+ Number of threads actually used by the solver for Jacobian and
+ residual evaluation. This number is not equal to
+ :member:`Solver::Summary::num_threads_given` if `OpenMP` is not
+ available.
+
+.. member:: int Solver::Summary::num_linear_solver_threads_given
+
+ Number of threads specified by the user for solving the trust
+ region problem.
+
+.. member:: int Solver::Summary::num_linear_solver_threads_used
+
+ Number of threads actually used by the solver for solving the trust
+ region problem. This number is not equal to
+ :member:`Solver::Summary::num_linear_solver_threads_given` if
+ `OpenMP` is not available.
+
+.. member:: LinearSolverType Solver::Summary::linear_solver_type_given
+
+ Type of the linear solver requested by the user.
+
+.. member:: LinearSolverType Solver::Summary::linear_solver_type_used
+
+ Type of the linear solver actually used. This may be different from
+ :member:`Solver::Summary::linear_solver_type_given` if Ceres
+ determines that the problem structure is not compatible with the
+ linear solver requested or if the linear solver requested by the
+ user is not available, e.g. The user requested
+ `SPARSE_NORMAL_CHOLESKY` but no sparse linear algebra library was
+ available.
+
+.. member:: vector<int> Solver::Summary::linear_solver_ordering_given
+
+ Size of the elimination groups given by the user as hints to the
+ linear solver.
+
+.. member:: vector<int> Solver::Summary::linear_solver_ordering_used
+
+ Size of the parameter groups used by the solver when ordering the
+ columns of the Jacobian. This maybe different from
+ :member:`Solver::Summary::linear_solver_ordering_given` if the user
+ left :member:`Solver::Summary::linear_solver_ordering_given` blank
+ and asked for an automatic ordering, or if the problem contains
+ some constant or inactive parameter blocks.
+
+.. member:: std::string Solver::Summary::schur_structure_given
+
+ For Schur type linear solvers, this string describes the template
+ specialization which was detected in the problem and should be
+ used.
+
+.. member:: std::string Solver::Summary::schur_structure_used
+
+ For Schur type linear solvers, this string describes the template
+ specialization that was actually instantiated and used. The reason
+ this will be different from
+ :member:`Solver::Summary::schur_structure_given` is because the
+ corresponding template specialization does not exist.
+
+ Template specializations can be added to ceres by editing
+ ``internal/ceres/generate_template_specializations.py``
+
+.. member:: bool Solver::Summary::inner_iterations_given
+
+ `True` if the user asked for inner iterations to be used as part of
+ the optimization.
+
+.. member:: bool Solver::Summary::inner_iterations_used
+
+ `True` if the user asked for inner iterations to be used as part of
+ the optimization and the problem structure was such that they were
+ actually performed. For example, in a problem with just one parameter
+ block, inner iterations are not performed.
+
+.. member:: vector<int> inner_iteration_ordering_given
+
+ Size of the parameter groups given by the user for performing inner
+ iterations.
+
+.. member:: vector<int> inner_iteration_ordering_used
+
+ Size of the parameter groups given used by the solver for
+ performing inner iterations. This maybe different from
+ :member:`Solver::Summary::inner_iteration_ordering_given` if the
+ user left :member:`Solver::Summary::inner_iteration_ordering_given`
+ blank and asked for an automatic ordering, or if the problem
+ contains some constant or inactive parameter blocks.
+
+.. member:: PreconditionerType Solver::Summary::preconditioner_type_given
+
+ Type of the preconditioner requested by the user.
+
+.. member:: PreconditionerType Solver::Summary::preconditioner_type_used
+
+ Type of the preconditioner actually used. This may be different
+ from :member:`Solver::Summary::linear_solver_type_given` if Ceres
+ determines that the problem structure is not compatible with the
+ linear solver requested or if the linear solver requested by the
+ user is not available.
+
+.. member:: VisibilityClusteringType Solver::Summary::visibility_clustering_type
+
+ Type of clustering algorithm used for visibility based
+ preconditioning. Only meaningful when the
+ :member:`Solver::Summary::preconditioner_type` is
+ ``CLUSTER_JACOBI`` or ``CLUSTER_TRIDIAGONAL``.
+
+.. member:: TrustRegionStrategyType Solver::Summary::trust_region_strategy_type
+
+ Type of trust region strategy.
+
+.. member:: DoglegType Solver::Summary::dogleg_type
+
+ Type of dogleg strategy used for solving the trust region problem.
+
+.. member:: DenseLinearAlgebraLibraryType Solver::Summary::dense_linear_algebra_library_type
+
+ Type of the dense linear algebra library used.
+
+.. member:: SparseLinearAlgebraLibraryType Solver::Summary::sparse_linear_algebra_library_type
+
+ Type of the sparse linear algebra library used.
+
+.. member:: LineSearchDirectionType Solver::Summary::line_search_direction_type
+
+ Type of line search direction used.
+
+.. member:: LineSearchType Solver::Summary::line_search_type
+
+ Type of the line search algorithm used.
+
+.. member:: LineSearchInterpolationType Solver::Summary::line_search_interpolation_type
+
+ When performing line search, the degree of the polynomial used to
+ approximate the objective function.
+
+.. member:: NonlinearConjugateGradientType Solver::Summary::nonlinear_conjugate_gradient_type
+
+ If the line search direction is `NONLINEAR_CONJUGATE_GRADIENT`,
+ then this indicates the particular variant of non-linear conjugate
+ gradient used.
+
+.. member:: int Solver::Summary::max_lbfgs_rank
+
+ If the type of the line search direction is `LBFGS`, then this
+ indicates the rank of the Hessian approximation.
--- /dev/null
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-nnls_tutorial:
+
+========================
+Non-linear Least Squares
+========================
+
+Introduction
+============
+
+Ceres can solve bounds constrained robustified non-linear least
+squares problems of the form
+
+.. math:: :label: ceresproblem
+
+ \min_{\mathbf{x}} &\quad \frac{1}{2}\sum_{i} \rho_i\left(\left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2\right) \\
+ \text{s.t.} &\quad l_j \le x_j \le u_j
+
+Problems of this form comes up in a broad range of areas across
+science and engineering - from `fitting curves`_ in statistics, to
+constructing `3D models from photographs`_ in computer vision.
+
+.. _fitting curves: http://en.wikipedia.org/wiki/Nonlinear_regression
+.. _3D models from photographs: http://en.wikipedia.org/wiki/Bundle_adjustment
+
+In this chapter we will learn how to solve :eq:`ceresproblem` using
+Ceres Solver. Full working code for all the examples described in this
+chapter and more can be found in the `examples
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/>`_
+directory.
+
+The expression
+:math:`\rho_i\left(\left\|f_i\left(x_{i_1},...,x_{i_k}\right)\right\|^2\right)`
+is known as a ``ResidualBlock``, where :math:`f_i(\cdot)` is a
+:class:`CostFunction` that depends on the parameter blocks
+:math:`\left[x_{i_1},... , x_{i_k}\right]`. In most optimization
+problems small groups of scalars occur together. For example the three
+components of a translation vector and the four components of the
+quaternion that define the pose of a camera. We refer to such a group
+of small scalars as a ``ParameterBlock``. Of course a
+``ParameterBlock`` can just be a single parameter. :math:`l_j` and
+:math:`u_j` are bounds on the parameter block :math:`x_j`.
+
+:math:`\rho_i` is a :class:`LossFunction`. A :class:`LossFunction` is
+a scalar function that is used to reduce the influence of outliers on
+the solution of non-linear least squares problems.
+
+As a special case, when :math:`\rho_i(x) = x`, i.e., the identity
+function, and :math:`l_j = -\infty` and :math:`u_j = \infty` we get
+the more familiar `non-linear least squares problem
+<http://en.wikipedia.org/wiki/Non-linear_least_squares>`_.
+
+.. math:: \frac{1}{2}\sum_{i} \left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2.
+ :label: ceresproblem2
+
+.. _section-hello-world:
+
+Hello World!
+============
+
+To get started, consider the problem of finding the minimum of the
+function
+
+.. math:: \frac{1}{2}(10 -x)^2.
+
+This is a trivial problem, whose minimum is located at :math:`x = 10`,
+but it is a good place to start to illustrate the basics of solving a
+problem with Ceres [#f1]_.
+
+The first step is to write a functor that will evaluate this the
+function :math:`f(x) = 10 - x`:
+
+.. code-block:: c++
+
+ struct CostFunctor {
+ template <typename T>
+ bool operator()(const T* const x, T* residual) const {
+ residual[0] = T(10.0) - x[0];
+ return true;
+ }
+ };
+
+The important thing to note here is that ``operator()`` is a templated
+method, which assumes that all its inputs and outputs are of some type
+``T``. The use of templating here allows Ceres to call
+``CostFunctor::operator<T>()``, with ``T=double`` when just the value
+of the residual is needed, and with a special type ``T=Jet`` when the
+Jacobians are needed. In :ref:`section-derivatives` we will discuss the
+various ways of supplying derivatives to Ceres in more detail.
+
+Once we have a way of computing the residual function, it is now time
+to construct a non-linear least squares problem using it and have
+Ceres solve it.
+
+.. code-block:: c++
+
+ int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value.
+ double initial_x = 5.0;
+ double x = initial_x;
+
+ // Build the problem.
+ Problem problem;
+
+ // Set up the only cost function (also known as residual). This uses
+ // auto-differentiation to obtain the derivative (jacobian).
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+ return 0;
+ }
+
+:class:`AutoDiffCostFunction` takes a ``CostFunctor`` as input,
+automatically differentiates it and gives it a :class:`CostFunction`
+interface.
+
+Compiling and running `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+gives us
+
+.. code-block:: bash
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 5.33e-04 3.46e-03
+ 1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 5.00e-04 4.05e-03
+ 2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 1.60e-05 4.09e-03
+ Ceres Solver Report: Iterations: 2, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
+ x : 0.5 -> 10
+
+Starting from a :math:`x=5`, the solver in two iterations goes to 10
+[#f2]_. The careful reader will note that this is a linear problem and
+one linear solve should be enough to get the optimal value. The
+default configuration of the solver is aimed at non-linear problems,
+and for reasons of simplicity we did not change it in this example. It
+is indeed possible to obtain the solution to this problem using Ceres
+in one iteration. Also note that the solver did get very close to the
+optimal function value of 0 in the very first iteration. We will
+discuss these issues in greater detail when we talk about convergence
+and parameter settings for Ceres.
+
+.. rubric:: Footnotes
+
+.. [#f1] `examples/helloworld.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+.. [#f2] Actually the solver ran for three iterations, and it was
+ by looking at the value returned by the linear solver in the third
+ iteration, it observed that the update to the parameter block was too
+ small and declared convergence. Ceres only prints out the display at
+ the end of an iteration, and terminates as soon as it detects
+ convergence, which is why you only see two iterations here and not
+ three.
+
+.. _section-derivatives:
+
+
+Derivatives
+===========
+
+Ceres Solver like most optimization packages, depends on being able to
+evaluate the value and the derivatives of each term in the objective
+function at arbitrary parameter values. Doing so correctly and
+efficiently is essential to getting good results. Ceres Solver
+provides a number of ways of doing so. You have already seen one of
+them in action --
+Automatic Differentiation in `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+
+We now consider the other two possibilities. Analytic and numeric
+derivatives.
+
+
+Numeric Derivatives
+-------------------
+
+In some cases, its not possible to define a templated cost functor,
+for example when the evaluation of the residual involves a call to a
+library function that you do not have control over. In such a
+situation, numerical differentiation can be used. The user defines a
+functor which computes the residual value and construct a
+:class:`NumericDiffCostFunction` using it. e.g., for :math:`f(x) = 10 - x`
+the corresponding functor would be
+
+.. code-block:: c++
+
+ struct NumericDiffCostFunctor {
+ bool operator()(const double* const x, double* residual) const {
+ residual[0] = 10.0 - x[0];
+ return true;
+ }
+ };
+
+Which is added to the :class:`Problem` as:
+
+.. code-block:: c++
+
+ CostFunction* cost_function =
+ new NumericDiffCostFunction<NumericDiffCostFunctor, ceres::CENTRAL, 1, 1>(
+ new NumericDiffCostFunctor);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+Notice the parallel from when we were using automatic differentiation
+
+.. code-block:: c++
+
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+The construction looks almost identical to the one used for automatic
+differentiation, except for an extra template parameter that indicates
+the kind of finite differencing scheme to be used for computing the
+numerical derivatives [#f3]_. For more details see the documentation
+for :class:`NumericDiffCostFunction`.
+
+**Generally speaking we recommend automatic differentiation instead of
+numeric differentiation. The use of C++ templates makes automatic
+differentiation efficient, whereas numeric differentiation is
+expensive, prone to numeric errors, and leads to slower convergence.**
+
+
+Analytic Derivatives
+--------------------
+
+In some cases, using automatic differentiation is not possible. For
+example, it may be the case that it is more efficient to compute the
+derivatives in closed form instead of relying on the chain rule used
+by the automatic differentiation code.
+
+In such cases, it is possible to supply your own residual and jacobian
+computation code. To do this, define a subclass of
+:class:`CostFunction` or :class:`SizedCostFunction` if you know the
+sizes of the parameters and residuals at compile time. Here for
+example is ``SimpleCostFunction`` that implements :math:`f(x) = 10 -
+x`.
+
+.. code-block:: c++
+
+ class QuadraticCostFunction : public ceres::SizedCostFunction<1, 1> {
+ public:
+ virtual ~QuadraticCostFunction() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double x = parameters[0][0];
+ residuals[0] = 10 - x;
+
+ // Compute the Jacobian if asked for.
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = -1;
+ }
+ return true;
+ }
+ };
+
+
+``SimpleCostFunction::Evaluate`` is provided with an input array of
+``parameters``, an output array ``residuals`` for residuals and an
+output array ``jacobians`` for Jacobians. The ``jacobians`` array is
+optional, ``Evaluate`` is expected to check when it is non-null, and
+if it is the case then fill it with the values of the derivative of
+the residual function. In this case since the residual function is
+linear, the Jacobian is constant [#f4]_ .
+
+As can be seen from the above code fragments, implementing
+:class:`CostFunction` objects is a bit tedious. We recommend that
+unless you have a good reason to manage the jacobian computation
+yourself, you use :class:`AutoDiffCostFunction` or
+:class:`NumericDiffCostFunction` to construct your residual blocks.
+
+More About Derivatives
+----------------------
+
+Computing derivatives is by far the most complicated part of using
+Ceres, and depending on the circumstance the user may need more
+sophisticated ways of computing derivatives. This section just
+scratches the surface of how derivatives can be supplied to
+Ceres. Once you are comfortable with using
+:class:`NumericDiffCostFunction` and :class:`AutoDiffCostFunction` we
+recommend taking a look at :class:`DynamicAutoDiffCostFunction`,
+:class:`CostFunctionToFunctor`, :class:`NumericDiffFunctor` and
+:class:`ConditionedCostFunction` for more advanced ways of
+constructing and computing cost functions.
+
+.. rubric:: Footnotes
+
+.. [#f3] `examples/helloworld_numeric_diff.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld_numeric_diff.cc>`_.
+.. [#f4] `examples/helloworld_analytic_diff.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld_analytic_diff.cc>`_.
+
+
+.. _section-powell:
+
+Powell's Function
+=================
+
+Consider now a slightly more complicated example -- the minimization
+of Powell's function. Let :math:`x = \left[x_1, x_2, x_3, x_4 \right]`
+and
+
+.. math::
+
+ \begin{align}
+ f_1(x) &= x_1 + 10x_2 \\
+ f_2(x) &= \sqrt{5} (x_3 - x_4)\\
+ f_3(x) &= (x_2 - 2x_3)^2\\
+ f_4(x) &= \sqrt{10} (x_1 - x_4)^2\\
+ F(x) &= \left[f_1(x),\ f_2(x),\ f_3(x),\ f_4(x) \right]
+ \end{align}
+
+
+:math:`F(x)` is a function of four parameters, has four residuals
+and we wish to find :math:`x` such that :math:`\frac{1}{2}\|F(x)\|^2`
+is minimized.
+
+Again, the first step is to define functors that evaluate of the terms
+in the objective functor. Here is the code for evaluating
+:math:`f_4(x_1, x_4)`:
+
+.. code-block:: c++
+
+ struct F4 {
+ template <typename T>
+ bool operator()(const T* const x1, const T* const x4, T* residual) const {
+ residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+ };
+
+
+Similarly, we can define classes ``F1``, ``F2`` and ``F3`` to evaluate
+:math:`f_1(x_1, x_2)`, :math:`f_2(x_3, x_4)` and :math:`f_3(x_2, x_3)`
+respectively. Using these, the problem can be constructed as follows:
+
+
+.. code-block:: c++
+
+ double x1 = 3.0; double x2 = -1.0; double x3 = 0.0; double x4 = 1.0;
+
+ Problem problem;
+
+ // Add residual terms to the problem using the using the autodiff
+ // wrapper to get the derivatives automatically.
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x1, &x2);
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x3, &x4);
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x2, &x3)
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x1, &x4);
+
+
+Note that each ``ResidualBlock`` only depends on the two parameters
+that the corresponding residual object depends on and not on all four
+parameters. Compiling and running `examples/powell.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_
+gives us:
+
+.. code-block:: bash
+
+ Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 4.95e-04 2.30e-03
+ 1 5.036190e+00 1.02e+02 2.00e+01 2.16e+00 9.53e-01 3.00e+04 1 4.39e-05 2.40e-03
+ 2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 9.06e-06 2.43e-03
+ 3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 8.11e-06 2.45e-03
+ 4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 6.91e-06 2.48e-03
+ 5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 7.87e-06 2.50e-03
+ 6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 5.96e-06 2.52e-03
+ 7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 5.96e-06 2.55e-03
+ 8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 5.96e-06 2.57e-03
+ 9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 7.87e-06 2.60e-03
+ 10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 6.20e-06 2.63e-03
+ 11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 6.91e-06 2.65e-03
+ 12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 5.96e-06 2.67e-03
+ 13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 7.15e-06 2.69e-03
+
+ Ceres Solver v1.12.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 4 4
+ Parameters 4 4
+ Residual blocks 4 4
+ Residual 4 4
+
+ Minimizer TRUST_REGION
+
+ Dense linear algebra library EIGEN
+ Trust region strategy LEVENBERG_MARQUARDT
+
+ Given Used
+ Linear solver DENSE_QR DENSE_QR
+ Threads 1 1
+ Linear solver threads 1 1
+
+ Cost:
+ Initial 1.075000e+02
+ Final 1.791438e-14
+ Change 1.075000e+02
+
+ Minimizer iterations 14
+ Successful steps 14
+ Unsuccessful steps 0
+
+ Time (in seconds):
+ Preprocessor 0.002
+
+ Residual evaluation 0.000
+ Jacobian evaluation 0.000
+ Linear solver 0.000
+ Minimizer 0.001
+
+ Postprocessor 0.000
+ Total 0.005
+
+ Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
+
+ Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
+
+It is easy to see that the optimal solution to this problem is at
+:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
+:math:`0`. In 10 iterations, Ceres finds a solution with an objective
+function value of :math:`4\times 10^{-12}`.
+
+.. rubric:: Footnotes
+
+.. [#f5] `examples/powell.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_.
+
+
+.. _section-fitting:
+
+Curve Fitting
+=============
+
+The examples we have seen until now are simple optimization problems
+with no data. The original purpose of least squares and non-linear
+least squares analysis was fitting curves to data. It is only
+appropriate that we now consider an example of such a problem
+[#f6]_. It contains data generated by sampling the curve :math:`y =
+e^{0.3x + 0.1}` and adding Gaussian noise with standard deviation
+:math:`\sigma = 0.2`. Let us fit some data to the curve
+
+.. math:: y = e^{mx + c}.
+
+We begin by defining a templated object to evaluate the
+residual. There will be a residual for each observation.
+
+.. code-block:: c++
+
+ struct ExponentialResidual {
+ ExponentialResidual(double x, double y)
+ : x_(x), y_(y) {}
+
+ template <typename T>
+ bool operator()(const T* const m, const T* const c, T* residual) const {
+ residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]);
+ return true;
+ }
+
+ private:
+ // Observations for a sample.
+ const double x_;
+ const double y_;
+ };
+
+Assuming the observations are in a :math:`2n` sized array called
+``data`` the problem construction is a simple matter of creating a
+:class:`CostFunction` for every observation.
+
+
+.. code-block:: c++
+
+ double m = 0.0;
+ double c = 0.0;
+
+ Problem problem;
+ for (int i = 0; i < kNumObservations; ++i) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+ new ExponentialResidual(data[2 * i], data[2 * i + 1]));
+ problem.AddResidualBlock(cost_function, NULL, &m, &c);
+ }
+
+Compiling and running `examples/curve_fitting.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/curve_fitting.cc>`_
+gives us:
+
+.. code-block:: bash
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 1.211734e+02 0.00e+00 3.61e+02 0.00e+00 0.00e+00 1.00e+04 0 5.34e-04 2.56e-03
+ 1 1.211734e+02 -2.21e+03 0.00e+00 7.52e-01 -1.87e+01 5.00e+03 1 4.29e-05 3.25e-03
+ 2 1.211734e+02 -2.21e+03 0.00e+00 7.51e-01 -1.86e+01 1.25e+03 1 1.10e-05 3.28e-03
+ 3 1.211734e+02 -2.19e+03 0.00e+00 7.48e-01 -1.85e+01 1.56e+02 1 1.41e-05 3.31e-03
+ 4 1.211734e+02 -2.02e+03 0.00e+00 7.22e-01 -1.70e+01 9.77e+00 1 1.00e-05 3.34e-03
+ 5 1.211734e+02 -7.34e+02 0.00e+00 5.78e-01 -6.32e+00 3.05e-01 1 1.00e-05 3.36e-03
+ 6 3.306595e+01 8.81e+01 4.10e+02 3.18e-01 1.37e+00 9.16e-01 1 2.79e-05 3.41e-03
+ 7 6.426770e+00 2.66e+01 1.81e+02 1.29e-01 1.10e+00 2.75e+00 1 2.10e-05 3.45e-03
+ 8 3.344546e+00 3.08e+00 5.51e+01 3.05e-02 1.03e+00 8.24e+00 1 2.10e-05 3.48e-03
+ 9 1.987485e+00 1.36e+00 2.33e+01 8.87e-02 9.94e-01 2.47e+01 1 2.10e-05 3.52e-03
+ 10 1.211585e+00 7.76e-01 8.22e+00 1.05e-01 9.89e-01 7.42e+01 1 2.10e-05 3.56e-03
+ 11 1.063265e+00 1.48e-01 1.44e+00 6.06e-02 9.97e-01 2.22e+02 1 2.60e-05 3.61e-03
+ 12 1.056795e+00 6.47e-03 1.18e-01 1.47e-02 1.00e+00 6.67e+02 1 2.10e-05 3.64e-03
+ 13 1.056751e+00 4.39e-05 3.79e-03 1.28e-03 1.00e+00 2.00e+03 1 2.10e-05 3.68e-03
+ Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE
+ Initial m: 0 c: 0
+ Final m: 0.291861 c: 0.131439
+
+Starting from parameter values :math:`m = 0, c=0` with an initial
+objective function value of :math:`121.173` Ceres finds a solution
+:math:`m= 0.291861, c = 0.131439` with an objective function value of
+:math:`1.05675`. These values are a bit different than the
+parameters of the original model :math:`m=0.3, c= 0.1`, but this is
+expected. When reconstructing a curve from noisy data, we expect to
+see such deviations. Indeed, if you were to evaluate the objective
+function for :math:`m=0.3, c=0.1`, the fit is worse with an objective
+function value of :math:`1.082425`. The figure below illustrates the fit.
+
+.. figure:: least_squares_fit.png
+ :figwidth: 500px
+ :height: 400px
+ :align: center
+
+ Least squares curve fitting.
+
+
+.. rubric:: Footnotes
+
+.. [#f6] `examples/curve_fitting.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/curve_fitting.cc>`_
+
+
+Robust Curve Fitting
+=====================
+
+Now suppose the data we are given has some outliers, i.e., we have
+some points that do not obey the noise model. If we were to use the
+code above to fit such data, we would get a fit that looks as
+below. Notice how the fitted curve deviates from the ground truth.
+
+.. figure:: non_robust_least_squares_fit.png
+ :figwidth: 500px
+ :height: 400px
+ :align: center
+
+To deal with outliers, a standard technique is to use a
+:class:`LossFunction`. Loss functions reduce the influence of
+residual blocks with high residuals, usually the ones corresponding to
+outliers. To associate a loss function with a residual block, we change
+
+.. code-block:: c++
+
+ problem.AddResidualBlock(cost_function, NULL , &m, &c);
+
+to
+
+.. code-block:: c++
+
+ problem.AddResidualBlock(cost_function, new CauchyLoss(0.5) , &m, &c);
+
+:class:`CauchyLoss` is one of the loss functions that ships with Ceres
+Solver. The argument :math:`0.5` specifies the scale of the loss
+function. As a result, we get the fit below [#f7]_. Notice how the
+fitted curve moves back closer to the ground truth curve.
+
+.. figure:: robust_least_squares_fit.png
+ :figwidth: 500px
+ :height: 400px
+ :align: center
+
+ Using :class:`LossFunction` to reduce the effect of outliers on a
+ least squares fit.
+
+
+.. rubric:: Footnotes
+
+.. [#f7] `examples/robust_curve_fitting.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/robust_curve_fitting.cc>`_
+
+
+Bundle Adjustment
+=================
+
+One of the main reasons for writing Ceres was our need to solve large
+scale bundle adjustment problems [HartleyZisserman]_, [Triggs]_.
+
+Given a set of measured image feature locations and correspondences,
+the goal of bundle adjustment is to find 3D point positions and camera
+parameters that minimize the reprojection error. This optimization
+problem is usually formulated as a non-linear least squares problem,
+where the error is the squared :math:`L_2` norm of the difference between
+the observed feature location and the projection of the corresponding
+3D point on the image plane of the camera. Ceres has extensive support
+for solving bundle adjustment problems.
+
+Let us solve a problem from the `BAL
+<http://grail.cs.washington.edu/projects/bal/>`_ dataset [#f8]_.
+
+The first step as usual is to define a templated functor that computes
+the reprojection error/residual. The structure of the functor is
+similar to the ``ExponentialResidual``, in that there is an
+instance of this object responsible for each image observation.
+
+Each residual in a BAL problem depends on a three dimensional point
+and a nine parameter camera. The nine parameters defining the camera
+are: three for rotation as a Rodriques' axis-angle vector, three
+for translation, one for focal length and two for radial distortion.
+The details of this camera model can be found the `Bundler homepage
+<http://phototour.cs.washington.edu/bundler/>`_ and the `BAL homepage
+<http://grail.cs.washington.edu/projects/bal/>`_.
+
+.. code-block:: c++
+
+ struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ ceres::AngleAxisRotatePoint(camera, point, p);
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3]; p[1] += camera[4]; p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ const T& focal = camera[6];
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - T(observed_x);
+ residuals[1] = predicted_y - T(observed_y);
+ return true;
+ }
+
+ // Factory to hide the construction of the CostFunction object from
+ // the client code.
+ static ceres::CostFunction* Create(const double observed_x,
+ const double observed_y) {
+ return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(observed_x, observed_y)));
+ }
+
+ double observed_x;
+ double observed_y;
+ };
+
+
+Note that unlike the examples before, this is a non-trivial function
+and computing its analytic Jacobian is a bit of a pain. Automatic
+differentiation makes life much simpler. The function
+:func:`AngleAxisRotatePoint` and other functions for manipulating
+rotations can be found in ``include/ceres/rotation.h``.
+
+Given this functor, the bundle adjustment problem can be constructed
+as follows:
+
+.. code-block:: c++
+
+ ceres::Problem problem;
+ for (int i = 0; i < bal_problem.num_observations(); ++i) {
+ ceres::CostFunction* cost_function =
+ SnavelyReprojectionError::Create(
+ bal_problem.observations()[2 * i + 0],
+ bal_problem.observations()[2 * i + 1]);
+ problem.AddResidualBlock(cost_function,
+ NULL /* squared loss */,
+ bal_problem.mutable_camera_for_observation(i),
+ bal_problem.mutable_point_for_observation(i));
+ }
+
+
+Notice that the problem construction for bundle adjustment is very
+similar to the curve fitting example -- one term is added to the
+objective function per observation.
+
+Since this is a large sparse problem (well large for ``DENSE_QR``
+anyways), one way to solve this problem is to set
+:member:`Solver::Options::linear_solver_type` to
+``SPARSE_NORMAL_CHOLESKY`` and call :member:`Solve`. And while this is
+a reasonable thing to do, bundle adjustment problems have a special
+sparsity structure that can be exploited to solve them much more
+efficiently. Ceres provides three specialized solvers (collectively
+known as Schur-based solvers) for this task. The example code uses the
+simplest of them ``DENSE_SCHUR``.
+
+.. code-block:: c++
+
+ ceres::Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.minimizer_progress_to_stdout = true;
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+
+For a more sophisticated bundle adjustment example which demonstrates
+the use of Ceres' more advanced features including its various linear
+solvers, robust loss functions and local parameterizations see
+`examples/bundle_adjuster.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/bundle_adjuster.cc>`_
+
+
+.. rubric:: Footnotes
+
+.. [#f8] `examples/simple_bundle_adjuster.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/simple_bundle_adjuster.cc>`_
+
+Other Examples
+==============
+
+Besides the examples in this chapter, the `example
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/>`_
+directory contains a number of other examples:
+
+#. `bundle_adjuster.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/bundle_adjuster.cc>`_
+ shows how to use the various features of Ceres to solve bundle
+ adjustment problems.
+
+#. `circle_fit.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/circle_fit.cc>`_
+ shows how to fit data to a circle.
+
+#. `ellipse_approximation.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/ellipse_approximation.cc>`_
+ fits points randomly distributed on an ellipse with an approximate
+ line segment contour. This is done by jointly optimizing the
+ control points of the line segment contour along with the preimage
+ positions for the data points. The purpose of this example is to
+ show an example use case for ``Solver::Options::dynamic_sparsity``,
+ and how it can benefit problems which are numerically dense but
+ dynamically sparse.
+
+#. `denoising.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/denoising.cc>`_
+ implements image denoising using the `Fields of Experts
+ <http://www.gris.informatik.tu-darmstadt.de/~sroth/research/foe/index.html>`_
+ model.
+
+#. `nist.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/nist.cc>`_
+ implements and attempts to solves the `NIST
+ <http://www.itl.nist.gov/div898/strd/nls/nls_main.shtm>`_
+ non-linear regression problems.
+
+#. `more_garbow_hillstrom.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/more_garbow_hillstrom.cc>`_
+ A subset of the test problems from the paper
+
+ Testing Unconstrained Optimization Software
+ Jorge J. More, Burton S. Garbow and Kenneth E. Hillstrom
+ ACM Transactions on Mathematical Software, 7(1), pp. 17-41, 1981
+
+ which were augmented with bounds and used for testing bounds
+ constrained optimization algorithms by
+
+ A Trust Region Approach to Linearly Constrained Optimization
+ David M. Gay
+ Numerical Analysis (Griffiths, D.F., ed.), pp. 72-105
+ Lecture Notes in Mathematics 1066, Springer Verlag, 1984.
+
+
+#. `libmv_bundle_adjuster.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/libmv_bundle_adjuster.cc>`_
+ is the bundle adjustment algorithm used by `Blender <www.blender.org>`_/libmv.
+
+#. `libmv_homography.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/libmv_homography.cc>`_
+ This file demonstrates solving for a homography between two sets of
+ points and using a custom exit criterion by having a callback check
+ for image-space error.
+
+#. `robot_pose_mle.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/robot_pose_mle.cc>`_
+ This example demonstrates how to use the ``DynamicAutoDiffCostFunction``
+ variant of CostFunction. The ``DynamicAutoDiffCostFunction`` is meant to
+ be used in cases where the number of parameter blocks or the sizes are not
+ known at compile time.
+
+ This example simulates a robot traversing down a 1-dimension hallway with
+ noise odometry readings and noisy range readings of the end of the hallway.
+ By fusing the noisy odometry and sensor readings this example demonstrates
+ how to compute the maximum likelihood estimate (MLE) of the robot's pose at
+ each timestep.
+
+#. `slam/pose_graph_2d/pose_graph_2d.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/slam/pose_graph_2d/pose_graph_2d.cc>`_
+ The Simultaneous Localization and Mapping (SLAM) problem consists of building
+ a map of an unknown environment while simultaneously localizing against this
+ map. The main difficulty of this problem stems from not having any additional
+ external aiding information such as GPS. SLAM has been considered one of the
+ fundamental challenges of robotics. There are many resources on SLAM
+ [#f9]_. A pose graph optimization problem is one example of a SLAM
+ problem. The following explains how to formulate the pose graph based SLAM
+ problem in 2-Dimensions with relative pose constraints.
+
+ Consider a robot moving in a 2-Dimensional plane. The robot has access to a
+ set of sensors such as wheel odometry or a laser range scanner. From these
+ raw measurements, we want to estimate the trajectory of the robot as well as
+ build a map of the environment. In order to reduce the computational
+ complexity of the problem, the pose graph approach abstracts the raw
+ measurements away. Specifically, it creates a graph of nodes which represent
+ the pose of the robot, and edges which represent the relative transformation
+ (delta position and orientation) between the two nodes. The edges are virtual
+ measurements derived from the raw sensor measurements, e.g. by integrating
+ the raw wheel odometry or aligning the laser range scans acquired from the
+ robot. A visualization of the resulting graph is shown below.
+
+ .. figure:: slam2d.png
+ :figwidth: 500px
+ :height: 400px
+ :align: center
+
+ Visual representation of a graph SLAM problem.
+
+ The figure depicts the pose of the robot as the triangles, the measurements
+ are indicated by the connecting lines, and the loop closure measurements are
+ shown as dotted lines. Loop closures are measurements between non-sequential
+ robot states and they reduce the accumulation of error over time. The
+ following will describe the mathematical formulation of the pose graph
+ problem.
+
+ The robot at timestamp :math:`t` has state :math:`x_t = [p^T, \psi]^T` where
+ :math:`p` is a 2D vector that represents the position in the plane and
+ :math:`\psi` is the orientation in radians. The measurement of the relative
+ transform between the robot state at two timestamps :math:`a` and :math:`b`
+ is given as: :math:`z_{ab} = [\hat{p}_{ab}^T, \hat{\psi}_{ab}]`. The residual
+ implemented in the Ceres cost function which computes the error between the
+ measurement and the predicted measurement is:
+
+ .. math:: r_{ab} =
+ \left[
+ \begin{array}{c}
+ R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
+ \mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
+ \end{array}
+ \right]
+
+ where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range
+ :math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by
+
+ .. math:: R_a =
+ \left[
+ \begin{array}{cc}
+ \cos \psi_a & -\sin \psi_a \\
+ \sin \psi_a & \cos \psi_a \\
+ \end{array}
+ \right]
+
+ To finish the cost function, we need to weight the residual by the
+ uncertainty of the measurement. Hence, we pre-multiply the residual by the
+ inverse square root of the covariance matrix for the measurement,
+ i.e. :math:`\Sigma_{ab}^{-\frac{1}{2}} r_{ab}` where :math:`\Sigma_{ab}` is
+ the covariance.
+
+ Lastly, we use a local parameterization to normalize the orientation in the
+ range which is normalized between :math:`[-\pi,\pi)`. Specially, we define
+ the :member:`AngleLocalParameterization::operator()` function to be:
+ :math:`\mathrm{Normalize}(\psi + \delta \psi)`.
+
+ This package includes an executable :member:`pose_graph_2d` that will read a
+ problem definition file. This executable can work with any 2D problem
+ definition that uses the g2o format. It would be relatively straightforward
+ to implement a new reader for a different format such as TORO or
+ others. :member:`pose_graph_2d` will print the Ceres solver full summary and
+ then output to disk the original and optimized poses (``poses_original.txt``
+ and ``poses_optimized.txt``, respectively) of the robot in the following
+ format:
+
+ .. code-block:: bash
+
+ pose_id x y yaw_radians
+ pose_id x y yaw_radians
+ pose_id x y yaw_radians
+
+ where ``pose_id`` is the corresponding integer ID from the file
+ definition. Note, the file will be sorted in ascending order for the
+ ``pose_id``.
+
+ The executable :member:`pose_graph_2d` expects the first argument to be
+ the path to the problem definition. To run the executable,
+
+ .. code-block:: bash
+
+ /path/to/bin/pose_graph_2d /path/to/dataset/dataset.g2o
+
+ A python script is provided to visualize the resulting output files.
+
+ .. code-block:: bash
+
+ /path/to/repo/examples/slam/pose_graph_2d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+
+ As an example, a standard synthetic benchmark dataset [#f10]_ created by
+ Edwin Olson which has 3500 nodes in a grid world with a total of 5598 edges
+ was solved. Visualizing the results with the provided script produces:
+
+ .. figure:: manhattan_olson_3500_result.png
+ :figwidth: 600px
+ :height: 600px
+ :align: center
+
+ with the original poses in green and the optimized poses in blue. As shown,
+ the optimized poses more closely match the underlying grid world. Note, the
+ left side of the graph has a small yaw drift due to a lack of relative
+ constraints to provide enough information to reconstruct the trajectory.
+
+ .. rubric:: Footnotes
+
+ .. [#f9] Giorgio Grisetti, Rainer Kummerle, Cyrill Stachniss, Wolfram
+ Burgard. A Tutorial on Graph-Based SLAM. IEEE Intelligent Transportation
+ Systems Magazine, 52(3):199–222, 2010.
+
+ .. [#f10] E. Olson, J. Leonard, and S. Teller, “Fast iterative optimization of
+ pose graphs with poor initial estimates,” in Robotics and Automation
+ (ICRA), IEEE International Conference on, 2006, pp. 2262–2269.
+
+#. `slam/pose_graph_3d/pose_graph_3d.cc
+ <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/slam/pose_graph_3d/pose_graph_3d.cc>`_
+ The following explains how to formulate the pose graph based SLAM problem in
+ 3-Dimensions with relative pose constraints. The example also illustrates how
+ to use Eigen's geometry module with Ceres's automatic differentiation
+ functionality.
+
+ The robot at timestamp :math:`t` has state :math:`x_t = [p^T, q^T]^T` where
+ :math:`p` is a 3D vector that represents the position and :math:`q` is the
+ orientation represented as an Eigen quaternion. The measurement of the
+ relative transform between the robot state at two timestamps :math:`a` and
+ :math:`b` is given as: :math:`z_{ab} = [\hat{p}_{ab}^T, \hat{q}_{ab}^T]^T`.
+ The residual implemented in the Ceres cost function which computes the error
+ between the measurement and the predicted measurement is:
+
+ .. math:: r_{ab} =
+ \left[
+ \begin{array}{c}
+ R(q_a)^{T} (p_b - p_a) - \hat{p}_{ab} \\
+ 2.0 \mathrm{vec}\left((q_a^{-1} q_b) \hat{q}_{ab}^{-1}\right)
+ \end{array}
+ \right]
+
+ where the function :math:`\mathrm{vec}()` returns the vector part of the
+ quaternion, i.e. :math:`[q_x, q_y, q_z]`, and :math:`R(q)` is the rotation
+ matrix for the quaternion.
+
+ To finish the cost function, we need to weight the residual by the
+ uncertainty of the measurement. Hence, we pre-multiply the residual by the
+ inverse square root of the covariance matrix for the measurement,
+ i.e. :math:`\Sigma_{ab}^{-\frac{1}{2}} r_{ab}` where :math:`\Sigma_{ab}` is
+ the covariance.
+
+ Given that we are using a quaternion to represent the orientation, we need to
+ use a local parameterization (:class:`EigenQuaternionParameterization`) to
+ only apply updates orthogonal to the 4-vector defining the
+ quaternion. Eigen's quaternion uses a different internal memory layout for
+ the elements of the quaternion than what is commonly used. Specifically,
+ Eigen stores the elements in memory as :math:`[x, y, z, w]` where the real
+ part is last whereas it is typically stored first. Note, when creating an
+ Eigen quaternion through the constructor the elements are accepted in
+ :math:`w`, :math:`x`, :math:`y`, :math:`z` order. Since Ceres operates on
+ parameter blocks which are raw double pointers this difference is important
+ and requires a different parameterization.
+
+ This package includes an executable :member:`pose_graph_3d` that will read a
+ problem definition file. This executable can work with any 3D problem
+ definition that uses the g2o format with quaternions used for the orientation
+ representation. It would be relatively straightforward to implement a new
+ reader for a different format such as TORO or others. :member:`pose_graph_3d`
+ will print the Ceres solver full summary and then output to disk the original
+ and optimized poses (``poses_original.txt`` and ``poses_optimized.txt``,
+ respectively) of the robot in the following format:
+
+ .. code-block:: bash
+
+ pose_id x y z q_x q_y q_z q_w
+ pose_id x y z q_x q_y q_z q_w
+ pose_id x y z q_x q_y q_z q_w
+ ...
+
+ where ``pose_id`` is the corresponding integer ID from the file
+ definition. Note, the file will be sorted in ascending order for the
+ ``pose_id``.
+
+ The executable :member:`pose_graph_3d` expects the first argument to be the
+ path to the problem definition. The executable can be run via
+
+ .. code-block:: bash
+
+ /path/to/bin/pose_graph_3d /path/to/dataset/dataset.g2o
+
+ A script is provided to visualize the resulting output files. There is also
+ an option to enable equal axes using ``--axes_equal``
+
+ .. code-block:: bash
+
+ /path/to/repo/examples/slam/pose_graph_3d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+
+ As an example, a standard synthetic benchmark dataset [#f9]_ where the robot is
+ traveling on the surface of a sphere which has 2500 nodes with a total of
+ 4949 edges was solved. Visualizing the results with the provided script
+ produces:
+
+ .. figure:: pose_graph_3d_ex.png
+ :figwidth: 600px
+ :height: 300px
+ :align: center
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-numerical_derivatives:
+
+===================
+Numeric derivatives
+===================
+
+The other extreme from using analytic derivatives is to use numeric
+derivatives. The key observation here is that the process of
+differentiating a function :math:`f(x)` w.r.t :math:`x` can be written
+as the limiting process:
+
+.. math::
+ Df(x) = \lim_{h \rightarrow 0} \frac{f(x + h) - f(x)}{h}
+
+
+Forward Differences
+===================
+
+Now of course one cannot perform the limiting operation numerically on
+a computer so we do the next best thing, which is to choose a small
+value of :math:`h` and approximate the derivative as
+
+.. math::
+ Df(x) \approx \frac{f(x + h) - f(x)}{h}
+
+
+The above formula is the simplest most basic form of numeric
+differentiation. It is known as the *Forward Difference* formula.
+
+So how would one go about constructing a numerically differentiated
+version of ``Rat43Analytic`` (`Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_) in
+Ceres Solver. This is done in two steps:
+
+ 1. Define *Functor* that given the parameter values will evaluate the
+ residual for a given :math:`(x,y)`.
+ 2. Construct a :class:`CostFunction` by using
+ :class:`NumericDiffCostFunction` to wrap an instance of
+ ``Rat43CostFunctor``.
+
+.. code-block:: c++
+
+ struct Rat43CostFunctor {
+ Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
+
+ bool operator()(const double* parameters, double* residuals) const {
+ const double b1 = parameters[0];
+ const double b2 = parameters[1];
+ const double b3 = parameters[2];
+ const double b4 = parameters[3];
+ residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
+ return true;
+ }
+
+ const double x_;
+ const double y_;
+ }
+
+ CostFunction* cost_function =
+ new NumericDiffCostFunction<Rat43CostFunctor, FORWARD, 1, 4>(
+ new Rat43CostFunctor(x, y));
+
+This is about the minimum amount of work one can expect to do to
+define the cost function. The only thing that the user needs to do is
+to make sure that the evaluation of the residual is implemented
+correctly and efficiently.
+
+Before going further, it is instructive to get an estimate of the
+error in the forward difference formula. We do this by considering the
+`Taylor expansion <https://en.wikipedia.org/wiki/Taylor_series>`_ of
+:math:`f` near :math:`x`.
+
+.. math::
+ \begin{align}
+ f(x+h) &= f(x) + h Df(x) + \frac{h^2}{2!} D^2f(x) +
+ \frac{h^3}{3!}D^3f(x) + \cdots \\
+ Df(x) &= \frac{f(x + h) - f(x)}{h} - \left [\frac{h}{2!}D^2f(x) +
+ \frac{h^2}{3!}D^3f(x) + \cdots \right]\\
+ Df(x) &= \frac{f(x + h) - f(x)}{h} + O(h)
+ \end{align}
+
+i.e., the error in the forward difference formula is
+:math:`O(h)` [#f4]_.
+
+
+Implementation Details
+----------------------
+
+:class:`NumericDiffCostFunction` implements a generic algorithm to
+numerically differentiate a given functor. While the actual
+implementation of :class:`NumericDiffCostFunction` is complicated, the
+net result is a :class:`CostFunction` that roughly looks something
+like the following:
+
+.. code-block:: c++
+
+ class Rat43NumericDiffForward : public SizedCostFunction<1,4> {
+ public:
+ Rat43NumericDiffForward(const Rat43Functor* functor) : functor_(functor) {}
+ virtual ~Rat43NumericDiffForward() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ functor_(parameters[0], residuals);
+ if (!jacobians) return true;
+ double* jacobian = jacobians[0];
+ if (!jacobian) return true;
+
+ const double f = residuals[0];
+ double parameters_plus_h[4];
+ for (int i = 0; i < 4; ++i) {
+ std::copy(parameters, parameters + 4, parameters_plus_h);
+ const double kRelativeStepSize = 1e-6;
+ const double h = std::abs(parameters[i]) * kRelativeStepSize;
+ parameters_plus_h[i] += h;
+ double f_plus;
+ functor_(parameters_plus_h, &f_plus);
+ jacobian[i] = (f_plus - f) / h;
+ }
+ return true;
+ }
+
+ private:
+ scoped_ptr<Rat43Functor> functor_;
+ };
+
+
+Note the choice of step size :math:`h` in the above code, instead of
+an absolute step size which is the same for all parameters, we use a
+relative step size of :math:`\text{kRelativeStepSize} = 10^{-6}`. This
+gives better derivative estimates than an absolute step size [#f2]_
+[#f3]_. This choice of step size only works for parameter values that
+are not close to zero. So the actual implementation of
+:class:`NumericDiffCostFunction`, uses a more complex step size
+selection logic, where close to zero, it switches to a fixed step
+size.
+
+
+Central Differences
+===================
+
+:math:`O(h)` error in the Forward Difference formula is okay but not
+great. A better method is to use the *Central Difference* formula:
+
+.. math::
+ Df(x) \approx \frac{f(x + h) - f(x - h)}{2h}
+
+Notice that if the value of :math:`f(x)` is known, the Forward
+Difference formula only requires one extra evaluation, but the Central
+Difference formula requires two evaluations, making it twice as
+expensive. So is the extra evaluation worth it?
+
+To answer this question, we again compute the error of approximation
+in the central difference formula:
+
+.. math::
+ \begin{align}
+ f(x + h) &= f(x) + h Df(x) + \frac{h^2}{2!}
+ D^2f(x) + \frac{h^3}{3!} D^3f(x) + \frac{h^4}{4!} D^4f(x) + \cdots\\
+ f(x - h) &= f(x) - h Df(x) + \frac{h^2}{2!}
+ D^2f(x) - \frac{h^3}{3!} D^3f(c_2) + \frac{h^4}{4!} D^4f(x) +
+ \cdots\\
+ Df(x) & = \frac{f(x + h) - f(x - h)}{2h} + \frac{h^2}{3!}
+ D^3f(x) + \frac{h^4}{5!}
+ D^5f(x) + \cdots \\
+ Df(x) & = \frac{f(x + h) - f(x - h)}{2h} + O(h^2)
+ \end{align}
+
+The error of the Central Difference formula is :math:`O(h^2)`, i.e.,
+the error goes down quadratically whereas the error in the Forward
+Difference formula only goes down linearly.
+
+Using central differences instead of forward differences in Ceres
+Solver is a simple matter of changing a template argument to
+:class:`NumericDiffCostFunction` as follows:
+
+.. code-block:: c++
+
+ CostFunction* cost_function =
+ new NumericDiffCostFunction<Rat43CostFunctor, CENTRAL, 1, 4>(
+ new Rat43CostFunctor(x, y));
+
+But what do these differences in the error mean in practice? To see
+this, consider the problem of evaluating the derivative of the
+univariate function
+
+.. math::
+ f(x) = \frac{e^x}{\sin x - x^2},
+
+at :math:`x = 1.0`.
+
+It is easy to determine that :math:`Df(1.0) =
+140.73773557129658`. Using this value as reference, we can now compute
+the relative error in the forward and central difference formulae as a
+function of the absolute step size and plot them.
+
+.. figure:: forward_central_error.png
+ :figwidth: 100%
+ :align: center
+
+Reading the graph from right to left, a number of things stand out in
+the above graph:
+
+ 1. The graph for both formulae have two distinct regions. At first,
+ starting from a large value of :math:`h` the error goes down as
+ the effect of truncating the Taylor series dominates, but as the
+ value of :math:`h` continues to decrease, the error starts
+ increasing again as roundoff error starts to dominate the
+ computation. So we cannot just keep on reducing the value of
+ :math:`h` to get better estimates of :math:`Df`. The fact that we
+ are using finite precision arithmetic becomes a limiting factor.
+ 2. Forward Difference formula is not a great method for evaluating
+ derivatives. Central Difference formula converges much more
+ quickly to a more accurate estimate of the derivative with
+ decreasing step size. So unless the evaluation of :math:`f(x)` is
+ so expensive that you absolutely cannot afford the extra
+ evaluation required by central differences, **do not use the
+ Forward Difference formula**.
+ 3. Neither formula works well for a poorly chosen value of :math:`h`.
+
+
+Ridders' Method
+===============
+
+So, can we get better estimates of :math:`Df` without requiring such
+small values of :math:`h` that we start hitting floating point
+roundoff errors?
+
+One possible approach is to find a method whose error goes down faster
+than :math:`O(h^2)`. This can be done by applying `Richardson
+Extrapolation
+<https://en.wikipedia.org/wiki/Richardson_extrapolation>`_ to the
+problem of differentiation. This is also known as *Ridders' Method*
+[Ridders]_.
+
+Let us recall, the error in the central differences formula.
+
+.. math::
+ \begin{align}
+ Df(x) & = \frac{f(x + h) - f(x - h)}{2h} + \frac{h^2}{3!}
+ D^3f(x) + \frac{h^4}{5!}
+ D^5f(x) + \cdots\\
+ & = \frac{f(x + h) - f(x - h)}{2h} + K_2 h^2 + K_4 h^4 + \cdots
+ \end{align}
+
+The key thing to note here is that the terms :math:`K_2, K_4, ...`
+are indepdendent of :math:`h` and only depend on :math:`x`.
+
+Let us now define:
+
+.. math::
+
+ A(1, m) = \frac{f(x + h/2^{m-1}) - f(x - h/2^{m-1})}{2h/2^{m-1}}.
+
+Then observe that
+
+.. math::
+
+ Df(x) = A(1,1) + K_2 h^2 + K_4 h^4 + \cdots
+
+and
+
+.. math::
+
+ Df(x) = A(1, 2) + K_2 (h/2)^2 + K_4 (h/2)^4 + \cdots
+
+Here we have halved the step size to obtain a second central
+differences estimate of :math:`Df(x)`. Combining these two estimates,
+we get:
+
+.. math::
+
+ Df(x) = \frac{4 A(1, 2) - A(1,1)}{4 - 1} + O(h^4)
+
+which is an approximation of :math:`Df(x)` with truncation error that
+goes down as :math:`O(h^4)`. But we do not have to stop here. We can
+iterate this process to obtain even more accurate estimates as
+follows:
+
+.. math::
+
+ A(n, m) = \begin{cases}
+ \frac{\displaystyle f(x + h/2^{m-1}) - f(x -
+ h/2^{m-1})}{\displaystyle 2h/2^{m-1}} & n = 1 \\
+ \frac{\displaystyle 4^{n-1} A(n - 1, m + 1) - A(n - 1, m)}{\displaystyle 4^{n-1} - 1} & n > 1
+ \end{cases}
+
+It is straightforward to show that the approximation error in
+:math:`A(n, 1)` is :math:`O(h^{2n})`. To see how the above formula can
+be implemented in practice to compute :math:`A(n,1)` it is helpful to
+structure the computation as the following tableau:
+
+.. math::
+ \begin{array}{ccccc}
+ A(1,1) & A(1, 2) & A(1, 3) & A(1, 4) & \cdots\\
+ & A(2, 1) & A(2, 2) & A(2, 3) & \cdots\\
+ & & A(3, 1) & A(3, 2) & \cdots\\
+ & & & A(4, 1) & \cdots \\
+ & & & & \ddots
+ \end{array}
+
+So, to compute :math:`A(n, 1)` for increasing values of :math:`n` we
+move from the left to the right, computing one column at a
+time. Assuming that the primary cost here is the evaluation of the
+function :math:`f(x)`, the cost of computing a new column of the above
+tableau is two function evaluations. Since the cost of evaluating
+:math:`A(1, n)`, requires evaluating the central difference formula
+for step size of :math:`2^{1-n}h`
+
+Applying this method to :math:`f(x) = \frac{e^x}{\sin x - x^2}`
+starting with a fairly large step size :math:`h = 0.01`, we get:
+
+.. math::
+ \begin{array}{rrrrr}
+ 141.678097131 &140.971663667 &140.796145400 &140.752333523 &140.741384778\\
+ &140.736185846 &140.737639311 &140.737729564 &140.737735196\\
+ & &140.737736209 &140.737735581 &140.737735571\\
+ & & &140.737735571 &140.737735571\\
+ & & & &140.737735571\\
+ \end{array}
+
+Compared to the *correct* value :math:`Df(1.0) = 140.73773557129658`,
+:math:`A(5, 1)` has a relative error of :math:`10^{-13}`. For
+comparison, the relative error for the central difference formula with
+the same stepsize (:math:`0.01/2^4 = 0.000625`) is :math:`10^{-5}`.
+
+The above tableau is the basis of Ridders' method for numeric
+differentiation. The full implementation is an adaptive scheme that
+tracks its own estimation error and stops automatically when the
+desired precision is reached. Of course it is more expensive than the
+forward and central difference formulae, but is also significantly
+more robust and accurate.
+
+Using Ridder's method instead of forward or central differences in
+Ceres is again a simple matter of changing a template argument to
+:class:`NumericDiffCostFunction` as follows:
+
+.. code-block:: c++
+
+ CostFunction* cost_function =
+ new NumericDiffCostFunction<Rat43CostFunctor, RIDDERS, 1, 4>(
+ new Rat43CostFunctor(x, y));
+
+The following graph shows the relative error of the three methods as a
+function of the absolute step size. For Ridders's method we assume
+that the step size for evaluating :math:`A(n,1)` is :math:`2^{1-n}h`.
+
+.. figure:: forward_central_ridders_error.png
+ :figwidth: 100%
+ :align: center
+
+Using the 10 function evaluations that are needed to compute
+:math:`A(5,1)` we are able to approximate :math:`Df(1.0)` about a 1000
+times better than the best central differences estimate. To put these
+numbers in perspective, machine epsilon for double precision
+arithmetic is :math:`\approx 2.22 \times 10^{-16}`.
+
+Going back to ``Rat43``, let us also look at the runtime cost of the
+various methods for computing numeric derivatives.
+
+========================== =========
+CostFunction Time (ns)
+========================== =========
+Rat43Analytic 255
+Rat43AnalyticOptimized 92
+Rat43NumericDiffForward 262
+Rat43NumericDiffCentral 517
+Rat43NumericDiffRidders 3760
+========================== =========
+
+As expected, Central Differences is about twice as expensive as
+Forward Differences and the remarkable accuracy improvements of
+Ridders' method cost an order of magnitude more runtime.
+
+Recommendations
+===============
+
+Numeric differentiation should be used when you cannot compute the
+derivatives either analytically or using automatic differention. This
+is usually the case when you are calling an external library or
+function whose analytic form you do not know or even if you do, you
+are not in a position to re-write it in a manner required to use
+:ref:`chapter-automatic_derivatives`.
+
+
+When using numeric differentiation, use at least Central Differences,
+and if execution time is not a concern or the objective function is
+such that determining a good static relative step size is hard,
+Ridders' method is recommended.
+
+.. rubric:: Footnotes
+
+.. [#f2] `Numerical Differentiation
+ <https://en.wikipedia.org/wiki/Numerical_differentiation#Practical_considerations_using_floating_point_arithmetic>`_
+.. [#f3] [Press]_ Numerical Recipes, Section 5.7
+.. [#f4] In asymptotic error analysis, an error of :math:`O(h^k)`
+ means that the absolute-value of the error is at most some
+ constant times :math:`h^k` when :math:`h` is close enough to
+ :math:`0`.
--- /dev/null
+.. _chapter-solving_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+=======
+Solving
+=======
+
+#. How do I evaluate the Jacobian for a solved problem?
+
+ Using :func:`Problem::Evaluate`.
+
+#. How do I choose the right linear solver?
+
+ When using the ``TRUST_REGION`` minimizer, the choice of linear
+ solver is an important decision. It affects solution quality and
+ runtime. Here is a simple way to reason about it.
+
+ 1. For small (a few hundred parameters) or dense problems use
+ ``DENSE_QR``.
+
+ 2. For general sparse problems (i.e., the Jacobian matrix has a
+ substantial number of zeros) use
+ ``SPARSE_NORMAL_CHOLESKY``. This requires that you have
+ ``SuiteSparse`` or ``CXSparse`` installed.
+
+ 3. For bundle adjustment problems with up to a hundred or so
+ cameras, use ``DENSE_SCHUR``.
+
+ 4. For larger bundle adjustment problems with sparse Schur
+ Complement/Reduced camera matrices use ``SPARSE_SCHUR``. This
+ requires that you build Ceres with support for ``SuiteSparse``,
+ ``CXSparse`` or Eigen's sparse linear algebra libraries.
+
+ If you do not have access to these libraries for whatever
+ reason, ``ITERATIVE_SCHUR`` with ``SCHUR_JACOBI`` is an
+ excellent alternative.
+
+ 5. For large bundle adjustment problems (a few thousand cameras or
+ more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
+ preconditioner choices here. ``SCHUR_JACOBI`` offers an
+ excellent balance of speed and accuracy. This is also the
+ recommended option if you are solving medium sized problems for
+ which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
+ available.
+
+ .. NOTE::
+
+ If you are solving small to medium sized problems, consider
+ setting ``Solver::Options::use_explicit_schur_complement`` to
+ ``true``, it can result in a substantial performance boost.
+
+ If you are not satisfied with ``SCHUR_JACOBI``'s performance try
+ ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` in that
+ order. They require that you have ``SuiteSparse``
+ installed. Both of these preconditioners use a clustering
+ algorithm. Use ``SINGLE_LINKAGE`` before ``CANONICAL_VIEWS``.
+
+#. Use :func:`Solver::Summary::FullReport` to diagnose performance problems.
+
+ When diagnosing Ceres performance issues - runtime and convergence,
+ the first place to start is by looking at the output of
+ ``Solver::Summary::FullReport``. Here is an example
+
+ .. code-block:: bash
+
+ ./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 7.50e-02 3.58e-01
+ 1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.84e-01 5.42e-01
+ 2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.53e-01 6.95e-01
+ 3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.71e-01 8.66e-01
+ 4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.61e-01 1.03e+00
+ 5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.49e-01 1.18e+00
+
+ Ceres Solver v1.12.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 22122 22122
+ Parameters 66462 66462
+ Residual blocks 83718 83718
+ Residual 167436 167436
+
+ Minimizer TRUST_REGION
+
+ Sparse linear algebra library SUITE_SPARSE
+ Trust region strategy LEVENBERG_MARQUARDT
+
+ Given Used
+ Linear solver SPARSE_SCHUR SPARSE_SCHUR
+ Threads 1 1
+ Linear solver threads 1 1
+ Linear solver ordering AUTOMATIC 22106, 16
+
+ Cost:
+ Initial 4.185660e+06
+ Final 1.803391e+04
+ Change 4.167626e+06
+
+ Minimizer iterations 5
+ Successful steps 5
+ Unsuccessful steps 0
+
+ Time (in seconds):
+ Preprocessor 0.283
+
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
+
+ Postprocessor 0.002
+ Total 1.220
+
+ Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
+
+ Let us focus on run-time performance. The relevant lines to look at
+ are
+
+
+ .. code-block:: bash
+
+ Time (in seconds):
+ Preprocessor 0.283
+
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
+
+ Postprocessor 0.002
+ Total 1.220
+
+
+ Which tell us that of the total 1.2 seconds, about .3 seconds was
+ spent in the linear solver and the rest was mostly spent in
+ preprocessing and jacobian evaluation.
+
+ The preprocessing seems particularly expensive. Looking back at the
+ report, we observe
+
+ .. code-block:: bash
+
+ Linear solver ordering AUTOMATIC 22106, 16
+
+ Which indicates that we are using automatic ordering for the
+ ``SPARSE_SCHUR`` solver. This can be expensive at times. A straight
+ forward way to deal with this is to give the ordering manually. For
+ ``bundle_adjuster`` this can be done by passing the flag
+ ``-ordering=user``. Doing so and looking at the timing block of the
+ full report gives us
+
+ .. code-block:: bash
+
+ Time (in seconds):
+ Preprocessor 0.051
+
+ Residual evaluation 0.053
+ Jacobian evaluation 0.344
+ Linear solver 0.372
+ Minimizer 0.854
+
+ Postprocessor 0.002
+ Total 0.935
+
+
+
+ The preprocessor time has gone down by more than 5.5x!.
--- /dev/null
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-spivak_notation:
+
+===============
+Spivak Notation
+===============
+
+To preserve our collective sanities, we will use Spivak's notation for
+derivatives. It is a functional notation that makes reading and
+reasoning about expressions involving derivatives simple.
+
+For a univariate function :math:`f`, :math:`f(a)` denotes its value at
+:math:`a`. :math:`Df` denotes its first derivative, and
+:math:`Df(a)` is the derivative evaluated at :math:`a`, i.e
+
+.. math::
+ Df(a) = \left . \frac{d}{dx} f(x) \right |_{x = a}
+
+:math:`D^kf` denotes the :math:`k^{\text{th}}` derivative of :math:`f`.
+
+For a bi-variate function :math:`g(x,y)`. :math:`D_1g` and
+:math:`D_2g` denote the partial derivatives of :math:`g` w.r.t the
+first and second variable respectively. In the classical notation this
+is equivalent to saying:
+
+.. math::
+
+ D_1 g = \frac{\partial}{\partial x}g(x,y) \text{ and } D_2 g = \frac{\partial}{\partial y}g(x,y).
+
+
+:math:`Dg` denotes the Jacobian of `g`, i.e.,
+
+.. math::
+
+ Dg = \begin{bmatrix} D_1g & D_2g \end{bmatrix}
+
+More generally for a multivariate function :math:`g:\mathbb{R}^n
+\longrightarrow \mathbb{R}^m`, :math:`Dg` denotes the :math:`m\times
+n` Jacobian matrix. :math:`D_i g` is the partial derivative of
+:math:`g` w.r.t the :math:`i^{\text{th}}` coordinate and the
+:math:`i^{\text{th}}` column of :math:`Dg`.
+
+Finally, :math:`D^2_1g` and :math:`D_1D_2g` have the obvious meaning
+as higher order partial derivatives.
+
+For more see Michael Spivak's book `Calculus on Manifolds
+<https://www.amazon.com/Calculus-Manifolds-Approach-Classical-Theorems/dp/0805390219>`_
+or a brief discussion of the `merits of this notation
+<http://www.vendian.org/mncharity/dir3/dxdoc/>`_ by
+Mitchell N. Charity.
--- /dev/null
+.. _chapter-tutorial:
+
+========
+Tutorial
+========
+
+.. toctree::
+ :maxdepth: 3
+
+ nnls_tutorial
+ gradient_tutorial
--- /dev/null
+.. _chapter-users:
+
+=====
+Users
+=====
+
+* At `Google <http://www.google.com>`_, Ceres is used to:
+
+ * Estimate the pose of `Street View`_ cars, aircrafts, and satellites.
+ * Build 3D models for `PhotoTours`_.
+ * Estimate satellite image sensor characteristics.
+ * Stitch `panoramas`_ on Android and iOS.
+ * Apply `Lens Blur`_ on Android.
+ * Solve `bundle adjustment`_ and `SLAM`_ problems in `Project
+ Tango`_.
+
+* `Willow Garage`_ uses Ceres to solve `SLAM`_ problems.
+* `Southwest Research Institute <http://www.swri.org/>`_ uses Ceres for
+ `calibrating robot-camera systems`_.
+* `Blender <http://www.blender.org>`_ uses Ceres for `planar
+ tracking`_ and `bundle adjustment`_.
+* `OpenMVG <http://imagine.enpc.fr/~moulonp/openMVG/>`_ an open source
+ multi-view geometry library uses Ceres for `bundle adjustment`_.
+* `Microsoft Research <http://research.microsoft.com/en-us/>`_ uses
+ Ceres for nonlinear optimization of objectives involving subdivision
+ surfaces under `skinned control meshes`_.
+* `Matterport <http://www.matterport.com>`_, uses Ceres for global
+ alignment of 3D point clouds and for pose graph optimization.
+* `Obvious Engineering <http://obviousengine.com/>`_ uses Ceres for
+ bundle adjustment for their 3D photography app `Seene
+ <http://seene.co/>`_.
+* The `Autonomous Systems Lab <http://www.asl.ethz.ch/>`_ at ETH
+ Zurich uses Ceres for
+
+ * Camera and Camera/IMU Calibration.
+ * Large scale optimization of visual, inertial, gps and
+ wheel-odometry data for long term autonomy.
+
+* `OpenPTrack <http://openptrack.org/>`_ uses Ceres for camera
+ calibration.
+* The `Intelligent Autonomous System Lab <http://robotics.dei.unipd.it/>`_
+ at University of Padova, Italy, uses Ceres for
+
+ * Camera/depth sensors network calibration.
+ * Depth sensor distortion map estimation.
+
+* `Theia <http://cs.ucsb.edu/~cmsweeney/theia>`_ is an open source
+ Structure from Motion library that uses Ceres for `bundle adjustment`_
+ and camera pose estimation.
+
+* The `Applied Research Laboratory <https://www.arl.psu.edu/>`_ at
+ Pennsylvania State University uses in their synthetic aperture Sonar
+ beamforming engine, called ASASIN , for estimating platform
+ kinematics.
+
+* `Colmap <https://github.com/colmap/colmap>`_ is a an open source
+ structure from motion library that makes heavy use of Ceres for
+ bundle adjustment with support for many camera models and for other
+ non-linear least-squares problems (relative, absolute pose
+ refinement, etc.).
+
+
+
+.. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion
+.. _Street View: http://youtu.be/z00ORu4bU-A
+.. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html
+.. _panoramas: http://www.google.com/maps/about/contribute/photosphere/
+.. _Project Tango: https://www.google.com/atap/projecttango/
+.. _planar tracking: http://mango.blender.org/development/planar-tracking-preview/
+.. _Willow Garage: https://www.willowgarage.com/blog/2013/08/09/enabling-robots-see-better-through-improved-camera-calibration
+.. _Lens Blur: http://googleresearch.blogspot.com/2014/04/lens-blur-in-new-google-camera-app.html
+.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+.. _calibrating robot-camera systems:
+ http://rosindustrial.org/news/2014/9/24/industrial-calibration-library-update-and-presentation
+.. _skinned control meshes: http://research.microsoft.com/en-us/projects/handmodelingfrommonoculardepth/
--- /dev/null
+.. _chapter-version-history:
+
+===============
+Version History
+===============
+
+1.13.0
+======
+
+New Features
+------------
+#. ``LineSearchMinimizer`` and ``GradientProblemSolver`` are up to 2x
+ faster due to fewer function evaluations. (Sameer Agarwal)
+#. ``SPARSE_NORMAL_CHOLESKY`` is significantly faster because Ceres
+ now computes the normal equations exploiting the static block
+ sparsity structure. (Cheng Wang & Sameer Agarwal)
+#. Add compound with scalar operators for Jets. (Alex Stewart)
+#. Enable support for AVX instructions for Jets. (Alex Stewart)
+
+Backward Incompatible API Changes
+---------------------------------
+The enum ``CovarianceAlgorithmType`` which controls the linear algebra
+algorithm used to compute the covariance used to combine the choice of
+the algorithm and the choice of the sparse linear algebra library into
+the enum name. So we had ``SUITE_SPARSE_QR`` and
+``EIGEN_SPARSE_QR``. ``Covariance::Options`` now has a separate member
+allowing the user to choose the sparse linear algebra library, just
+like the solver and ``CovarianceAlgorithmType`` now takes values
+``DENSE_SVD`` and ``SPARSE_QR``. This is a forward looking change that
+will allow us to develop more flexible covariance estimation
+algorithms with multiple linear algebra backends.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Fix ``InvertPSDMatrix`` as it was triggering an Eigen assert in
+ Debug mode. (Philipp Hubner)
+#. Fix cmake error from CeresConfig.cmake when Ceres not found (Taylor
+ Braun-Jones)
+#. Completely refactored ``SparseNormalCholeskySolver``. (Sameer
+ Agarwal)
+#. Fixed time reporting in ``Summary::FullReport`` when
+ ``LineSearchMinimizer`` is used. (Sameer Agarwal)
+#. Remove unused file: collections_port.cc. (Sameer Agarwal)
+#. ``SPARSE_SCHUR`` + ``CX_SPARSE`` = Faster (Sameer Agarwal)
+#. Refactored a number of linear solver tests to be more thorough and
+ informative. (Sameer Agarwal)
+#. Pass user-specified search hints as HINTS not PATHS. (Alex Stewart)
+#. Prefer Eigen installs over exported build directories. (Alex
+ Stewart)
+#. Add OpenMP flags when compiling for C if enabled. (Alex Stewart)
+#. Add a missing ``CERES_EXPORT`` to GradientChecker (Sameer Agarwal)
+#. Use target_compile_features() to specify C++11 requirement if
+ available. (Alex Stewart)
+#. Update docs: .netrc --> .gitcookies (Keir Mierle)
+#. Fix implicit precission loss warning on 64-bit archs (Ricardo
+ Sanchez-Saez)
+#. Optionally use exported Eigen CMake configuration if
+ available. (Alex Stewart)
+#. Use ``Ceres_[SOURCE/BINARY]_DIR`` not ``CMAKE_XXX_DIR`` to support
+ nesting. (Alex Stewart)
+#. Update ``Problem::EvaluateOptions`` documentation. (Sameer Agarwal)
+#. Add public headers to CMake target for IDEs. (Devin Lane)
+#. Add an article on interfacing with automatic
+ differentiation. (Sameer Agarwal)
+#. Add default Fedora/Debian locations for CXSparse to search
+ paths. (Alex Stewart)
+#. Add a test for ``LineSearchMinimizer`` (Sameer Agarwal)
+#. Flatten the table of contents. (Sameer Agarwal)
+#. Fix when ``LineSearchMinimizer`` adds the ``IterationSummary``` to
+ ``Solver::Summary`` (Sameer Agarwal)
+#. Fix search path for miniglog headers when Ceres is exported. (Alex
+ Stewart)
+#. Fix ambiguous reference to ``WARNING`` when using miniglog. (Alex
+ Stewart)
+#. Fix Jet/Eigen compatibility for Eigen > 3.3 (Julien Pilet)
+#. Add max severity option when ``MINIGLOG`` is enabled (Taylor
+ Braun-Jones)
+#. Improvements to Schur template specializations (Sameer Agarwal)
+#. Added an article on derivatives (Sameer Agarwal)
+#. Require Eigen >= 3.3 to define ScalarBinaryOpTraits in Jet. (Alex
+ Stewart)
+#. A hacky fix for the Eigen::FullPivLU changes. (Sameer Agarwal)
+#. Specify ``ScalarBinaryOpTraits`` for Jet types. (Chris Sweeney)
+#. Remove spurious conversion from doubles to Jets. (Sameer Agarwal)
+#. Fix an error in the tutorial code for ``NumericDiffCostFunction``
+ (Sameer Agarwal)
+#. ``CERES_EXPORT`` fix to compile Ceres as DLL (Je Hyeong Hong)
+#. Fix detection of deprecated Bessel function names on MSVC. (Alex
+ Stewart)
+#. Ensure that partial evaluation of residuals triggers an error
+ (Sameer Agarwal)
+#. Fix detection of CMake-built glog on Windows. (Alex Stewart)
+#. Add additional search paths for glog & Eigen on Windows. (Alex
+ Stewart)
+#. Various minor grammar and bug fixes to the documentation (Sameer
+ Agarwal, Alex Stewart, William Rucklidge)
+
+
+1.12.0
+======
+
+New Features
+------------
+#. Aligned ``Jet`` matrices for improved automatic differentiation
+ performance. (Andrew Hunter)
+#. Auto-differentiable implementations of Bessel functions, ``floor``,
+ and ``ceil`` (Alessandro Gentilini & Michael Vitus)
+#. New 2D and 3D SLAM examples. (Michael Vitus)
+#. Added ``EigenQuaternionParameterization``. (Michael Vitus)
+#. Added ``Problem::IsParameterBlockConstant`` (Thomas Schneider)
+#. A complete refactoring of ``TrustRegionMinimizer``. (Sameer Agarwal)
+#. Gradient checking cleanup and local parameterization bugfix (David
+ Gossow)
+
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::numeric_derivative_relative_step_size`` has been
+ renamed to
+ ``Solver::Options::gradient_check_numeric_derivative_relative_step_size``. (Sameer
+ Agarwal)
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Clear XXX_FOUND in Find<XXX>.cmake prior to searching. (Alex
+ Stewart)
+#. Fix versioning in the documentation (Sameer Agarwal)
+#. Fix missing gflags imported target definition in
+ CeresConfig.cmake. (Alex Stewart)
+#. Make gflags a public dependency of Ceres if it and glog are
+ found. (Alex Stewart)
+#. Add support for glog exported CMake target. (Alex Stewart)
+#. Use ``google::GLOG_WARNING`` instead of ``WARNING`` in tests to
+ support MSVC. (Alex Stewart)
+#. Update gtest and gmock to
+ ``a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47`` (Sameer Agarwal)
+#. Add MSVC-specific ``#define`` to expose math constants in
+ ``<cmath>``. (Alex Stewart)
+#. Fix typo. indepdendent -> independent (Hung Lun)
+#. Fix potential invalid reset of CMAKE_FIND_LIBRARY_PREFIXES on MSVC
+ (Alex Stewart)
+#. Fix use of alignas(0) which is not ignored on GCC (Alex Stewart)
+#. Use default alignment if alignof(std::max_align_t) < 16 with C++11
+ (Alex Stewart)
+#. Introduce a common base class for DynamicAutoDiffCostFunction and
+ DynamicNumericDiffCostFunction. (Sameer Agarwal)
+#. Fix an exact equality test causing breakage in
+ gradient_checker_test. (Sameer Agarwal)
+#. Add GradientProblemSolver::Options::parameter_tolerance. (Sameer
+ Agarwal)
+#. Add missing T() wrappers for constants. (Rob Carroll)
+#. Remove two checks from rotation.h (Sameer Agarwal)
+#. Relax the tolerance in QuaternionParameterizationTestHelper. (Je
+ Hyeong Hong)
+#. Occured -> Occurred. (Sameer Agarwal)
+#. Fix a test error in autodiff_test.cc. (Je Hyeong Hong)
+#. Fix documentation source for templated function in ``rotation.h``.
+#. Add ``package.xml`` to enable Catkin builds. (Damon Kohler)
+#. Relaxing Jacobian matching in Gradient Checker test. (David Gossow)
+#. Allow SubsetParameterization to hold all parameters constant
+ (Sameer Agarwal)
+#. Fix an Intel compiler error in covariance_impl.cc (Je Hyeong Hong)
+#. Removing duplicate include directive. (David Gossow)
+#. Remove two DCHECKs from CubicHermiteSpline. (Sameer Agarwal)
+#. Fix some compiler warnings. (Richard Trieu)
+#. Update ExpectArraysClose to use ExpectClose instead of
+ EXPECT_NEAR. (Phillip Hubner)
+#. FindWithDefault returns by value rather than reference. (@aradval)
+#. Fix compiler errors on some systems. (David Gossow)
+#. Note that Problem::Evaluate cannot be called from an
+ IterationCallback. (Sameer Agarwal)
+#. Use ProductParameterization in bundle_adjuster.cc (Sameer Agarwal)
+#. Enable support for OpenMP in Clang if detected. (Alex Stewart)
+#. Remove duplicate entry for the NIST example in the docs. (Michael
+ Vitus)
+#. Add additional logging for analyzing orderings (Sameer Agarwal)
+#. Add readme for the sampled_function example. (Michael Vitus)
+#. Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation
+ errors. (Alex Stewart & Kichang Kim)
+#. Fix: Copy minimizer option ``is_silent`` to
+ ``LineSearchDirection::Options`` (Nicolai Wojke)
+#. Fix typos in ``users.rst`` (Sameer Agarwal)
+#. Make some Jet comparisons exact. (Sameer Agarwal)
+#. Add colmap to users.rst (Sameer Agarwal)
+#. Fix step norm evaluation in LineSearchMinimizer (Sameer Agarwal)
+#. Remove use of -Werror when compiling Ceres. (Alex Stewart)
+#. Report Ceres compile options as components in find_package(). (Alex
+ Stewart)
+#. Fix a spelling error in nnls_modeling.rst (Timer)
+#. Only use collapse() directive with OpenMP 3.0 or higher. (Keir
+ Mierle)
+#. Fix install path for CeresConfig.cmake to be architecture-aware.
+#. Fix double conversion to degrees in rotation_test (Keir Mierle)
+#. Make Jet string output more readable (Keir Mierle)
+#. Fix rotation_test IsClose() and related tests (Keir Mierle)
+#. Loosen an exact equality in local_parameterization_test (Sameer
+ Agarwal)
+#. make_docs: Pass the file encoding to open() (Niels Ole Salscheider)
+#. Fix error message returned when using SUITE_SPARSE_QR in covariance
+ estimation on a ceres built without SuiteSparse support. (Simon
+ Rutishauser)
+#. Fix CXX11 option to be available on MinGW & CygWin, but not
+ MSVC. (Alex Stewart)
+#. Fix missing early return() in xxx_not_found() dependency
+ macros. (Alex Stewart)
+#. Initialize ``inner_iterations_were_useful_`` correctly. (Sameer
+ Agarwal)
+#. Add an implementation for GradientProblemSolver::Options::IsValid
+ (Sameer Agarwal)
+#. Fix use of va_copy() if compiling with explicit C++ version <
+ C++11. (Alex Stewart)
+#. Install CMake files to lib/cmake/Ceres (Niels Ole Salscheider)
+#. Allow users to override the documentation install directory. (Niels
+ Ole Salscheider)
+#. Add covariance matrix for a vector of parameters (Wannes Van Loock)
+#. Saner tolerances & stricter LRE test. (Sameer Agarwal)
+#. Fix a malformed sentence in the tutorial. (Sameer Agarwal)
+#. Add logging for sparse Cholesky factorization using Eigen. (Sameer
+ Agarwal)
+#. Use std::adjacent_find instead of std::unique. (Sameer Agarwal)
+#. Improve logging in CompressedRowJacobianWriter on crash. (Sameer
+ Agarwal)
+#. Fix free parameter block handling in covariance computation (Wannes
+ Van Loock)
+#. Report the number of line search steps in FullReport. (Sameer
+ Agarwal)
+#. Make CMake read Ceres version directly from
+ include/ceres/version.h. (Alex Stewart)
+#. Lots of code style/lint changes. (William Rucklidge)
+#. Fix covariance computation for constant blocks (Wannes Van Loock)
+#. Add IOS_DEPLOYMENT_TARGET variable to iOS.cmake (Eduard Feicho)
+#. Make miniglog threadsafe on non-windows system by using
+ localtime_r() instead of localtime() for time formatting (Simon
+ Rutishauser)
+
+1.11.0
+======
+
+New Features
+------------
+#. Adaptive numeric differentiation using Ridders' method. (Tal
+ Ben-Nun)
+#. Add ``CubicInterpolator`` and ``BiCubicInterpolator`` to allow
+ smooth interpolation of sampled functions and integration with
+ automatic differentiation.
+#. Add method to return covariance in tangent space. (Michael Vitus &
+ Steve Hsu)
+#. Add Homogeneous vector parameterization. (Michael Vitus)
+#. Add a ``ProductParameterization``, a local parameterization that
+ can be constructed as a cartesian product of other local
+ parameterization.
+#. Add DynamicCostFunctionToFunctor. (David Gossow)
+#. Optionally export Ceres build directory into local CMake package
+ registry.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` in the presence of dynamic
+ sparsity.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Remove use of link-time optimisation (LTO) for all compilers due to
+ portability issues with gtest / type_info::operator== & Eigen with
+ Clang on OS X vs GCC 4.9+ on Linux requiring contradictory 'fixes'.
+#. Use link-time optimisation (LTO) only when compiling Ceres itself,
+ not tests or examples, to bypass gtest / type_info::operator==
+ issue.
+#. Use old minimum iOS version flags on Xcode < 7.0.
+#. Add gtest-specific flags when building/using as a shared library.
+#. Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
+#. Import the latest version of ``googletest``.
+#. Refactored ``system_test`` into ``bundle_adjustment_test`` and
+ ``system_test``, where each test case is its own test.
+#. Fix invalid memory access bug in
+ ``CompressedRowSparseMatrix::AppendRows`` when it was called with a
+ matrix of size zero.
+#. Build position independent code when compiling Ceres statically
+ (Alexander Alekhin).
+#. Fix a bug in DetectStructure (Johannes Schonberger).
+#. Reduce memory footprint of SubsetParameterization (Johannes
+ Schonberger).
+#. Fix for reorder program unit test when built without suitesparse
+ (Sergey Sharybin).
+#. Fix a bug in the Schur eliminator (Werner Trobin).
+#. Fix a bug in the reordering code (Bernhard Zeisl).
+#. Add missing CERES_EXPORT to ComposedLoss (Simon Rutishauser).
+#. Add the option to use numeric differentiation to ``nist`` and
+ ``more_garbow_hillstrom``.
+#. Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI.
+#. Fix SparseNormalCholeskySolver with dynamic sparsity (Richie
+ Stebbing).
+#. Remove legacy dependency detection macros.
+#. Fix failed if() condition expansion if gflags is not found.
+#. Update all CMake to lowercase function name style.
+#. Update minimum iOS version to 7.0 for shared_ptr/unordered_map.
+#. Fix bug in gflags' <= 2.1.2 exported CMake configuration.
+#. Remove the spec file needed for generating RPMs.
+#. Fix a typo in small_blas.h (Werber Trobin).
+#. Cleanup FindGflags & use installed gflags CMake config if present.
+#. Add default glog install location on Windows to search paths
+ (bvanevery).
+#. Add default Eigen install location on Windows to search paths
+ (bvanevery).
+#. Fix explanation of config.h generation in bare config.h.
+#. Fix unused parameter compiler warnings in numeric_diff.h.
+#. Increase tolerance for a test in polynomial_test (Taylor Braun
+ Jones).
+#. Fix addition of Gerrit commit hook when Ceres is a git submodule
+ (Chris Cooper).
+#. Fix missing EIGEN_VERSION expansion typo.
+#. Fix links to SuiteSparse & CXSparse (Henrique Mendonça).
+#. Ensure Eigen is at least 3.1.0 for Eigen/SparseCore.
+#. Add option to use C++11 (not TR1) shared_ptr & unordered_map
+ (Norman Goldstein).
+#. Fix an incorrect usage message in bundle_adjuster.cc
+#. Gracefully disable docs if Sphinx is not found.
+#. Explicitly use (new) default OS X rpath policy if present.
+#. Add support of EIGEN_SPARSE type in
+ IsSparseLinearAlgebraLibraryTypeAvailable function (Pierre Moulon).
+#. Allow the LossFunction contained in a LossFunctionWrapper to be
+ NULL. This is consistent with how NULL LossFunctions are treated
+ everywhere else. (Simon Rutishauser).
+#. Improve numeric differentation near zero.
+#. Refactored DynamicNumericDiffCostFunction to use NumericDiff (Tal
+ Ben-Nun).
+#. Remove use of :caption tag in Sphinx.
+#. Add a small test to make sure GradientProblemSolver works correctly
+ (Petter Strandmark).
+#. Add simple unit tests for GradientProblem (Petter Strandmark).
+#. Make the robust curve fitting example robust.
+#. Homogenize convergence operators in docs and code (Johannes
+ Schonberger).
+#. Add parameter_tolerance convergence to line search minimizer
+ (Johannes Schonberger).
+#. Fix bug where pow(JetA,JetB) returned wrong result for JetA==0
+ (Russell Smith).
+#. Remove duplicate step norm computation (Johannes Schonberger).
+#. Enhance usability when encountering Eigen version mismatches
+ (Andrew Hundt).
+#. Add PLY file logger before and after BA in order to ease visual
+ comparison (Pierre Moulon).
+#. Fix CMake config file docs to include 2.8.x & 3.x styles.
+#. Python3 fixes (Markus Moll).
+#. Remove confusing code from DenseJacobianWriter (Michael Vitus).
+#. Add documentation on CMake package installation process.
+#. Revert a call to SolveUpperTriangularUsingCholesky.
+#. Make CERES_EIGEN_VERSION macro independent of CMake.
+#. Add versions of dependencies used to FullReport().
+#. Ensure local config.h is used if Ceres is already installed.
+#. Small messaging and comment updates in CMake
+#. Handle possible presence of library prefixes in MSVC (Sylvain
+ Duchêne).
+#. Use -O2 not -O3 on MinGW to workaround issue with Eigen
+ (s1m3mu3@gmail.com).
+#. Increase tolerance in small_blas test for Cygwin
+ (s1m3mu3@gmail.com).
+#. Fix iOS cmake file for cmake 3.0 (Jack Feng)
+#. Fix missing gflags shlwapi dependency on MinGW (s1m3mu3@gmail.com).
+#. Add thread dependency & fix namespace detection on Windows for
+ gflags (arrigo.benedetti@gmail.com).
+#. Rename macros in the public API to have a ``CERES_`` prefix.
+#. Fix ``OrderedGroup::Reverse()`` when it is empty (Chris Sweeney).
+#. Update the code to point to ceres-solver.org.
+#. Update documentation to point to the GitHub issue tracker.
+#. Disable ``LAPACK`` for iOS builds. (Greg Coombe)
+#. Force use of single-thread in ``Problem::Evaluate()`` without
+ OpenMP.
+#. Less strict check for multithreading. (Chris Sweeney)
+#. Update tolerances in small_blas_test.cc (Philipp Hubner)
+#. Documentation corrections (Steve Hsu)
+#. Fixed ``sampled_function.cc`` (Pablo Speciale)
+#. Fix example code in the documentation. (Rodney Hoskinson)
+#. Improve the error handling in Conjugate Gradients.
+#. Improve preconditioner documentation.
+#. Remove dead code from fpclassify.h.
+#. Make Android.mk threads sensitive.
+#. Changed the ``CURRENT_CONFIG_INSTALL_DIR`` to be a variable local
+ to Ceres. (Chris Sweeney)
+#. Fix typo in the comments in ``Jet.h``. (Julius Ziegler)
+#. Add the ASL at ETH Zurich, Theia & OpenPTrack to the list of users.
+#. Fixed a typo in the documentation. (Richard Stebbing)
+#. Fixed a boundary handling bug in the BiCubic interpolation
+ code. (Bernhard Zeisl)
+#. Fixed a ``MSVC`` compilation bug in the cubic interpolation code
+ (Johannes Schönberger)
+#. Add covariance related files to the Android build.
+#. Update Ubuntu 14.04 installation instructions. (Filippo Basso)
+#. Improved logging for linear solver failures.
+#. Improved crash messages in ``Problem``.
+#. Hide Homebrew related variables in CMake GUI.
+#. Add SuiteSparse link dependency for
+ compressed_col_sparse_matrix_utils_test.
+#. Autodetect Homebrew install prefix on OSX.
+#. Lint changes from William Rucklidge and Jim Roseborough.
+#. Remove ``using namespace std:`` from ``port.h``
+#. Add note about glog not currently compiling against gflags 2.1.
+#. Add explicit no sparse linear algebra library available option.
+#. Improve some wording in the FAQ. (Vasily Vylkov)
+#. Delete Incomplete LQ Factorization.
+#. Add a pointer to MacPorts. (Markus Moll)
+
+
+1.10.0
+======
+
+New Features
+------------
+#. Ceres Solver can now be used to solve general unconstrained
+ optimization problems. See the documentation for
+ ``GradientProblem`` and ``GradientProblemSolver``.
+#. ``Eigen`` can now be as a sparse linear algebra backend. This can
+ be done by setting
+ ``Solver::Options::sparse_linear_algebra_library_type`` to
+ ``EIGEN_SPARSE``. Performance should be comparable to
+ ``CX_SPARSE``.
+
+ .. NOTE::
+
+ Because ``Eigen`` is a header only library, and some of the code
+ related to sparse Cholesky factorization is LGPL, building Ceres
+ with support for Eigen's sparse linear algebra is disabled by
+ default and should be enabled explicitly.
+
+ .. NOTE::
+
+ For good performance, use Eigen version 3.2.2 or later.
+
+#. Added ``EIGEN_SPARSE_QR`` algorithm for covariance estimation using
+ ``Eigen``'s sparse QR factorization. (Michael Vitus)
+#. Faster inner iterations when using multiple threads.
+#. Faster ``ITERATIVE_SCHUR`` + ``SCHUR_JACOBI`` for small to medium
+ sized problems (see documentation for
+ ``Solver::Options::use_explicit_schur_complement``).
+#. Faster automatic Schur ordering.
+#. Reduced memory usage when solving problems with dynamic sparsity.
+#. ``CostFunctionToFunctor`` now supports dynamic number of residuals.
+#. A complete re-write of the problem preprocessing phase.
+#. ``Solver::Summary::FullReport`` now reports the build configuration
+ for Ceres.
+#. When building on Android, the ``NDK`` version detection logic has
+ been improved.
+#. The ``CERES_VERSION`` macro has been improved and replaced with the
+ ``CERES_VERSION_STRING`` macro.
+#. Added ``Solver::Options::IsValid`` which allows users to validate
+ their solver configuration before calling ``Solve``.
+#. Added ``Problem::GetCostFunctionForResidualBlock`` and
+ ``Problem::GetLossFunctionForResidualBlock``.
+#. Added Tukey's loss function. (Michael Vitus)
+#. Added RotationMatrixToQuaternion
+#. Compute & report timing information for line searches.
+#. Autodetect gflags namespace.
+#. Expanded ``more_garbow_hillstrom.cc``.
+#. Added a pointer to Tal Ben-Nun's MSVC wrapper to the docs.
+#. Added the ``<2,3,6>`` Schur template specialization. (Alessandro
+ Dal Grande)
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``NumericDiffFunctor`` has been removed. It's API was broken, and
+ the implementation was an unnecessary layer of abstraction over
+ ``CostFunctionToFunctor``.
+#. ``POLAK_RIBIRERE`` conjugate gradients direction type has been
+ renamed to ``POLAK_RIBIERE``.
+#. ``Solver::Options::solver_log`` has been removed. If needed this
+ iteration callback can easily be implemented in user code.
+#. The ``SPARSE_CHOLESKY`` algorithm for covariance estimation has
+ been removed. It is not rank revealing and numerically poorly
+ behaved. Sparse QR factorization is a much better way to do this.
+#. The ``SPARSE_QR`` algorithm for covariance estimation has been
+ renamed to ``SUITE_SPARSE_QR`` to be consistent with
+ ``EIGEN_SPARSE_QR``.
+#. ``Solver::Summary::preconditioner_type`` has been replaced with
+ ``Solver::Summary::preconditioner_type_given`` and
+ ``Solver::Summary::preconditioner_type_used`` to be more consistent
+ with how information about the linear solver is communicated.
+#. ``CERES_VERSION`` and ``CERES_ABI_VERSION`` macros were not
+ terribly useful. They have been replaced with
+ ``CERES_VERSION_MAJOR``, ``CERES_VERSION_MINOR`` ,
+ ``CERES_VERSION_REVISION`` and ``CERES_VERSION_ABI`` macros. In
+ particular the functionality of ``CERES_VERSION`` is provided by
+ ``CERES_VERSION_STRING`` macro.
+
+Bug Fixes
+---------
+#. Do not try the gradient step if TR step line search fails.
+#. Fix missing include in libmv_bundle_adjuster on OSX.
+#. Conditionally log evaluation failure warnings.
+#. Runtime uses four digits after the decimal in Summary:FullReport.
+#. Better options checking for TrustRegionMinimizer.
+#. Fix RotationMatrixToAngleAxis when the angle of rotation is near
+ PI. (Tobias Strauss)
+#. Sometimes gradient norm based convergence would miss a step with a
+ substantial solution quality improvement. (Rodney Hoskinson)
+#. Ignore warnings from within Eigen/SparseQR (3.2.2).
+#. Fix empty Cache HELPSTRING parsing error on OS X 10.10 Yosemite.
+#. Fix a formatting error TrustRegionMinimizer logging.
+#. Add an explicit include for local_parameterization.h (cooordz)
+#. Fix a number of typos in the documentation (Martin Baeuml)
+#. Made the logging in TrustRegionMinimizer consistent with
+ LineSearchMinimizer.
+#. Fix some obsolete documentation in CostFunction::Evaluate.
+#. Fix CG solver options for ITERATIVE_SCHUR, which did not copy
+ min_num_iterations (Johannes Schönberger)
+#. Remove obsolete include of numeric_diff_functor.h. (Martin Baeuml)
+#. Fix max. linear solver iterations in ConjugateGradientsSolver
+ (Johannes Schönberger)
+#. Expand check for lack of a sparse linear algebra library. (Michael
+ Samples and Domink Reitzle)
+#. Fix Eigen Row/ColMajor bug in NumericDiffCostFunction. (Dominik
+ Reitzle)
+#. Fix crash in Covariance if # threads > 1 requested without OpenMP.
+#. Fixed Malformed regex. (Björn Piltz)
+#. Fixed MSVC error C2124: divide or mod by zero. (Björn Piltz)
+#. Add missing #include of <limits> for loss functions.
+#. Make canned loss functions more robust.
+#. Fix type of suppressed compiler warning for Eigen 3.2.0.
+#. Suppress unused variable warning from Eigen 3.2.0.
+#. Add "make install" to the install instructions.
+#. Correct formula in documentation of
+ Solver::Options::function_tolerance. (Alessandro Gentilini)
+#. Add release flags to iOS toolchain.
+#. Fix a broken hyperlink in the documentation. (Henrique Mendonca)
+#. Add fixes for multiple definitions of ERROR on Windows to docs.
+#. Compile miniglog into Ceres if enabled on all platforms.
+#. Add two missing files to Android.mk (Greg Coombe)
+#. Fix Cmake error when using miniglog. (Greg Coombe)
+#. Don't build miniglog unconditionally as a static library (Björn
+ Piltz)
+#. Added a missing include. (Björn Piltz)
+#. Conditionally disable SparseNormalCholesky.
+#. Fix a memory leak in program_test.cc.
+
+
+1.9.0
+=====
+
+New Features
+------------
+#. Bounds constraints: Support for upper and/or lower bounds on
+ parameters when using the trust region minimizer.
+#. Dynamic Sparsity: Problems in which the sparsity structure of the
+ Jacobian changes over the course of the optimization can now be
+ solved much more efficiently. (Richard Stebbing)
+#. Improved support for Microsoft Visual C++ including the ability to
+ build and ship DLLs. (Björn Piltz, Alex Stewart and Sergey
+ Sharybin)
+#. Support for building on iOS 6.0 or higher (Jack Feng).
+#. Autogeneration of config.h that captures all the defines used to
+ build and use Ceres Solver.
+#. Simpler and more informative solver termination type
+ reporting. (See below for more details)
+#. New `website <http://www.ceres-solver.org>`_ based entirely on
+ Sphinx.
+#. ``AutoDiffLocalParameterization`` allows the use of automatic
+ differentiation for defining ``LocalParameterization`` objects
+ (Alex Stewart)
+#. LBFGS is faster due to fewer memory copies.
+#. Parameter blocks are not restricted to be less than 32k in size,
+ they can be up to 2G in size.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE``
+ as the sparse linear algebra library.
+#. Added ``Problem::IsParameterBlockPresent`` and
+ ``Problem::GetParameterization``.
+#. Added the (2,4,9) and (2,4,8) template specializations.
+#. An example demonstrating the use of
+ DynamicAutoDiffCostFunction. (Joydeep Biswas)
+#. Homography estimation example from Blender demonstrating the use of
+ a custom ``IterationCallback``. (Sergey Sharybin)
+#. Support user passing a custom CMAKE_MODULE_PATH (for BLAS /
+ LAPACK).
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::linear_solver_ordering`` used to be a naked
+ pointer that Ceres took ownership of. This is error prone behaviour
+ which leads to problems when copying the ``Solver::Options`` struct
+ around. This has been replaced with a ``shared_ptr`` to handle
+ ownership correctly across copies.
+
+#. The enum used for reporting the termination/convergence status of
+ the solver has been renamed from ``SolverTerminationType`` to
+ ``TerminationType``.
+
+ The enum values have also changed. ``FUNCTION_TOLERANCE``,
+ ``GRADIENT_TOLERANCE`` and ``PARAMETER_TOLERANCE`` have all been
+ replaced by ``CONVERGENCE``.
+
+ ``NUMERICAL_FAILURE`` has been replaed by ``FAILURE``.
+
+ ``USER_ABORT`` has been renamed to ``USER_FAILURE``.
+
+ Further ``Solver::Summary::error`` has been renamed to
+ ``Solver::Summary::message``. It contains a more detailed
+ explanation for why the solver terminated.
+
+#. ``Solver::Options::gradient_tolerance`` used to be a relative
+ gradient tolerance. i.e., The solver converged when
+
+ .. math:: \|g(x)\|_\infty < \text{gradient_tolerance} *
+ \|g(x_0)\|_\infty
+
+ where :math:`g(x)` is the gradient of the objective function at
+ :math:`x` and :math:`x_0` is the parmeter vector at the start of
+ the optimization.
+
+ This has changed to an absolute tolerance, i.e. the solver
+ converges when
+
+ .. math:: \|g(x)\|_\infty < \text{gradient_tolerance}
+
+#. Ceres cannot be built without the line search minimizer
+ anymore. Thus the preprocessor define
+ ``CERES_NO_LINE_SEARCH_MINIMIZER`` has been removed.
+
+Bug Fixes
+---------
+#. Disabled warning C4251. (Björn Piltz)
+#. Do not propagate 3d party libs through
+ `IMPORTED_LINK_INTERFACE_LIBRARIES_[DEBUG/RELEASE]` mechanism when
+ building shared libraries. (Björn Piltz)
+#. Fixed errant verbose levels (Björn Piltz)
+#. Variety of code cleanups, optimizations and bug fixes to the line
+ search minimizer code (Alex Stewart)
+#. Fixed ``BlockSparseMatrix::Transpose`` when the matrix has row and
+ column blocks. (Richard Bowen)
+#. Better error checking when ``Problem::RemoveResidualBlock`` is
+ called. (Alex Stewart)
+#. Fixed a memory leak in ``SchurComplementSolver``.
+#. Added ``epsilon()`` method to ``NumTraits<ceres::Jet<T, N>
+ >``. (Filippo Basso)
+#. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and
+ ``DeleteRows``.q
+#. Handle empty problems consistently.
+#. Restore the state of the ``Problem`` after a call to
+ ``Problem::Evaluate``. (Stefan Leutenegger)
+#. Better error checking and reporting for linear solvers.
+#. Use explicit formula to solve quadratic polynomials instead of the
+ eigenvalue solver.
+#. Fix constant parameter handling in inner iterations (Mikael
+ Persson).
+#. SuiteSparse errors do not cause a fatal crash anymore.
+#. Fix ``corrector_test.cc``.
+#. Relax the requirements on loss function derivatives.
+#. Minor bugfix to logging.h (Scott Ettinger)
+#. Updated ``gmock`` and ``gtest`` to the latest upstream version.
+#. Fix build breakage on old versions of SuiteSparse.
+#. Fixed build issues related to Clang / LLVM 3.4 (Johannes
+ Schönberger)
+#. METIS_FOUND is never set. Changed the commit to fit the setting of
+ the other #._FOUND definitions. (Andreas Franek)
+#. Variety of bug fixes and cleanups to the ``CMake`` build system
+ (Alex Stewart)
+#. Removed fictious shared library target from the NDK build.
+#. Solver::Options now uses ``shared_ptr`` to handle ownership of
+ ``Solver::Options::linear_solver_ordering`` and
+ ``Solver::Options::inner_iteration_ordering``. As a consequence the
+ ``NDK`` build now depends on ``libc++`` from the ``LLVM`` project.
+#. Variety of lint cleanups (William Rucklidge & Jim Roseborough)
+#. Various internal cleanups including dead code removal.
+
+
+1.8.0
+=====
+
+New Features
+------------
+#. Significant improved ``CMake`` files with better robustness,
+ dependency checking and GUI support. (Alex Stewart)
+#. Added ``DynamicNumericDiffCostFunction`` for numerically
+ differentiated cost functions whose sizing is determined at run
+ time.
+#. ``NumericDiffCostFunction`` now supports a dynamic number of
+ residuals just like ``AutoDiffCostFunction``.
+#. ``Problem`` exposes more of its structure in its API.
+#. Faster automatic differentiation (Tim Langlois)
+#. Added the commonly occuring ``2_d_d`` template specialization for
+ the Schur Eliminator.
+#. Faster ``ITERATIVE_SCHUR`` solver using template specializations.
+#. Faster ``SCHUR_JACOBI`` preconditioner construction.
+#. Faster ``AngleAxisRotatePoint``.
+#. Faster Jacobian evaluation when a loss function is used.
+#. Added support for multiple clustering algorithms in visibility
+ based preconditioning, including a new fast single linkage
+ clustering algorithm.
+
+Bug Fixes
+---------
+#. Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for
+ Windows. (Alex Stewart)
+#. Remove DCHECK_GE checks from fixed_array.h.
+#. Fix build on MSVC 2013 (Petter Strandmark)
+#. Fixed ``AngleAxisToRotationMatrix`` near zero.
+#. Move ``CERES_HASH_NAMESPACE`` macros to ``collections_port.h``.
+#. Fix handling of unordered_map/unordered_set on OSX 10.9.0.
+#. Explicitly link to libm for ``curve_fitting_c.c``. (Alex Stewart)
+#. Minor type conversion fix to autodiff.h
+#. Remove RuntimeNumericDiffCostFunction.
+#. Fix operator= ambiguity on some versions of Clang. (Alex Stewart)
+#. Various Lint cleanups (William Rucklidge & Jim Roseborough)
+#. Modified installation folders for Windows. (Pablo Speciale)
+#. Added librt to link libraries for SuiteSparse_config on
+ Linux. (Alex Stewart)
+#. Check for presence of return-type-c-linkage option with
+ Clang. (Alex Stewart)
+#. Fix Problem::RemoveParameterBlock after calling solve. (Simon
+ Lynen)
+#. Fix a free/delete bug in covariance_impl.cc
+#. Fix two build errors. (Dustin Lang)
+#. Add RequireInitialization = 1 to NumTraits::Jet.
+#. Update gmock/gtest to 1.7.0
+#. Added IterationSummary::gradient_norm.
+#. Reduced verbosity of the inner iteration minimizer.
+#. Fixed a bug in TrustRegionMinimizer. (Michael Vitus)
+#. Removed android/build_android.sh.
+
+
+1.7.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+
+#. ``Solver::Options::sparse_linear_algebra_library`` has been renamed
+ to ``Solver::Options::sparse_linear_algebra_library_type``.
+
+New Features
+------------
+#. Sparse and dense covariance estimation.
+#. A new Wolfe line search. (Alex Stewart)
+#. ``BFGS`` line search direction. (Alex Stewart)
+#. C API
+#. Speeded up the use of loss functions > 17x.
+#. Faster ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+ solvers.
+#. Support for multiple dense linear algebra backends. In particular
+ optimized ``BLAS`` and ``LAPACK`` implementations (e.g., Intel MKL,
+ ACML, OpenBLAS etc) can now be used to do the dense linear algebra
+ for ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+#. Use of Inner iterations can now be adaptively stopped. Iteration
+ and runtime statistics for inner iterations are not reported in
+ ``Solver::Summary`` and ``Solver::Summary::FullReport``.
+#. Improved inner iteration step acceptance criterion.
+#. Add BlockRandomAccessCRSMatrix.
+#. Speeded up automatic differentiation by 7\%.
+#. Bundle adjustment example from libmv/Blender (Sergey Sharybin)
+#. Shared library building is now controlled by CMake, rather than a
+ custom solution. Previously, Ceres had a custom option, but this is
+ now deprecated in favor of CMake's built in support for switching
+ between static and shared. Turn on BUILD_SHARED_LIBS to get shared
+ Ceres libraries.
+#. No more dependence on Protocol Buffers.
+#. Incomplete LQ factorization.
+#. Ability to write trust region problems to disk.
+#. Add sinh, cosh, tanh and tan functions to automatic differentiation
+ (Johannes Schönberger)
+#. Simplifications to the cmake build file.
+#. ``miniglog`` can now be used as a replacement for ``google-glog``
+ on non Android platforms. (This is NOT recommended).
+
+Bug Fixes
+---------
+#. Fix ``ITERATIVE_SCHUR`` solver to work correctly when the schur
+ complement is of size zero. (Soohyun Bae)
+#. Fix the ``spec`` file for generating ``RPM`` packages (Brian Pitts
+ and Taylor Braun-Jones).
+#. Fix how ceres calls CAMD (Manas Jagadev)
+#. Fix breakage on old versions of SuiteSparse. (Fisher Yu)
+#. Fix warning C4373 in Visual Studio (Petter Strandmark)
+#. Fix compilation error caused by missing suitesparse headers and
+ reorganize them to be more robust. (Sergey Sharybin)
+#. Check GCC Version before adding -fast compiler option on
+ OSX. (Steven Lovegrove)
+#. Add documentation for minimizer progress output.
+#. Lint and other cleanups (William Rucklidge and James Roseborough)
+#. Collections port fix for MSC 2008 (Sergey Sharybin)
+#. Various corrections and cleanups in the documentation.
+#. Change the path where CeresConfig.cmake is installed (Pablo
+ Speciale)
+#. Minor errors in documentation (Pablo Speciale)
+#. Updated depend.cmake to follow CMake IF convention. (Joydeep
+ Biswas)
+#. Stablize the schur ordering algorithm.
+#. Update license header in split.h.
+#. Enabling -O4 (link-time optimization) only if compiler/linker
+ support it. (Alex Stewart)
+#. Consistent glog path across files.
+#. ceres-solver.spec: Use cleaner, more conventional Release string
+ (Taylor Braun-Jones)
+#. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones)
+#. CMake file is less verbose.
+#. Use the latest upstream version of google-test and gmock.
+#. Rationalize some of the variable names in ``Solver::Options``.
+#. Improve Summary::FullReport when line search is used.
+#. Expose line search parameters in ``Solver::Options``.
+#. Fix update of L-BFGS history buffers after they become full. (Alex
+ Stewart)
+#. Fix configuration error on systems without SuiteSparse installed
+ (Sergey Sharybin)
+#. Enforce the read call returns correct value in
+ ``curve_fitting_c.c`` (Arnaud Gelas)
+#. Fix DynamicAutoDiffCostFunction (Richard Stebbing)
+#. Fix Problem::RemoveParameterBlock documentation (Johannes
+ Schönberger)
+#. Fix a logging bug in parameter_block.h
+#. Refactor the preconditioner class structure.
+#. Fix an uninitialized variable warning when building with ``GCC``.
+#. Fix a reallocation bug in
+ ``CreateJacobianBlockSparsityTranspose``. (Yuliy Schwartzburg)
+#. Add a define for O_BINARY.
+#. Fix miniglog-based Android NDK build; now works with NDK r9. (Scott
+ Ettinger)
+
+
+1.6.0
+=====
+
+New Features
+------------
+#. Major Performance improvements.
+
+ a. Schur type solvers (``SPARSE_SCHUR``, ``DENSE_SCHUR``,
+ ``ITERATIVE_SCHUR``) are significantly faster due to custom BLAS
+ routines and fewer heap allocations.
+
+ b. ``SPARSE_SCHUR`` when used with ``CX_SPARSE`` now uses a block
+ AMD for much improved factorization performance.
+
+ c. The jacobian matrix is pre-ordered so that
+ ``SPARSE_NORMAL_CHOLESKY`` and ``SPARSE_SCHUR`` do not have to
+ make copies inside ``CHOLMOD``.
+
+ d. Faster autodiff by replacing division by multplication by inverse.
+
+ e. When compiled without threads, the schur eliminator does not pay
+ the penalty for locking and unlocking mutexes.
+
+#. Users can now use ``linear_solver_ordering`` to affect the
+ fill-reducing ordering used by ``SUITE_SPARSE`` for
+ ``SPARSE_NORMAL_CHOLESKY``.
+#. ``Problem`` can now report the set of parameter blocks it knows about.
+#. ``TrustRegionMinimizer`` uses the evaluator to compute the gradient
+ instead of a matrix vector multiply.
+#. On ``Mac OS``, whole program optimization is enabled.
+#. Users can now use automatic differentiation to define new
+ ``LocalParameterization`` objects. (Sergey Sharybin)
+#. Enable larger tuple sizes for Visual Studio 2012. (Petter Strandmark)
+
+
+Bug Fixes
+---------
+
+#. Update the documentation for ``CostFunction``.
+#. Fixed a typo in the documentation. (Pablo Speciale)
+#. Fix a typo in suitesparse.cc.
+#. Bugfix in ``NumericDiffCostFunction``. (Nicolas Brodu)
+#. Death to BlockSparseMatrixBase.
+#. Change Minimizer::Options::min_trust_region_radius to double.
+#. Update to compile with stricter gcc checks. (Joydeep Biswas)
+#. Do not modify cached CMAKE_CXX_FLAGS_RELEASE. (Sergey Sharybin)
+#. ``<iterator>`` needed for back_insert_iterator. (Petter Strandmark)
+#. Lint cleanup. (William Rucklidge)
+#. Documentation corrections. (Pablo Speciale)
+
+
+1.5.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+ part of it without calling the solver.
+
+ In light of this the following settings have been deprecated and
+ removed from the API.
+
+ - ``Solver::Options::return_initial_residuals``
+ - ``Solver::Options::return_initial_gradient``
+ - ``Solver::Options::return_initial_jacobian``
+ - ``Solver::Options::return_final_residuals``
+ - ``Solver::Options::return_final_gradient``
+ - ``Solver::Options::return_final_jacobian``
+
+ Instead we recommend using something like this.
+
+ .. code-block:: c++
+
+ Problem problem;
+ // Build problem
+
+ vector<double> initial_residuals;
+ problem.Evaluate(Problem::EvaluateOptions(),
+ NULL, /* No cost */
+ &initial_residuals,
+ NULL, /* No gradient */
+ NULL /* No jacobian */ );
+
+ Solver::Options options;
+ Solver::Summary summary;
+ Solver::Solve(options, &problem, &summary);
+
+ vector<double> final_residuals;
+ problem.Evaluate(Problem::EvaluateOptions(),
+ NULL, /* No cost */
+ &final_residuals,
+ NULL, /* No gradient */
+ NULL /* No jacobian */ );
+
+
+New Features
+------------
+#. Problem now supports removal of ParameterBlocks and
+ ResidualBlocks. There is a space/time tradeoff in doing this which
+ is controlled by
+ ``Problem::Options::enable_fast_parameter_block_removal``.
+
+#. Ceres now supports Line search based optimization algorithms in
+ addition to trust region algorithms. Currently there is support for
+ gradient descent, non-linear conjugate gradient and LBFGS search
+ directions.
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+ part of it without calling the solver. In light of this the
+ following settings have been deprecated and removed from the API.
+
+ - ``Solver::Options::return_initial_residuals``
+ - ``Solver::Options::return_initial_gradient``
+ - ``Solver::Options::return_initial_jacobian``
+ - ``Solver::Options::return_final_residuals``
+ - ``Solver::Options::return_final_gradient``
+ - ``Solver::Options::return_final_jacobian``
+
+#. New, much improved HTML documentation using Sphinx.
+#. Changed ``NumericDiffCostFunction`` to take functors like
+ ``AutoDiffCostFunction``.
+#. Added support for mixing automatic, analytic and numeric
+ differentiation. This is done by adding ``CostFunctionToFunctor``
+ and ``NumericDiffFunctor`` objects to the API.
+#. Sped up the robust loss function correction logic when residual is
+ one dimensional.
+#. Sped up ``DenseQRSolver`` by changing the way dense jacobians are
+ stored. This is a 200-500% improvement in linear solver performance
+ depending on the size of the problem.
+#. ``DENSE_SCHUR`` now supports multi-threading.
+#. Greatly expanded ``Summary::FullReport``:
+
+ - Report the ordering used by the ``LinearSolver``.
+ - Report the ordering used by the inner iterations.
+ - Execution timing breakdown into evaluations and linear solves.
+ - Effective size of the problem solved by the solver, which now
+ accounts for the size of the tangent space when using a
+ ``LocalParameterization``.
+#. Ceres when run at the ``VLOG`` level 3 or higher will report
+ detailed timing information about its internals.
+#. Remove extraneous initial and final residual evaluations. This
+ speeds up the solver a bit.
+#. Automatic differenatiation with a dynamic number of parameter
+ blocks. (Based on an idea by Thad Hughes).
+#. Sped up problem construction and destruction.
+#. Added matrix adapters to ``rotation.h`` so that the rotation matrix
+ routines can work with row and column major matrices. (Markus Moll)
+#. ``SCHUR_JACOBI`` can now be used without ``SuiteSparse``.
+#. A ``.spec`` file for producing RPMs. (Taylor Braun-Jones)
+#. ``CMake`` can now build the sphinx documentation (Pablo Speciale)
+#. Add support for creating a CMake config file during build to make
+ embedding Ceres in other CMake-using projects easier. (Pablo
+ Speciale).
+#. Better error reporting in ``Problem`` for missing parameter blocks.
+#. A more flexible ``Android.mk`` and a more modular build. If binary
+ size and/or compile time is a concern, larger parts of the solver
+ can be disabled at compile time.
+
+Bug Fixes
+---------
+#. Compilation fixes for MSVC2010 (Sergey Sharybin)
+#. Fixed "deprecated conversion from string constant to char*"
+ warnings. (Pablo Speciale)
+#. Correctly propagate ifdefs when building without Schur eliminator
+ template specializations.
+#. Correct handling of ``LIB_SUFFIX`` on Linux. (Yuliy Schwartzburg).
+#. Code and signature cleanup in ``rotation.h``.
+#. Make examples independent of internal code.
+#. Disable unused member in ``gtest`` which results in build error on
+ OS X with latest Xcode. (Taylor Braun-Jones)
+#. Pass the correct flags to the linker when using
+ ``pthreads``. (Taylor Braun-Jones)
+#. Only use ``cmake28`` macro when building on RHEL6. (Taylor
+ Braun-Jones)
+#. Remove ``-Wno-return-type-c-linkage`` when compiling with
+ GCC. (Taylor Braun-Jones)
+#. Fix ``No previous prototype`` warnings. (Sergey Sharybin)
+#. MinGW build fixes. (Sergey Sharybin)
+#. Lots of minor code and lint fixes. (William Rucklidge)
+#. Fixed a bug in ``solver_impl.cc`` residual evaluation. (Markus
+ Moll)
+#. Fixed varidic evaluation bug in ``AutoDiff``.
+#. Fixed ``SolverImpl`` tests.
+#. Fixed a bug in ``DenseSparseMatrix::ToDenseMatrix()``.
+#. Fixed an initialization bug in ``ProgramEvaluator``.
+#. Fixes to Android.mk paths (Carlos Hernandez)
+#. Modify ``nist.cc`` to compute accuracy based on ground truth
+ solution rather than the ground truth function value.
+#. Fixed a memory leak in ``cxsparse.cc``. (Alexander Mordvintsev).
+#. Fixed the install directory for libraries by correctly handling
+ ``LIB_SUFFIX``. (Taylor Braun-Jones)
+
+1.4.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+The new ordering API breaks existing code. Here the common case fixes.
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR
+ options.ordering_type = ceres::SCHUR
+
+**After**
+
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR
+
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering_type = ceres::USER;
+ for (int i = 0; i < num_points; ++i) {
+ options.ordering.push_back(my_points[i])
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+ options.ordering.push_back(my_cameras[i])
+ }
+ options.num_eliminate_blocks = num_points;
+
+
+**After**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering = new ceres::ParameterBlockOrdering;
+ for (int i = 0; i < num_points; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_points[i], 0);
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1);
+ }
+
+
+New Features
+------------
+#. A new richer, more expressive and consistent API for ordering
+ parameter blocks.
+#. A non-linear generalization of Ruhe & Wedin's Algorithm II. This
+ allows the user to use variable projection on separable and
+ non-separable non-linear least squares problems. With
+ multithreading, this results in significant improvements to the
+ convergence behavior of the solver at a small increase in run time.
+#. An image denoising example using fields of experts. (Petter
+ Strandmark)
+#. Defines for Ceres version and ABI version.
+#. Higher precision timer code where available. (Petter Strandmark)
+#. Example Makefile for users of Ceres.
+#. IterationSummary now informs the user when the step is a
+ non-monotonic step.
+#. Fewer memory allocations when using ``DenseQRSolver``.
+#. GradientChecker for testing CostFunctions (William Rucklidge)
+#. Add support for cost functions with 10 parameter blocks in
+ ``Problem``. (Fisher)
+#. Add support for 10 parameter blocks in ``AutoDiffCostFunction``.
+
+
+Bug Fixes
+---------
+
+#. static cast to force Eigen::Index to long conversion
+#. Change LOG(ERROR) to LOG(WARNING) in ``schur_complement_solver.cc``.
+#. Remove verbose logging from ``DenseQRSolve``.
+#. Fix the Android NDK build.
+#. Better handling of empty and constant Problems.
+#. Remove an internal header that was leaking into the public API.
+#. Memory leak in ``trust_region_minimizer.cc``
+#. Schur ordering was operating on the wrong object (Ricardo Martin)
+#. MSVC fixes (Petter Strandmark)
+#. Various fixes to ``nist.cc`` (Markus Moll)
+#. Fixed a jacobian scaling bug.
+#. Numerically robust computation of ``model_cost_change``.
+#. Signed comparison compiler warning fixes (Ricardo Martin)
+#. Various compiler warning fixes all over.
+#. Inclusion guard fixes (Petter Strandmark)
+#. Segfault in test code (Sergey Popov)
+#. Replaced ``EXPECT/ASSERT_DEATH`` with the more portable
+ ``EXPECT_DEATH_IF_SUPPORTED`` macros.
+#. Fixed the camera projection model in Ceres' implementation of
+ Snavely's camera model. (Ricardo Martin)
+
+
+1.3.0
+=====
+
+New Features
+------------
+#. Android Port (Scott Ettinger also contributed to the port)
+#. Windows port. (Changchang Wu and Pierre Moulon also contributed to the port)
+#. New subspace Dogleg Solver. (Markus Moll)
+#. Trust region algorithm now supports the option of non-monotonic steps.
+#. New loss functions ``ArcTanLossFunction``, ``TolerantLossFunction``
+ and ``ComposedLossFunction``. (James Roseborough).
+#. New ``DENSE_NORMAL_CHOLESKY`` linear solver, which uses Eigen's
+ LDLT factorization on the normal equations.
+#. Cached symbolic factorization when using ``CXSparse``.
+ (Petter Strandark)
+#. New example ``nist.cc`` and data from the NIST non-linear
+ regression test suite. (Thanks to Douglas Bates for suggesting this.)
+#. The traditional Dogleg solver now uses an elliptical trust
+ region (Markus Moll)
+#. Support for returning initial and final gradients & Jacobians.
+#. Gradient computation support in the evaluators, with an eye
+ towards developing first order/gradient based solvers.
+#. A better way to compute ``Solver::Summary::fixed_cost``. (Markus Moll)
+#. ``CMake`` support for building documentation, separate examples,
+ installing and uninstalling the library and Gerrit hooks (Arnaud
+ Gelas)
+#. ``SuiteSparse4`` support (Markus Moll)
+#. Support for building Ceres without ``TR1`` (This leads to
+ slightly slower ``DENSE_SCHUR`` and ``SPARSE_SCHUR`` solvers).
+#. ``BALProblem`` can now write a problem back to disk.
+#. ``bundle_adjuster`` now allows the user to normalize and perturb the
+ problem before solving.
+#. Solver progress logging to file.
+#. Added ``Program::ToString`` and ``ParameterBlock::ToString`` to
+ help with debugging.
+#. Ability to build Ceres as a shared library (MacOS and Linux only),
+ associated versioning and build release script changes.
+#. Portable floating point classification API.
+
+
+Bug Fixes
+---------
+#. Fix how invalid step evaluations are handled.
+#. Change the slop handling around zero for model cost changes to use
+ relative tolerances rather than absolute tolerances.
+#. Fix an inadvertant integer to bool conversion. (Petter Strandmark)
+#. Do not link to ``libgomp`` when building on
+ windows. (Petter Strandmark)
+#. Include ``gflags.h`` in ``test_utils.cc``. (Petter
+ Strandmark)
+#. Use standard random number generation routines. (Petter Strandmark)
+#. ``TrustRegionMinimizer`` does not implicitly negate the
+ steps that it takes. (Markus Moll)
+#. Diagonal scaling allows for equal upper and lower bounds. (Markus Moll)
+#. TrustRegionStrategy does not misuse LinearSolver:Summary anymore.
+#. Fix Eigen3 Row/Column Major storage issue. (Lena Gieseke)
+#. QuaternionToAngleAxis now guarantees an angle in $[-\pi, \pi]$. (Guoxuan Zhang)
+#. Added a workaround for a compiler bug in the Android NDK to the
+ Schur eliminator.
+#. The sparse linear algebra library is only logged in
+ Summary::FullReport if it is used.
+#. Rename the macro ``CERES_DONT_HAVE_PROTOCOL_BUFFERS``
+ to ``CERES_NO_PROTOCOL_BUFFERS`` for consistency.
+#. Fix how static structure detection for the Schur eliminator logs
+ its results.
+#. Correct example code in the documentation. (Petter Strandmark)
+#. Fix ``fpclassify.h`` to work with the Android NDK and STLport.
+#. Fix a memory leak in the ``levenber_marquardt_strategy_test.cc``
+#. Fix an early return bug in the Dogleg solver. (Markus Moll)
+#. Zero initialize Jets.
+#. Moved ``internal/ceres/mock_log.h`` to ``internal/ceres/gmock/mock-log.h``
+#. Unified file path handling in tests.
+#. ``data_fitting.cc`` includes ``gflags``
+#. Renamed Ceres' Mutex class and associated macros to avoid
+ namespace conflicts.
+#. Close the BAL problem file after reading it (Markus Moll)
+#. Fix IsInfinite on Jets.
+#. Drop alignment requirements for Jets.
+#. Fixed Jet to integer comparison. (Keith Leung)
+#. Fix use of uninitialized arrays. (Sebastian Koch & Markus Moll)
+#. Conditionally compile gflag dependencies.(Casey Goodlett)
+#. Add ``data_fitting.cc`` to the examples ``CMake`` file.
+
+
+1.2.3
+=====
+
+Bug Fixes
+---------
+#. ``suitesparse_test`` is enabled even when ``-DSUITESPARSE=OFF``.
+#. ``FixedArray`` internal struct did not respect ``Eigen``
+ alignment requirements (Koichi Akabe & Stephan Kassemeyer).
+#. Fixed ``quadratic.cc`` documentation and code mismatch
+ (Nick Lewycky).
+
+1.2.2
+=====
+
+Bug Fixes
+---------
+#. Fix constant parameter blocks, and other minor fixes (Markus Moll)
+#. Fix alignment issues when combining ``Jet`` and
+ ``FixedArray`` in automatic differeniation.
+#. Remove obsolete ``build_defs`` file.
+
+1.2.1
+=====
+
+New Features
+------------
+#. Powell's Dogleg solver
+#. Documentation now has a brief overview of Trust Region methods and
+ how the Levenberg-Marquardt and Dogleg methods work.
+
+Bug Fixes
+---------
+#. Destructor for ``TrustRegionStrategy`` was not virtual (Markus
+ Moll)
+#. Invalid ``DCHECK`` in ``suitesparse.cc`` (Markus Moll)
+#. Iteration callbacks were not properly invoked (Luis Alberto
+ Zarrabeiti)
+#. Logging level changes in ConjugateGradientsSolver
+#. VisibilityBasedPreconditioner setup does not account for skipped
+ camera pairs. This was debugging code.
+#. Enable SSE support on MacOS
+#. ``system_test`` was taking too long and too much memory (Koichi
+ Akabe)
+
+1.2.0
+=====
+
+New Features
+------------
+
+#. ``CXSparse`` support.
+#. Block oriented fill reducing orderings. This reduces the
+ factorization time for sparse ``CHOLMOD`` significantly.
+#. New Trust region loop with support for multiple trust region step
+ strategies. Currently only Levenberg-Marquardt is supported, but
+ this refactoring opens the door for Dog-leg, Stiehaug and others.
+#. ``CMake`` file restructuring. Builds in ``Release`` mode by default, and now has platform specific tuning flags.
+#. Re-organized documentation. No new content, but better
+ organization.
+
+
+Bug Fixes
+---------
+
+#. Fixed integer overflow bug in ``block_random_access_sparse_matrix.cc``.
+#. Renamed some macros to prevent name conflicts.
+#. Fixed incorrent input to ``StateUpdatingCallback``.
+#. Fixes to AutoDiff tests.
+#. Various internal cleanups.
+
+
+1.1.1
+=====
+
+Bug Fixes
+---------
+#. Fix a bug in the handling of constant blocks. (Louis Simard)
+#. Add an optional lower bound to the Levenberg-Marquardt regularizer
+ to prevent oscillating between well and ill posed linear problems.
+#. Some internal refactoring and test fixes.
+
+1.1.0
+=====
+
+New Features
+------------
+#. New iterative linear solver for general sparse problems - ``CGNR``
+ and a block Jacobi preconditioner for it.
+#. Changed the semantics of how ``SuiteSparse`` dependencies are
+ checked and used. Now ``SuiteSparse`` is built by default, only if
+ all of its dependencies are present.
+#. Automatic differentiation now supports dynamic number of residuals.
+#. Support for writing the linear least squares problems to disk in
+ text format so that they can loaded into ``MATLAB``.
+#. Linear solver results are now checked for nan and infinities.
+#. Added ``.gitignore`` file.
+#. A better more robust build system.
+
+
+Bug Fixes
+---------
+#. Fixed a strict weak ordering bug in the schur ordering.
+#. Grammar and typos in the documents and code comments.
+#. Fixed tests which depended on exact equality between floating point
+ values.
+
+1.0.0
+=====
+Initial open source release. Nathan Wiegand contributed to the Mac OSX
+port.
+
+
+Origins
+=======
+
+Ceres Solver grew out of the need for general least squares solving at
+Google. In early 2010, Sameer Agarwal and Fredrik Schaffalitzky
+started the development of Ceres Solver. Fredrik left Google shortly
+thereafter and Keir Mierle stepped in to take his place. After two
+years of on-and-off development, Ceres Solver was released as open
+source in May of 2012.
--- /dev/null
+# 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: keir@google.com (Keir Mierle)
+
+# Only Ceres itself should be compiled with CERES_BUILDING_SHARED_LIBRARY
+# defined, any users of Ceres will have CERES_USING_SHARED_LIBRARY defined
+# for them in Ceres' config.h if appropriate.
+if (BUILD_SHARED_LIBS)
+ remove_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
+endif()
+
+add_executable(helloworld helloworld.cc)
+target_link_libraries(helloworld ceres)
+
+add_executable(helloworld_numeric_diff helloworld_numeric_diff.cc)
+target_link_libraries(helloworld_numeric_diff ceres)
+
+add_executable(helloworld_analytic_diff helloworld_analytic_diff.cc)
+target_link_libraries(helloworld_analytic_diff ceres)
+
+add_executable(curve_fitting curve_fitting.cc)
+target_link_libraries(curve_fitting ceres)
+
+add_executable(rosenbrock rosenbrock.cc)
+target_link_libraries(rosenbrock ceres)
+
+add_executable(curve_fitting_c curve_fitting.c)
+target_link_libraries(curve_fitting_c ceres)
+# Force CMake to link curve_fitting_c using the C linker, this is important
+# when Ceres was compiled using C++11 to ensure that -std=c++11 is not passed
+# through.
+set_target_properties(curve_fitting_c PROPERTIES LINKER_LANGUAGE C)
+# As this is a C file #including <math.h> we have to explicitly add the math
+# library (libm). Although some compilers (dependent upon options) will accept
+# the indirect link to libm via Ceres, at least GCC 4.8 on pure Debian won't.
+if (NOT MSVC)
+ target_link_libraries(curve_fitting_c m)
+endif (NOT MSVC)
+
+add_executable(ellipse_approximation ellipse_approximation.cc)
+target_link_libraries(ellipse_approximation ceres)
+
+add_executable(robust_curve_fitting robust_curve_fitting.cc)
+target_link_libraries(robust_curve_fitting ceres)
+
+add_executable(simple_bundle_adjuster simple_bundle_adjuster.cc)
+target_link_libraries(simple_bundle_adjuster ceres)
+
+if (GFLAGS)
+ add_executable(powell powell.cc)
+ target_link_libraries(powell ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(nist nist.cc)
+ target_link_libraries(nist ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(more_garbow_hillstrom more_garbow_hillstrom.cc)
+ target_link_libraries(more_garbow_hillstrom ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(circle_fit circle_fit.cc)
+ target_link_libraries(circle_fit ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(bundle_adjuster
+ bundle_adjuster.cc
+ bal_problem.cc)
+ target_link_libraries(bundle_adjuster ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(libmv_bundle_adjuster
+ libmv_bundle_adjuster.cc)
+ target_link_libraries(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(libmv_homography
+ libmv_homography.cc)
+ target_link_libraries(libmv_homography ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(denoising
+ denoising.cc
+ fields_of_experts.cc)
+ target_link_libraries(denoising ceres ${GFLAGS_LIBRARIES})
+
+ add_executable(robot_pose_mle
+ robot_pose_mle.cc)
+ target_link_libraries(robot_pose_mle ceres ${GFLAGS_LIBRARIES})
+
+endif (GFLAGS)
+
+add_subdirectory(sampled_function)
+add_subdirectory(slam)
--- /dev/null
+# 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: keir@google.com (Keir Mierle)
+#
+# This is an example Makefile for using Ceres. In practice, the Ceres authors
+# suggest using CMake instead, but if Make is needed for some reason, this
+# example serves to make it easy to do so.
+
+# This should point to place where you unpacked or cloned Ceres.
+CERES_SRC_DIR := /home/keir/wrk/ceres-extra
+
+# This should point to the place where you built Ceres. If you got Ceres by
+# installing it, then this will likely be /usr/local/lib.
+CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
+
+# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
+# this will likely be /usr/local/include.
+EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
+
+INCLUDES := -I$(CERES_SRC_DIR)/include \
+ -I$(EIGEN_SRC_DIR)
+
+CERES_LIBRARY := -lceres
+CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
+CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
+
+# If Ceres was built with Suitesparse:
+CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
+
+# If Ceres was built with CXSparse:
+CERES_LIBRARY_DEPENDENCIES += -lcxsparse
+
+# If Ceres was built with OpenMP:
+CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
+
+# The set of object files for your application.
+APPLICATION_OBJS := simple_bundle_adjuster.o
+
+all: simple_bundle_adjuster
+
+simple_bundle_adjuster: $(APPLICATION_OBJS)
+ g++ \
+ $(APPLICATION_OBJS) \
+ $(CERES_LIBRARY_PATH) \
+ $(CERES_LIBRARY) \
+ $(CERES_LIBRARY_DEPENDENCIES) \
+ -o simple_bundle_adjuster
+
+# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
+# not getting handy assert failures when there are issues in your code.
+CFLAGS := -O2 -DNDEBUG
+
+# If you have files ending in .cpp instead of .cc, fix the next line
+# appropriately.
+%.o: %.cc $(DEPS)
+ g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
--- /dev/null
+// 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 "bal_problem.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <fstream>
+#include <string>
+#include <vector>
+#include "Eigen/Core"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+#include "random.h"
+
+namespace ceres {
+namespace examples {
+namespace {
+typedef Eigen::Map<Eigen::VectorXd> VectorRef;
+typedef Eigen::Map<const Eigen::VectorXd> ConstVectorRef;
+
+template<typename T>
+void FscanfOrDie(FILE* fptr, const char* format, T* value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+}
+
+void PerturbPoint3(const double sigma, double* point) {
+ for (int i = 0; i < 3; ++i) {
+ point[i] += RandNormal() * sigma;
+ }
+}
+
+double Median(std::vector<double>* data) {
+ int n = data->size();
+ std::vector<double>::iterator mid_point = data->begin() + n / 2;
+ std::nth_element(data->begin(), mid_point, data->end());
+ return *mid_point;
+}
+
+} // namespace
+
+BALProblem::BALProblem(const std::string& filename, bool use_quaternions) {
+ FILE* fptr = fopen(filename.c_str(), "r");
+
+ if (fptr == NULL) {
+ LOG(FATAL) << "Error: unable to open file " << filename;
+ return;
+ };
+
+ // This wil die horribly on invalid files. Them's the breaks.
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ VLOG(1) << "Header: " << num_cameras_
+ << " " << num_points_
+ << " " << num_observations_;
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+
+ fclose(fptr);
+
+ use_quaternions_ = use_quaternions;
+ if (use_quaternions) {
+ // Switch the angle-axis rotations to quaternions.
+ num_parameters_ = 10 * num_cameras_ + 3 * num_points_;
+ double* quaternion_parameters = new double[num_parameters_];
+ double* original_cursor = parameters_;
+ double* quaternion_cursor = quaternion_parameters;
+ for (int i = 0; i < num_cameras_; ++i) {
+ AngleAxisToQuaternion(original_cursor, quaternion_cursor);
+ quaternion_cursor += 4;
+ original_cursor += 3;
+ for (int j = 4; j < 10; ++j) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ }
+ // Copy the rest of the points.
+ for (int i = 0; i < 3 * num_points_; ++i) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ // Swap in the quaternion parameters.
+ delete []parameters_;
+ parameters_ = quaternion_parameters;
+ }
+}
+
+// This function writes the problem to a file in the same format that
+// is read by the constructor.
+void BALProblem::WriteToFile(const std::string& filename) const {
+ FILE* fptr = fopen(filename.c_str(), "w");
+
+ if (fptr == NULL) {
+ LOG(FATAL) << "Error: unable to open file " << filename;
+ return;
+ };
+
+ fprintf(fptr, "%d %d %d\n", num_cameras_, num_points_, num_observations_);
+
+ for (int i = 0; i < num_observations_; ++i) {
+ fprintf(fptr, "%d %d", camera_index_[i], point_index_[i]);
+ for (int j = 0; j < 2; ++j) {
+ fprintf(fptr, " %g", observations_[2 * i + j]);
+ }
+ fprintf(fptr, "\n");
+ }
+
+ for (int i = 0; i < num_cameras(); ++i) {
+ double angleaxis[9];
+ if (use_quaternions_) {
+ // Output in angle-axis format.
+ QuaternionToAngleAxis(parameters_ + 10 * i, angleaxis);
+ memcpy(angleaxis + 3, parameters_ + 10 * i + 4, 6 * sizeof(double));
+ } else {
+ memcpy(angleaxis, parameters_ + 9 * i, 9 * sizeof(double));
+ }
+ for (int j = 0; j < 9; ++j) {
+ fprintf(fptr, "%.16g\n", angleaxis[j]);
+ }
+ }
+
+ const double* points = parameters_ + camera_block_size() * num_cameras_;
+ for (int i = 0; i < num_points(); ++i) {
+ const double* point = points + i * point_block_size();
+ for (int j = 0; j < point_block_size(); ++j) {
+ fprintf(fptr, "%.16g\n", point[j]);
+ }
+ }
+
+ fclose(fptr);
+}
+
+// Write the problem to a PLY file for inspection in Meshlab or CloudCompare.
+void BALProblem::WriteToPLYFile(const std::string& filename) const {
+ std::ofstream of(filename.c_str());
+
+ of << "ply"
+ << '\n' << "format ascii 1.0"
+ << '\n' << "element vertex " << num_cameras_ + num_points_
+ << '\n' << "property float x"
+ << '\n' << "property float y"
+ << '\n' << "property float z"
+ << '\n' << "property uchar red"
+ << '\n' << "property uchar green"
+ << '\n' << "property uchar blue"
+ << '\n' << "end_header" << std::endl;
+
+ // Export extrinsic data (i.e. camera centers) as green points.
+ double angle_axis[3];
+ double center[3];
+ for (int i = 0; i < num_cameras(); ++i) {
+ const double* camera = cameras() + camera_block_size() * i;
+ CameraToAngleAxisAndCenter(camera, angle_axis, center);
+ of << center[0] << ' ' << center[1] << ' ' << center[2]
+ << " 0 255 0" << '\n';
+ }
+
+ // Export the structure (i.e. 3D Points) as white points.
+ const double* points = parameters_ + camera_block_size() * num_cameras_;
+ for (int i = 0; i < num_points(); ++i) {
+ const double* point = points + i * point_block_size();
+ for (int j = 0; j < point_block_size(); ++j) {
+ of << point[j] << ' ';
+ }
+ of << "255 255 255\n";
+ }
+ of.close();
+}
+
+void BALProblem::CameraToAngleAxisAndCenter(const double* camera,
+ double* angle_axis,
+ double* center) const {
+ VectorRef angle_axis_ref(angle_axis, 3);
+ if (use_quaternions_) {
+ QuaternionToAngleAxis(camera, angle_axis);
+ } else {
+ angle_axis_ref = ConstVectorRef(camera, 3);
+ }
+
+ // c = -R't
+ Eigen::VectorXd inverse_rotation = -angle_axis_ref;
+ AngleAxisRotatePoint(inverse_rotation.data(),
+ camera + camera_block_size() - 6,
+ center);
+ VectorRef(center, 3) *= -1.0;
+}
+
+void BALProblem::AngleAxisAndCenterToCamera(const double* angle_axis,
+ const double* center,
+ double* camera) const {
+ ConstVectorRef angle_axis_ref(angle_axis, 3);
+ if (use_quaternions_) {
+ AngleAxisToQuaternion(angle_axis, camera);
+ } else {
+ VectorRef(camera, 3) = angle_axis_ref;
+ }
+
+ // t = -R * c
+ AngleAxisRotatePoint(angle_axis,
+ center,
+ camera + camera_block_size() - 6);
+ VectorRef(camera + camera_block_size() - 6, 3) *= -1.0;
+}
+
+
+void BALProblem::Normalize() {
+ // Compute the marginal median of the geometry.
+ std::vector<double> tmp(num_points_);
+ Eigen::Vector3d median;
+ double* points = mutable_points();
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < num_points_; ++j) {
+ tmp[j] = points[3 * j + i];
+ }
+ median(i) = Median(&tmp);
+ }
+
+ for (int i = 0; i < num_points_; ++i) {
+ VectorRef point(points + 3 * i, 3);
+ tmp[i] = (point - median).lpNorm<1>();
+ }
+
+ const double median_absolute_deviation = Median(&tmp);
+
+ // Scale so that the median absolute deviation of the resulting
+ // reconstruction is 100.
+ const double scale = 100.0 / median_absolute_deviation;
+
+ VLOG(2) << "median: " << median.transpose();
+ VLOG(2) << "median absolute deviation: " << median_absolute_deviation;
+ VLOG(2) << "scale: " << scale;
+
+ // X = scale * (X - median)
+ for (int i = 0; i < num_points_; ++i) {
+ VectorRef point(points + 3 * i, 3);
+ point = scale * (point - median);
+ }
+
+ double* cameras = mutable_cameras();
+ double angle_axis[3];
+ double center[3];
+ for (int i = 0; i < num_cameras_; ++i) {
+ double* camera = cameras + camera_block_size() * i;
+ CameraToAngleAxisAndCenter(camera, angle_axis, center);
+ // center = scale * (center - median)
+ VectorRef(center, 3) = scale * (VectorRef(center, 3) - median);
+ AngleAxisAndCenterToCamera(angle_axis, center, camera);
+ }
+}
+
+void BALProblem::Perturb(const double rotation_sigma,
+ const double translation_sigma,
+ const double point_sigma) {
+ CHECK_GE(point_sigma, 0.0);
+ CHECK_GE(rotation_sigma, 0.0);
+ CHECK_GE(translation_sigma, 0.0);
+
+ double* points = mutable_points();
+ if (point_sigma > 0) {
+ for (int i = 0; i < num_points_; ++i) {
+ PerturbPoint3(point_sigma, points + 3 * i);
+ }
+ }
+
+ for (int i = 0; i < num_cameras_; ++i) {
+ double* camera = mutable_cameras() + camera_block_size() * i;
+
+ double angle_axis[3];
+ double center[3];
+ // Perturb in the rotation of the camera in the angle-axis
+ // representation.
+ CameraToAngleAxisAndCenter(camera, angle_axis, center);
+ if (rotation_sigma > 0.0) {
+ PerturbPoint3(rotation_sigma, angle_axis);
+ }
+ AngleAxisAndCenterToCamera(angle_axis, center, camera);
+
+ if (translation_sigma > 0.0) {
+ PerturbPoint3(translation_sigma, camera + camera_block_size() - 6);
+ }
+ }
+}
+
+BALProblem::~BALProblem() {
+ delete []point_index_;
+ delete []camera_index_;
+ delete []observations_;
+ delete []parameters_;
+}
+
+} // namespace examples
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Class for loading and holding in memory bundle adjustment problems
+// from the BAL (Bundle Adjustment in the Large) dataset from the
+// University of Washington.
+//
+// For more details see http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_BAL_PROBLEM_H_
+#define CERES_EXAMPLES_BAL_PROBLEM_H_
+
+#include <string>
+
+namespace ceres {
+namespace examples {
+
+class BALProblem {
+ public:
+ explicit BALProblem(const std::string& filename, bool use_quaternions);
+ ~BALProblem();
+
+ void WriteToFile(const std::string& filename) const;
+ void WriteToPLYFile(const std::string& filename) const;
+
+ // Move the "center" of the reconstruction to the origin, where the
+ // center is determined by computing the marginal median of the
+ // points. The reconstruction is then scaled so that the median
+ // absolute deviation of the points measured from the origin is
+ // 100.0.
+ //
+ // The reprojection error of the problem remains the same.
+ void Normalize();
+
+ // Perturb the camera pose and the geometry with random normal
+ // numbers with corresponding standard deviations.
+ void Perturb(const double rotation_sigma,
+ const double translation_sigma,
+ const double point_sigma);
+
+ int camera_block_size() const { return use_quaternions_ ? 10 : 9; }
+ int point_block_size() const { return 3; }
+ int num_cameras() const { return num_cameras_; }
+ int num_points() const { return num_points_; }
+ int num_observations() const { return num_observations_; }
+ int num_parameters() const { return num_parameters_; }
+ const int* point_index() const { return point_index_; }
+ const int* camera_index() const { return camera_index_; }
+ const double* observations() const { return observations_; }
+ const double* parameters() const { return parameters_; }
+ const double* cameras() const { return parameters_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() {
+ return parameters_ + camera_block_size() * num_cameras_;
+ }
+
+ private:
+ void CameraToAngleAxisAndCenter(const double* camera,
+ double* angle_axis,
+ double* center) const;
+
+ void AngleAxisAndCenterToCamera(const double* angle_axis,
+ const double* center,
+ double* camera) const;
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+ bool use_quaternions_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ // The parameter vector is laid out as follows
+ // [camera_1, ..., camera_n, point_1, ..., point_m]
+ double* parameters_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_BAL_PROBLEM_H_
--- /dev/null
+// 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)
+//
+// An example of solving a dynamically sized problem with various
+// solvers and loss functions.
+//
+// For a simpler bare bones example of doing bundle adjustment with
+// Ceres, please see simple_bundle_adjuster.cc.
+//
+// NOTE: This example will not compile without gflags and SuiteSparse.
+//
+// The problem being solved here is known as a Bundle Adjustment
+// problem in computer vision. Given a set of 3d points X_1, ..., X_n,
+// a set of cameras P_1, ..., P_m. If the point X_i is visible in
+// image j, then there is a 2D observation u_ij that is the expected
+// projection of X_i using P_j. The aim of this optimization is to
+// find values of X_i and P_j such that the reprojection error
+//
+// E(X,P) = sum_ij |u_ij - P_j X_i|^2
+//
+// is minimized.
+//
+// The problem used here comes from a collection of bundle adjustment
+// problems published at University of Washington.
+// http://grail.cs.washington.edu/projects/bal
+
+#include <algorithm>
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+#include "bal_problem.h"
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "snavely_reprojection_error.h"
+
+DEFINE_string(input, "", "Input File name");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+ "Options are: levenberg_marquardt, dogleg.");
+DEFINE_string(dogleg, "traditional_dogleg", "Options are: traditional_dogleg,"
+ "subspace_dogleg.");
+
+DEFINE_bool(inner_iterations, false, "Use inner iterations to non-linearly "
+ "refine each successful trust region step.");
+
+DEFINE_string(blocks_for_inner_iterations, "automatic", "Options are: "
+ "automatic, cameras, points, cameras,points, points,cameras");
+
+DEFINE_string(linear_solver, "sparse_schur", "Options are: "
+ "sparse_schur, dense_schur, iterative_schur, sparse_normal_cholesky, "
+ "dense_qr, dense_normal_cholesky and cgnr.");
+DEFINE_bool(explicit_schur_complement, false, "If using ITERATIVE_SCHUR "
+ "then explicitly compute the Schur complement.");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+ "identity, jacobi, schur_jacobi, cluster_jacobi, "
+ "cluster_tridiagonal.");
+DEFINE_string(visibility_clustering, "canonical_views",
+ "single_linkage, canonical_views");
+
+DEFINE_string(sparse_linear_algebra_library, "suite_sparse",
+ "Options are: suite_sparse and cx_sparse.");
+DEFINE_string(dense_linear_algebra_library, "eigen",
+ "Options are: eigen and lapack.");
+DEFINE_string(ordering, "automatic", "Options are: automatic, user.");
+
+DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
+ "rotations. If false, angle axis is used.");
+DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
+ "parameterization.");
+DEFINE_bool(robustify, false, "Use a robust loss function.");
+
+DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
+ "accuracy of each linear solve of the truncated newton step. "
+ "Changing this parameter can affect solve performance.");
+
+DEFINE_int32(num_threads, 1, "Number of threads.");
+DEFINE_int32(num_iterations, 5, "Number of iterations.");
+DEFINE_double(max_solver_time, 1e32, "Maximum solve time in seconds.");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+ " nonmonotic steps.");
+
+DEFINE_double(rotation_sigma, 0.0, "Standard deviation of camera rotation "
+ "perturbation.");
+DEFINE_double(translation_sigma, 0.0, "Standard deviation of the camera "
+ "translation perturbation.");
+DEFINE_double(point_sigma, 0.0, "Standard deviation of the point "
+ "perturbation.");
+DEFINE_int32(random_seed, 38401, "Random seed used to set the state "
+ "of the pseudo random number generator used to generate "
+ "the pertubations.");
+DEFINE_bool(line_search, false, "Use a line search instead of trust region "
+ "algorithm.");
+DEFINE_string(initial_ply, "", "Export the BAL file data as a PLY file.");
+DEFINE_string(final_ply, "", "Export the refined BAL file data as a PLY "
+ "file.");
+
+namespace ceres {
+namespace examples {
+
+void SetLinearSolver(Solver::Options* options) {
+ CHECK(StringToLinearSolverType(FLAGS_linear_solver,
+ &options->linear_solver_type));
+ CHECK(StringToPreconditionerType(FLAGS_preconditioner,
+ &options->preconditioner_type));
+ CHECK(StringToVisibilityClusteringType(FLAGS_visibility_clustering,
+ &options->visibility_clustering_type));
+ CHECK(StringToSparseLinearAlgebraLibraryType(
+ FLAGS_sparse_linear_algebra_library,
+ &options->sparse_linear_algebra_library_type));
+ CHECK(StringToDenseLinearAlgebraLibraryType(
+ FLAGS_dense_linear_algebra_library,
+ &options->dense_linear_algebra_library_type));
+ options->num_linear_solver_threads = FLAGS_num_threads;
+ options->use_explicit_schur_complement = FLAGS_explicit_schur_complement;
+}
+
+void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
+ const int num_points = bal_problem->num_points();
+ const int point_block_size = bal_problem->point_block_size();
+ double* points = bal_problem->mutable_points();
+
+ const int num_cameras = bal_problem->num_cameras();
+ const int camera_block_size = bal_problem->camera_block_size();
+ double* cameras = bal_problem->mutable_cameras();
+
+ if (options->use_inner_iterations) {
+ if (FLAGS_blocks_for_inner_iterations == "cameras") {
+ LOG(INFO) << "Camera blocks for inner iterations";
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "points") {
+ LOG(INFO) << "Point blocks for inner iterations";
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "cameras,points") {
+ LOG(INFO) << "Camera followed by point blocks for inner iterations";
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+ }
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 1);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "points,cameras") {
+ LOG(INFO) << "Point followed by camera blocks for inner iterations";
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+ }
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "automatic") {
+ LOG(INFO) << "Choosing automatic blocks for inner iterations";
+ } else {
+ LOG(FATAL) << "Unknown block type for inner iterations: "
+ << FLAGS_blocks_for_inner_iterations;
+ }
+ }
+
+ // Bundle adjustment problems have a sparsity structure that makes
+ // them amenable to more specialized and much more efficient
+ // solution strategies. The SPARSE_SCHUR, DENSE_SCHUR and
+ // ITERATIVE_SCHUR solvers make use of this specialized
+ // structure.
+ //
+ // This can either be done by specifying Options::ordering_type =
+ // ceres::SCHUR, in which case Ceres will automatically determine
+ // the right ParameterBlock ordering, or by manually specifying a
+ // suitable ordering vector and defining
+ // Options::num_eliminate_blocks.
+ if (FLAGS_ordering == "automatic") {
+ return;
+ }
+
+ ceres::ParameterBlockOrdering* ordering =
+ new ceres::ParameterBlockOrdering;
+
+ // The points come before the cameras.
+ for (int i = 0; i < num_points; ++i) {
+ ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+
+ for (int i = 0; i < num_cameras; ++i) {
+ // When using axis-angle, there is a single parameter block for
+ // the entire camera.
+ ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+ }
+
+ options->linear_solver_ordering.reset(ordering);
+}
+
+void SetMinimizerOptions(Solver::Options* options) {
+ options->max_num_iterations = FLAGS_num_iterations;
+ options->minimizer_progress_to_stdout = true;
+ options->num_threads = FLAGS_num_threads;
+ options->eta = FLAGS_eta;
+ options->max_solver_time_in_seconds = FLAGS_max_solver_time;
+ options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+ if (FLAGS_line_search) {
+ options->minimizer_type = ceres::LINE_SEARCH;
+ }
+
+ CHECK(StringToTrustRegionStrategyType(FLAGS_trust_region_strategy,
+ &options->trust_region_strategy_type));
+ CHECK(StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+ options->use_inner_iterations = FLAGS_inner_iterations;
+}
+
+void SetSolverOptionsFromFlags(BALProblem* bal_problem,
+ Solver::Options* options) {
+ SetMinimizerOptions(options);
+ SetLinearSolver(options);
+ SetOrdering(bal_problem, options);
+}
+
+void BuildProblem(BALProblem* bal_problem, Problem* problem) {
+ const int point_block_size = bal_problem->point_block_size();
+ const int camera_block_size = bal_problem->camera_block_size();
+ double* points = bal_problem->mutable_points();
+ double* cameras = bal_problem->mutable_cameras();
+
+ // Observations is 2*num_observations long array observations =
+ // [u_1, u_2, ... , u_n], where each u_i is two dimensional, the x
+ // and y positions of the observation.
+ const double* observations = bal_problem->observations();
+ for (int i = 0; i < bal_problem->num_observations(); ++i) {
+ CostFunction* cost_function;
+ // Each Residual block takes a point and a camera as input and
+ // outputs a 2 dimensional residual.
+ cost_function =
+ (FLAGS_use_quaternions)
+ ? SnavelyReprojectionErrorWithQuaternions::Create(
+ observations[2 * i + 0],
+ observations[2 * i + 1])
+ : SnavelyReprojectionError::Create(
+ observations[2 * i + 0],
+ observations[2 * i + 1]);
+
+ // If enabled use Huber's loss function.
+ LossFunction* loss_function = FLAGS_robustify ? new HuberLoss(1.0) : NULL;
+
+ // Each observation correponds to a pair of a camera and a point
+ // which are identified by camera_index()[i] and point_index()[i]
+ // respectively.
+ double* camera =
+ cameras + camera_block_size * bal_problem->camera_index()[i];
+ double* point = points + point_block_size * bal_problem->point_index()[i];
+ problem->AddResidualBlock(cost_function, loss_function, camera, point);
+ }
+
+ if (FLAGS_use_quaternions && FLAGS_use_local_parameterization) {
+ LocalParameterization* camera_parameterization =
+ new ProductParameterization(
+ new QuaternionParameterization(),
+ new IdentityParameterization(6));
+ for (int i = 0; i < bal_problem->num_cameras(); ++i) {
+ problem->SetParameterization(cameras + camera_block_size * i,
+ camera_parameterization);
+ }
+ }
+}
+
+void SolveProblem(const char* filename) {
+ BALProblem bal_problem(filename, FLAGS_use_quaternions);
+
+ if (!FLAGS_initial_ply.empty()) {
+ bal_problem.WriteToPLYFile(FLAGS_initial_ply);
+ }
+
+ Problem problem;
+
+ srand(FLAGS_random_seed);
+ bal_problem.Normalize();
+ bal_problem.Perturb(FLAGS_rotation_sigma,
+ FLAGS_translation_sigma,
+ FLAGS_point_sigma);
+
+ BuildProblem(&bal_problem, &problem);
+ Solver::Options options;
+ SetSolverOptionsFromFlags(&bal_problem, &options);
+ options.gradient_tolerance = 1e-16;
+ options.function_tolerance = 1e-16;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+
+ if (!FLAGS_final_ply.empty()) {
+ bal_problem.WriteToPLYFile(FLAGS_final_ply);
+ }
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+ if (FLAGS_input.empty()) {
+ LOG(ERROR) << "Usage: bundle_adjuster --input=bal_problem";
+ return 1;
+ }
+
+ CHECK(FLAGS_use_quaternions || !FLAGS_use_local_parameterization)
+ << "--use_local_parameterization can only be used with "
+ << "--use_quaternions.";
+ ceres::examples::SolveProblem(FLAGS_input.c_str());
+ return 0;
+}
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// This fits circles to a collection of points, where the error is related to
+// the distance of a point from the circle. This uses auto-differentiation to
+// take the derivatives.
+//
+// The input format is simple text. Feed on standard in:
+//
+// x_initial y_initial r_initial
+// x1 y1
+// x2 y2
+// y3 y3
+// ...
+//
+// And the result after solving will be printed to stdout:
+//
+// x y r
+//
+// There are closed form solutions [1] to this problem which you may want to
+// consider instead of using this one. If you already have a decent guess, Ceres
+// can squeeze down the last bit of error.
+//
+// [1] http://www.mathworks.com/matlabcentral/fileexchange/5557-circle-fit/content/circfit.m
+
+#include <cstdio>
+#include <vector>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CauchyLoss;
+using ceres::CostFunction;
+using ceres::LossFunction;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+
+DEFINE_double(robust_threshold, 0.0, "Robust loss parameter. Set to 0 for "
+ "normal squared error (no robustification).");
+
+// The cost for a single sample. The returned residual is related to the
+// distance of the point from the circle (passed in as x, y, m parameters).
+//
+// Note that the radius is parameterized as r = m^2 to constrain the radius to
+// positive values.
+class DistanceFromCircleCost {
+ public:
+ DistanceFromCircleCost(double xx, double yy) : xx_(xx), yy_(yy) {}
+ template <typename T> bool operator()(const T* const x,
+ const T* const y,
+ const T* const m, // r = m^2
+ T* residual) const {
+ // Since the radius is parameterized as m^2, unpack m to get r.
+ T r = *m * *m;
+
+ // Get the position of the sample in the circle's coordinate system.
+ T xp = xx_ - *x;
+ T yp = yy_ - *y;
+
+ // It is tempting to use the following cost:
+ //
+ // residual[0] = r - sqrt(xp*xp + yp*yp);
+ //
+ // which is the distance of the sample from the circle. This works
+ // reasonably well, but the sqrt() adds strong nonlinearities to the cost
+ // function. Instead, a different cost is used, which while not strictly a
+ // distance in the metric sense (it has units distance^2) it produces more
+ // robust fits when there are outliers. This is because the cost surface is
+ // more convex.
+ residual[0] = r*r - xp*xp - yp*yp;
+ return true;
+ }
+
+ private:
+ // The measured x,y coordinate that should be on the circle.
+ double xx_, yy_;
+};
+
+int main(int argc, char** argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ double x, y, r;
+ if (scanf("%lg %lg %lg", &x, &y, &r) != 3) {
+ fprintf(stderr, "Couldn't read first line.\n");
+ return 1;
+ }
+ fprintf(stderr, "Got x, y, r %lg, %lg, %lg\n", x, y, r);
+
+ // Save initial values for comparison.
+ double initial_x = x;
+ double initial_y = y;
+ double initial_r = r;
+
+ // Parameterize r as m^2 so that it can't be negative.
+ double m = sqrt(r);
+
+ Problem problem;
+
+ // Configure the loss function.
+ LossFunction* loss = NULL;
+ if (FLAGS_robust_threshold) {
+ loss = new CauchyLoss(FLAGS_robust_threshold);
+ }
+
+ // Add the residuals.
+ double xx, yy;
+ int num_points = 0;
+ while (scanf("%lf %lf\n", &xx, &yy) == 2) {
+ CostFunction *cost =
+ new AutoDiffCostFunction<DistanceFromCircleCost, 1, 1, 1, 1>(
+ new DistanceFromCircleCost(xx, yy));
+ problem.AddResidualBlock(cost, loss, &x, &y, &m);
+ num_points++;
+ }
+
+ std::cout << "Got " << num_points << " points.\n";
+
+ // Build and solve the problem.
+ Solver::Options options;
+ options.max_num_iterations = 500;
+ options.linear_solver_type = ceres::DENSE_QR;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ // Recover r from m.
+ r = m * m;
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x << " -> " << x << "\n";
+ std::cout << "y : " << initial_y << " -> " << y << "\n";
+ std::cout << "r : " << initial_r << " -> " << r << "\n";
+ return 0;
+}
--- /dev/null
+/* 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: mierle@gmail.com (Keir Mierle)
+ *
+ * This is a port of curve_fitting.cc to the minimal C API for Ceres.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h> // For NULL
+#include "ceres/c_api.h"
+
+/* Data generated using the following octave code.
+ *
+ * randn('seed', 23497);
+ * m = 0.3;
+ * c = 0.1;
+ * x=[0:0.075:5];
+ * y = exp(m * x + c);
+ * noise = randn(size(x)) * 0.2;
+ * y_observed = y + noise;
+ * data = [x', y_observed'];
+ *
+ */
+
+int num_observations = 67;
+double data[] = {
+ 0.000000e+00, 1.133898e+00,
+ 7.500000e-02, 1.334902e+00,
+ 1.500000e-01, 1.213546e+00,
+ 2.250000e-01, 1.252016e+00,
+ 3.000000e-01, 1.392265e+00,
+ 3.750000e-01, 1.314458e+00,
+ 4.500000e-01, 1.472541e+00,
+ 5.250000e-01, 1.536218e+00,
+ 6.000000e-01, 1.355679e+00,
+ 6.750000e-01, 1.463566e+00,
+ 7.500000e-01, 1.490201e+00,
+ 8.250000e-01, 1.658699e+00,
+ 9.000000e-01, 1.067574e+00,
+ 9.750000e-01, 1.464629e+00,
+ 1.050000e+00, 1.402653e+00,
+ 1.125000e+00, 1.713141e+00,
+ 1.200000e+00, 1.527021e+00,
+ 1.275000e+00, 1.702632e+00,
+ 1.350000e+00, 1.423899e+00,
+ 1.425000e+00, 1.543078e+00,
+ 1.500000e+00, 1.664015e+00,
+ 1.575000e+00, 1.732484e+00,
+ 1.650000e+00, 1.543296e+00,
+ 1.725000e+00, 1.959523e+00,
+ 1.800000e+00, 1.685132e+00,
+ 1.875000e+00, 1.951791e+00,
+ 1.950000e+00, 2.095346e+00,
+ 2.025000e+00, 2.361460e+00,
+ 2.100000e+00, 2.169119e+00,
+ 2.175000e+00, 2.061745e+00,
+ 2.250000e+00, 2.178641e+00,
+ 2.325000e+00, 2.104346e+00,
+ 2.400000e+00, 2.584470e+00,
+ 2.475000e+00, 1.914158e+00,
+ 2.550000e+00, 2.368375e+00,
+ 2.625000e+00, 2.686125e+00,
+ 2.700000e+00, 2.712395e+00,
+ 2.775000e+00, 2.499511e+00,
+ 2.850000e+00, 2.558897e+00,
+ 2.925000e+00, 2.309154e+00,
+ 3.000000e+00, 2.869503e+00,
+ 3.075000e+00, 3.116645e+00,
+ 3.150000e+00, 3.094907e+00,
+ 3.225000e+00, 2.471759e+00,
+ 3.300000e+00, 3.017131e+00,
+ 3.375000e+00, 3.232381e+00,
+ 3.450000e+00, 2.944596e+00,
+ 3.525000e+00, 3.385343e+00,
+ 3.600000e+00, 3.199826e+00,
+ 3.675000e+00, 3.423039e+00,
+ 3.750000e+00, 3.621552e+00,
+ 3.825000e+00, 3.559255e+00,
+ 3.900000e+00, 3.530713e+00,
+ 3.975000e+00, 3.561766e+00,
+ 4.050000e+00, 3.544574e+00,
+ 4.125000e+00, 3.867945e+00,
+ 4.200000e+00, 4.049776e+00,
+ 4.275000e+00, 3.885601e+00,
+ 4.350000e+00, 4.110505e+00,
+ 4.425000e+00, 4.345320e+00,
+ 4.500000e+00, 4.161241e+00,
+ 4.575000e+00, 4.363407e+00,
+ 4.650000e+00, 4.161576e+00,
+ 4.725000e+00, 4.619728e+00,
+ 4.800000e+00, 4.737410e+00,
+ 4.875000e+00, 4.727863e+00,
+ 4.950000e+00, 4.669206e+00,
+};
+
+/* This is the equivalent of a use-defined CostFunction in the C++ Ceres API.
+ * This is passed as a callback to the Ceres C API, which internally converts
+ * the callback into a CostFunction. */
+int exponential_residual(void* user_data,
+ double** parameters,
+ double* residuals,
+ double** jacobians) {
+ double* measurement = (double*) user_data;
+ double x = measurement[0];
+ double y = measurement[1];
+ double m = parameters[0][0];
+ double c = parameters[1][0];
+
+ residuals[0] = y - exp(m * x + c);
+ if (jacobians == NULL) {
+ return 1;
+ }
+ if (jacobians[0] != NULL) {
+ jacobians[0][0] = - x * exp(m * x + c); /* dr/dm */
+ }
+ if (jacobians[1] != NULL) {
+ jacobians[1][0] = - exp(m * x + c); /* dr/dc */
+ }
+ return 1;
+}
+
+int main(int argc, char** argv) {
+ /* Note: Typically it is better to compact m and c into one block,
+ * but in this case use separate blocks to illustrate the use of
+ * multiple parameter blocks. */
+ double m = 0.0;
+ double c = 0.0;
+
+ double *parameter_pointers[] = { &m, &c };
+ int parameter_sizes[] = { 1, 1 };
+ int i;
+
+ ceres_problem_t* problem;
+
+ /* Ceres has some internal stuff that needs to get initialized. */
+ ceres_init();
+
+ problem = ceres_create_problem();
+
+ /* Add all the residuals. */
+ for (i = 0; i < num_observations; ++i) {
+ ceres_problem_add_residual_block(
+ problem,
+ exponential_residual, /* Cost function */
+ &data[2 * i], /* Points to the (x,y) measurement */
+ NULL, /* No loss function */
+ NULL, /* No loss function user data */
+ 1, /* Number of residuals */
+ 2, /* Number of parameter blocks */
+ parameter_sizes,
+ parameter_pointers);
+ }
+
+ ceres_solve(problem);
+ ceres_free_problem(problem);
+
+ printf("Initial m: 0.0, c: 0.0\n");
+ printf("Final m: %g, c: %g\n", m, c);
+ return 0;
+}
--- /dev/null
+// 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/ceres.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// Data generated using the following octave code.
+// randn('seed', 23497);
+// m = 0.3;
+// c = 0.1;
+// x=[0:0.075:5];
+// y = exp(m * x + c);
+// noise = randn(size(x)) * 0.2;
+// y_observed = y + noise;
+// data = [x', y_observed'];
+
+const int kNumObservations = 67;
+const double data[] = {
+ 0.000000e+00, 1.133898e+00,
+ 7.500000e-02, 1.334902e+00,
+ 1.500000e-01, 1.213546e+00,
+ 2.250000e-01, 1.252016e+00,
+ 3.000000e-01, 1.392265e+00,
+ 3.750000e-01, 1.314458e+00,
+ 4.500000e-01, 1.472541e+00,
+ 5.250000e-01, 1.536218e+00,
+ 6.000000e-01, 1.355679e+00,
+ 6.750000e-01, 1.463566e+00,
+ 7.500000e-01, 1.490201e+00,
+ 8.250000e-01, 1.658699e+00,
+ 9.000000e-01, 1.067574e+00,
+ 9.750000e-01, 1.464629e+00,
+ 1.050000e+00, 1.402653e+00,
+ 1.125000e+00, 1.713141e+00,
+ 1.200000e+00, 1.527021e+00,
+ 1.275000e+00, 1.702632e+00,
+ 1.350000e+00, 1.423899e+00,
+ 1.425000e+00, 1.543078e+00,
+ 1.500000e+00, 1.664015e+00,
+ 1.575000e+00, 1.732484e+00,
+ 1.650000e+00, 1.543296e+00,
+ 1.725000e+00, 1.959523e+00,
+ 1.800000e+00, 1.685132e+00,
+ 1.875000e+00, 1.951791e+00,
+ 1.950000e+00, 2.095346e+00,
+ 2.025000e+00, 2.361460e+00,
+ 2.100000e+00, 2.169119e+00,
+ 2.175000e+00, 2.061745e+00,
+ 2.250000e+00, 2.178641e+00,
+ 2.325000e+00, 2.104346e+00,
+ 2.400000e+00, 2.584470e+00,
+ 2.475000e+00, 1.914158e+00,
+ 2.550000e+00, 2.368375e+00,
+ 2.625000e+00, 2.686125e+00,
+ 2.700000e+00, 2.712395e+00,
+ 2.775000e+00, 2.499511e+00,
+ 2.850000e+00, 2.558897e+00,
+ 2.925000e+00, 2.309154e+00,
+ 3.000000e+00, 2.869503e+00,
+ 3.075000e+00, 3.116645e+00,
+ 3.150000e+00, 3.094907e+00,
+ 3.225000e+00, 2.471759e+00,
+ 3.300000e+00, 3.017131e+00,
+ 3.375000e+00, 3.232381e+00,
+ 3.450000e+00, 2.944596e+00,
+ 3.525000e+00, 3.385343e+00,
+ 3.600000e+00, 3.199826e+00,
+ 3.675000e+00, 3.423039e+00,
+ 3.750000e+00, 3.621552e+00,
+ 3.825000e+00, 3.559255e+00,
+ 3.900000e+00, 3.530713e+00,
+ 3.975000e+00, 3.561766e+00,
+ 4.050000e+00, 3.544574e+00,
+ 4.125000e+00, 3.867945e+00,
+ 4.200000e+00, 4.049776e+00,
+ 4.275000e+00, 3.885601e+00,
+ 4.350000e+00, 4.110505e+00,
+ 4.425000e+00, 4.345320e+00,
+ 4.500000e+00, 4.161241e+00,
+ 4.575000e+00, 4.363407e+00,
+ 4.650000e+00, 4.161576e+00,
+ 4.725000e+00, 4.619728e+00,
+ 4.800000e+00, 4.737410e+00,
+ 4.875000e+00, 4.727863e+00,
+ 4.950000e+00, 4.669206e+00,
+};
+
+struct ExponentialResidual {
+ ExponentialResidual(double x, double y)
+ : x_(x), y_(y) {}
+
+ template <typename T> bool operator()(const T* const m,
+ const T* const c,
+ T* residual) const {
+ residual[0] = y_ - exp(m[0] * x_ + c[0]);
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ double m = 0.0;
+ double c = 0.0;
+
+ Problem problem;
+ for (int i = 0; i < kNumObservations; ++i) {
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+ new ExponentialResidual(data[2 * i], data[2 * i + 1])),
+ NULL,
+ &m, &c);
+ }
+
+ Solver::Options options;
+ options.max_num_iterations = 25;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
+ std::cout << "Final m: " << m << " c: " << c << "\n";
+ return 0;
+}
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+//
+// Denoising using Fields of Experts and the Ceres minimizer.
+//
+// Note that for good denoising results the weighting between the data term
+// and the Fields of Experts term needs to be adjusted. This is discussed
+// in [1]. This program assumes Gaussian noise. The noise model can be changed
+// by substituing another function for QuadraticCostFunction.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+// Computer Vision, 82(2):205--229, 2009.
+
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include <sstream>
+#include <string>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "fields_of_experts.h"
+#include "pgm_image.h"
+
+DEFINE_string(input, "", "File to which the output image should be written");
+DEFINE_string(foe_file, "", "FoE file to use");
+DEFINE_string(output, "", "File to which the output image should be written");
+DEFINE_double(sigma, 20.0, "Standard deviation of noise");
+DEFINE_bool(verbose, false, "Prints information about the solver progress.");
+DEFINE_bool(line_search, false, "Use a line search instead of trust region "
+ "algorithm.");
+
+namespace ceres {
+namespace examples {
+
+// This cost function is used to build the data term.
+//
+// f_i(x) = a * (x_i - b)^2
+//
+class QuadraticCostFunction : public ceres::SizedCostFunction<1, 1> {
+ public:
+ QuadraticCostFunction(double a, double b)
+ : sqrta_(std::sqrt(a)), b_(b) {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double x = parameters[0][0];
+ residuals[0] = sqrta_ * (x - b_);
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = sqrta_;
+ }
+ return true;
+ }
+ private:
+ double sqrta_, b_;
+};
+
+// Creates a Fields of Experts MAP inference problem.
+void CreateProblem(const FieldsOfExperts& foe,
+ const PGMImage<double>& image,
+ Problem* problem,
+ PGMImage<double>* solution) {
+ // Create the data term
+ CHECK_GT(FLAGS_sigma, 0.0);
+ const double coefficient = 1 / (2.0 * FLAGS_sigma * FLAGS_sigma);
+ for (unsigned index = 0; index < image.NumPixels(); ++index) {
+ ceres::CostFunction* cost_function =
+ new QuadraticCostFunction(coefficient,
+ image.PixelFromLinearIndex(index));
+ problem->AddResidualBlock(cost_function,
+ NULL,
+ solution->MutablePixelFromLinearIndex(index));
+ }
+
+ // Create Ceres cost and loss functions for regularization. One is needed for
+ // each filter.
+ std::vector<ceres::LossFunction*> loss_function(foe.NumFilters());
+ std::vector<ceres::CostFunction*> cost_function(foe.NumFilters());
+ for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+ loss_function[alpha_index] = foe.NewLossFunction(alpha_index);
+ cost_function[alpha_index] = foe.NewCostFunction(alpha_index);
+ }
+
+ // Add FoE regularization for each patch in the image.
+ for (int x = 0; x < image.width() - (foe.Size() - 1); ++x) {
+ for (int y = 0; y < image.height() - (foe.Size() - 1); ++y) {
+ // Build a vector with the pixel indices of this patch.
+ std::vector<double*> pixels;
+ const std::vector<int>& x_delta_indices = foe.GetXDeltaIndices();
+ const std::vector<int>& y_delta_indices = foe.GetYDeltaIndices();
+ for (int i = 0; i < foe.NumVariables(); ++i) {
+ double* pixel = solution->MutablePixel(x + x_delta_indices[i],
+ y + y_delta_indices[i]);
+ pixels.push_back(pixel);
+ }
+ // For this patch with coordinates (x, y), we will add foe.NumFilters()
+ // terms to the objective function.
+ for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+ problem->AddResidualBlock(cost_function[alpha_index],
+ loss_function[alpha_index],
+ pixels);
+ }
+ }
+ }
+}
+
+// Solves the FoE problem using Ceres and post-processes it to make sure the
+// solution stays within [0, 255].
+void SolveProblem(Problem* problem, PGMImage<double>* solution) {
+ // These parameters may be experimented with. For example, ceres::DOGLEG tends
+ // to be faster for 2x2 filters, but gives solutions with slightly higher
+ // objective function value.
+ ceres::Solver::Options options;
+ options.max_num_iterations = 100;
+ if (FLAGS_verbose) {
+ options.minimizer_progress_to_stdout = true;
+ }
+
+ if (FLAGS_line_search) {
+ options.minimizer_type = ceres::LINE_SEARCH;
+ }
+
+ options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+ options.function_tolerance = 1e-3; // Enough for denoising.
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+ if (FLAGS_verbose) {
+ std::cout << summary.FullReport() << "\n";
+ }
+
+ // Make the solution stay in [0, 255].
+ for (int x = 0; x < solution->width(); ++x) {
+ for (int y = 0; y < solution->height(); ++y) {
+ *solution->MutablePixel(x, y) =
+ std::min(255.0, std::max(0.0, solution->Pixel(x, y)));
+ }
+ }
+}
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ using namespace ceres::examples;
+ std::string
+ usage("This program denoises an image using Ceres. Sample usage:\n");
+ usage += argv[0];
+ usage += " --input=<noisy image PGM file> --foe_file=<FoE file name>";
+ CERES_GFLAGS_NAMESPACE::SetUsageMessage(usage);
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ if (FLAGS_input.empty()) {
+ std::cerr << "Please provide an image file name.\n";
+ return 1;
+ }
+
+ if (FLAGS_foe_file.empty()) {
+ std::cerr << "Please provide a Fields of Experts file name.\n";
+ return 1;
+ }
+
+ // Load the Fields of Experts filters from file.
+ FieldsOfExperts foe;
+ if (!foe.LoadFromFile(FLAGS_foe_file)) {
+ std::cerr << "Loading \"" << FLAGS_foe_file << "\" failed.\n";
+ return 2;
+ }
+
+ // Read the images
+ PGMImage<double> image(FLAGS_input);
+ if (image.width() == 0) {
+ std::cerr << "Reading \"" << FLAGS_input << "\" failed.\n";
+ return 3;
+ }
+ PGMImage<double> solution(image.width(), image.height());
+ solution.Set(0.0);
+
+ ceres::Problem problem;
+ CreateProblem(foe, image, &problem, &solution);
+
+ SolveProblem(&problem, &solution);
+
+ if (!FLAGS_output.empty()) {
+ CHECK(solution.WriteToFile(FLAGS_output))
+ << "Writing \"" << FLAGS_output << "\" failed.";
+ }
+
+ return 0;
+}
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// This fits points randomly distributed on an ellipse with an approximate
+// line segment contour. This is done by jointly optimizing the control points
+// of the line segment contour along with the preimage positions for the data
+// points. The purpose of this example is to show an example use case for
+// dynamic_sparsity, and how it can benefit problems which are numerically
+// dense but dynamically sparse.
+
+#include <cmath>
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+// Data generated with the following Python code.
+// import numpy as np
+// np.random.seed(1337)
+// t = np.linspace(0.0, 2.0 * np.pi, 212, endpoint=False)
+// t += 2.0 * np.pi * 0.01 * np.random.randn(t.size)
+// theta = np.deg2rad(15)
+// a, b = np.cos(theta), np.sin(theta)
+// R = np.array([[a, -b],
+// [b, a]])
+// Y = np.dot(np.c_[4.0 * np.cos(t), np.sin(t)], R.T)
+
+const int kYRows = 212;
+const int kYCols = 2;
+const double kYData[kYRows * kYCols] = {
+ +3.871364e+00, +9.916027e-01,
+ +3.864003e+00, +1.034148e+00,
+ +3.850651e+00, +1.072202e+00,
+ +3.868350e+00, +1.014408e+00,
+ +3.796381e+00, +1.153021e+00,
+ +3.857138e+00, +1.056102e+00,
+ +3.787532e+00, +1.162215e+00,
+ +3.704477e+00, +1.227272e+00,
+ +3.564711e+00, +1.294959e+00,
+ +3.754363e+00, +1.191948e+00,
+ +3.482098e+00, +1.322725e+00,
+ +3.602777e+00, +1.279658e+00,
+ +3.585433e+00, +1.286858e+00,
+ +3.347505e+00, +1.356415e+00,
+ +3.220855e+00, +1.378914e+00,
+ +3.558808e+00, +1.297174e+00,
+ +3.403618e+00, +1.343809e+00,
+ +3.179828e+00, +1.384721e+00,
+ +3.054789e+00, +1.398759e+00,
+ +3.294153e+00, +1.366808e+00,
+ +3.247312e+00, +1.374813e+00,
+ +2.988547e+00, +1.404247e+00,
+ +3.114508e+00, +1.392698e+00,
+ +2.899226e+00, +1.409802e+00,
+ +2.533256e+00, +1.414778e+00,
+ +2.654773e+00, +1.415909e+00,
+ +2.565100e+00, +1.415313e+00,
+ +2.976456e+00, +1.405118e+00,
+ +2.484200e+00, +1.413640e+00,
+ +2.324751e+00, +1.407476e+00,
+ +1.930468e+00, +1.378221e+00,
+ +2.329017e+00, +1.407688e+00,
+ +1.760640e+00, +1.360319e+00,
+ +2.147375e+00, +1.396603e+00,
+ +1.741989e+00, +1.358178e+00,
+ +1.743859e+00, +1.358394e+00,
+ +1.557372e+00, +1.335208e+00,
+ +1.280551e+00, +1.295087e+00,
+ +1.429880e+00, +1.317546e+00,
+ +1.213485e+00, +1.284400e+00,
+ +9.168172e-01, +1.232870e+00,
+ +1.311141e+00, +1.299839e+00,
+ +1.231969e+00, +1.287382e+00,
+ +7.453773e-01, +1.200049e+00,
+ +6.151587e-01, +1.173683e+00,
+ +5.935666e-01, +1.169193e+00,
+ +2.538707e-01, +1.094227e+00,
+ +6.806136e-01, +1.187089e+00,
+ +2.805447e-01, +1.100405e+00,
+ +6.184807e-01, +1.174371e+00,
+ +1.170550e-01, +1.061762e+00,
+ +2.890507e-01, +1.102365e+00,
+ +3.834234e-01, +1.123772e+00,
+ +3.980161e-04, +1.033061e+00,
+ -3.651680e-01, +9.370367e-01,
+ -8.386351e-01, +7.987201e-01,
+ -8.105704e-01, +8.073702e-01,
+ -8.735139e-01, +7.878886e-01,
+ -9.913836e-01, +7.506100e-01,
+ -8.784011e-01, +7.863636e-01,
+ -1.181440e+00, +6.882566e-01,
+ -1.229556e+00, +6.720191e-01,
+ -1.035839e+00, +7.362765e-01,
+ -8.031520e-01, +8.096470e-01,
+ -1.539136e+00, +5.629549e-01,
+ -1.755423e+00, +4.817306e-01,
+ -1.337589e+00, +6.348763e-01,
+ -1.836966e+00, +4.499485e-01,
+ -1.913367e+00, +4.195617e-01,
+ -2.126467e+00, +3.314900e-01,
+ -1.927625e+00, +4.138238e-01,
+ -2.339862e+00, +2.379074e-01,
+ -1.881736e+00, +4.322152e-01,
+ -2.116753e+00, +3.356163e-01,
+ -2.255733e+00, +2.754930e-01,
+ -2.555834e+00, +1.368473e-01,
+ -2.770277e+00, +2.895711e-02,
+ -2.563376e+00, +1.331890e-01,
+ -2.826715e+00, -9.000818e-04,
+ -2.978191e+00, -8.457804e-02,
+ -3.115855e+00, -1.658786e-01,
+ -2.982049e+00, -8.678322e-02,
+ -3.307892e+00, -2.902083e-01,
+ -3.038346e+00, -1.194222e-01,
+ -3.190057e+00, -2.122060e-01,
+ -3.279086e+00, -2.705777e-01,
+ -3.322028e+00, -2.999889e-01,
+ -3.122576e+00, -1.699965e-01,
+ -3.551973e+00, -4.768674e-01,
+ -3.581866e+00, -5.032175e-01,
+ -3.497799e+00, -4.315203e-01,
+ -3.565384e+00, -4.885602e-01,
+ -3.699493e+00, -6.199815e-01,
+ -3.585166e+00, -5.061925e-01,
+ -3.758914e+00, -6.918275e-01,
+ -3.741104e+00, -6.689131e-01,
+ -3.688331e+00, -6.077239e-01,
+ -3.810425e+00, -7.689015e-01,
+ -3.791829e+00, -7.386911e-01,
+ -3.789951e+00, -7.358189e-01,
+ -3.823100e+00, -7.918398e-01,
+ -3.857021e+00, -8.727074e-01,
+ -3.858250e+00, -8.767645e-01,
+ -3.872100e+00, -9.563174e-01,
+ -3.864397e+00, -1.032630e+00,
+ -3.846230e+00, -1.081669e+00,
+ -3.834799e+00, -1.102536e+00,
+ -3.866684e+00, -1.022901e+00,
+ -3.808643e+00, -1.139084e+00,
+ -3.868840e+00, -1.011569e+00,
+ -3.791071e+00, -1.158615e+00,
+ -3.797999e+00, -1.151267e+00,
+ -3.696278e+00, -1.232314e+00,
+ -3.779007e+00, -1.170504e+00,
+ -3.622855e+00, -1.270793e+00,
+ -3.647249e+00, -1.259166e+00,
+ -3.655412e+00, -1.255042e+00,
+ -3.573218e+00, -1.291696e+00,
+ -3.638019e+00, -1.263684e+00,
+ -3.498409e+00, -1.317750e+00,
+ -3.304143e+00, -1.364970e+00,
+ -3.183001e+00, -1.384295e+00,
+ -3.202456e+00, -1.381599e+00,
+ -3.244063e+00, -1.375332e+00,
+ -3.233308e+00, -1.377019e+00,
+ -3.060112e+00, -1.398264e+00,
+ -3.078187e+00, -1.396517e+00,
+ -2.689594e+00, -1.415761e+00,
+ -2.947662e+00, -1.407039e+00,
+ -2.854490e+00, -1.411860e+00,
+ -2.660499e+00, -1.415900e+00,
+ -2.875955e+00, -1.410930e+00,
+ -2.675385e+00, -1.415848e+00,
+ -2.813155e+00, -1.413363e+00,
+ -2.417673e+00, -1.411512e+00,
+ -2.725461e+00, -1.415373e+00,
+ -2.148334e+00, -1.396672e+00,
+ -2.108972e+00, -1.393738e+00,
+ -2.029905e+00, -1.387302e+00,
+ -2.046214e+00, -1.388687e+00,
+ -2.057402e+00, -1.389621e+00,
+ -1.650250e+00, -1.347160e+00,
+ -1.806764e+00, -1.365469e+00,
+ -1.206973e+00, -1.283343e+00,
+ -8.029259e-01, -1.211308e+00,
+ -1.229551e+00, -1.286993e+00,
+ -1.101507e+00, -1.265754e+00,
+ -9.110645e-01, -1.231804e+00,
+ -1.110046e+00, -1.267211e+00,
+ -8.465274e-01, -1.219677e+00,
+ -7.594163e-01, -1.202818e+00,
+ -8.023823e-01, -1.211203e+00,
+ -3.732519e-01, -1.121494e+00,
+ -1.918373e-01, -1.079668e+00,
+ -4.671988e-01, -1.142253e+00,
+ -4.033645e-01, -1.128215e+00,
+ -1.920740e-01, -1.079724e+00,
+ -3.022157e-01, -1.105389e+00,
+ -1.652831e-01, -1.073354e+00,
+ +4.671625e-01, -9.085886e-01,
+ +5.940178e-01, -8.721832e-01,
+ +3.147557e-01, -9.508290e-01,
+ +6.383631e-01, -8.591867e-01,
+ +9.888923e-01, -7.514088e-01,
+ +7.076339e-01, -8.386023e-01,
+ +1.326682e+00, -6.386698e-01,
+ +1.149834e+00, -6.988221e-01,
+ +1.257742e+00, -6.624207e-01,
+ +1.492352e+00, -5.799632e-01,
+ +1.595574e+00, -5.421766e-01,
+ +1.240173e+00, -6.684113e-01,
+ +1.706612e+00, -5.004442e-01,
+ +1.873984e+00, -4.353002e-01,
+ +1.985633e+00, -3.902561e-01,
+ +1.722880e+00, -4.942329e-01,
+ +2.095182e+00, -3.447402e-01,
+ +2.018118e+00, -3.768991e-01,
+ +2.422702e+00, -1.999563e-01,
+ +2.370611e+00, -2.239326e-01,
+ +2.152154e+00, -3.205250e-01,
+ +2.525121e+00, -1.516499e-01,
+ +2.422116e+00, -2.002280e-01,
+ +2.842806e+00, +9.536372e-03,
+ +3.030128e+00, +1.146027e-01,
+ +2.888424e+00, +3.433444e-02,
+ +2.991609e+00, +9.226409e-02,
+ +2.924807e+00, +5.445844e-02,
+ +3.007772e+00, +1.015875e-01,
+ +2.781973e+00, -2.282382e-02,
+ +3.164737e+00, +1.961781e-01,
+ +3.237671e+00, +2.430139e-01,
+ +3.046123e+00, +1.240014e-01,
+ +3.414834e+00, +3.669060e-01,
+ +3.436591e+00, +3.833600e-01,
+ +3.626207e+00, +5.444311e-01,
+ +3.223325e+00, +2.336361e-01,
+ +3.511963e+00, +4.431060e-01,
+ +3.698380e+00, +6.187442e-01,
+ +3.670244e+00, +5.884943e-01,
+ +3.558833e+00, +4.828230e-01,
+ +3.661807e+00, +5.797689e-01,
+ +3.767261e+00, +7.030893e-01,
+ +3.801065e+00, +7.532650e-01,
+ +3.828523e+00, +8.024454e-01,
+ +3.840719e+00, +8.287032e-01,
+ +3.848748e+00, +8.485921e-01,
+ +3.865801e+00, +9.066551e-01,
+ +3.870983e+00, +9.404873e-01,
+ +3.870263e+00, +1.001884e+00,
+ +3.864462e+00, +1.032374e+00,
+ +3.870542e+00, +9.996121e-01,
+ +3.865424e+00, +1.028474e+00
+};
+ceres::ConstMatrixRef kY(kYData, kYRows, kYCols);
+
+class PointToLineSegmentContourCostFunction : public ceres::CostFunction {
+ public:
+ PointToLineSegmentContourCostFunction(const int num_segments,
+ const Eigen::Vector2d& y)
+ : num_segments_(num_segments), y_(y) {
+ // The first parameter is the preimage position.
+ mutable_parameter_block_sizes()->push_back(1);
+ // The next parameters are the control points for the line segment contour.
+ for (int i = 0; i < num_segments_; ++i) {
+ mutable_parameter_block_sizes()->push_back(2);
+ }
+ set_num_residuals(2);
+ }
+
+ virtual bool Evaluate(const double* const* x,
+ double* residuals,
+ double** jacobians) const {
+ // Convert the preimage position `t` into a segment index `i0` and the
+ // line segment interpolation parameter `u`. `i1` is the index of the next
+ // control point.
+ const double t = ModuloNumSegments(*x[0]);
+ CHECK_GE(t, 0.0);
+ CHECK_LT(t, num_segments_);
+ const int i0 = floor(t), i1 = (i0 + 1) % num_segments_;
+ const double u = t - i0;
+
+ // Linearly interpolate between control points `i0` and `i1`.
+ residuals[0] = y_[0] - ((1.0 - u) * x[1 + i0][0] + u * x[1 + i1][0]);
+ residuals[1] = y_[1] - ((1.0 - u) * x[1 + i0][1] + u * x[1 + i1][1]);
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ if (jacobians[0] != NULL) {
+ jacobians[0][0] = x[1 + i0][0] - x[1 + i1][0];
+ jacobians[0][1] = x[1 + i0][1] - x[1 + i1][1];
+ }
+ for (int i = 0; i < num_segments_; ++i) {
+ if (jacobians[i + 1] != NULL) {
+ ceres::MatrixRef(jacobians[i + 1], 2, 2).setZero();
+ if (i == i0) {
+ jacobians[i + 1][0] = -(1.0 - u);
+ jacobians[i + 1][3] = -(1.0 - u);
+ } else if (i == i1) {
+ jacobians[i + 1][0] = -u;
+ jacobians[i + 1][3] = -u;
+ }
+ }
+ }
+ return true;
+ }
+
+ static ceres::CostFunction* Create(const int num_segments,
+ const Eigen::Vector2d& y) {
+ return new PointToLineSegmentContourCostFunction(num_segments, y);
+ }
+
+ private:
+ inline double ModuloNumSegments(const double t) const {
+ return t - num_segments_ * floor(t / num_segments_);
+ }
+
+ const int num_segments_;
+ const Eigen::Vector2d y_;
+};
+
+class EuclideanDistanceFunctor {
+ public:
+ explicit EuclideanDistanceFunctor(const double& sqrt_weight)
+ : sqrt_weight_(sqrt_weight) {}
+
+ template <typename T>
+ bool operator()(const T* x0, const T* x1, T* residuals) const {
+ residuals[0] = sqrt_weight_ * (x0[0] - x1[0]);
+ residuals[1] = sqrt_weight_ * (x0[1] - x1[1]);
+ return true;
+ }
+
+ static ceres::CostFunction* Create(const double sqrt_weight) {
+ return new ceres::AutoDiffCostFunction<EuclideanDistanceFunctor, 2, 2, 2>(
+ new EuclideanDistanceFunctor(sqrt_weight));
+ }
+
+ private:
+ const double sqrt_weight_;
+};
+
+bool SolveWithFullReport(ceres::Solver::Options options,
+ ceres::Problem* problem,
+ bool dynamic_sparsity) {
+ options.dynamic_sparsity = dynamic_sparsity;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+
+ std::cout << "####################" << std::endl;
+ std::cout << "dynamic_sparsity = " << dynamic_sparsity << std::endl;
+ std::cout << "####################" << std::endl;
+ std::cout << summary.FullReport() << std::endl;
+
+ return summary.termination_type == ceres::CONVERGENCE;
+}
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // Problem configuration.
+ const int num_segments = 151;
+ const double regularization_weight = 1e-2;
+
+ // Eigen::MatrixXd is column major so we define our own MatrixXd which is
+ // row major. Eigen::VectorXd can be used directly.
+ typedef Eigen::Matrix<double,
+ Eigen::Dynamic, Eigen::Dynamic,
+ Eigen::RowMajor> MatrixXd;
+ using Eigen::VectorXd;
+
+ // `X` is the matrix of control points which make up the contour of line
+ // segments. The number of control points is equal to the number of line
+ // segments because the contour is closed.
+ //
+ // Initialize `X` to points on the unit circle.
+ VectorXd w(num_segments + 1);
+ w.setLinSpaced(num_segments + 1, 0.0, 2.0 * M_PI);
+ w.conservativeResize(num_segments);
+ MatrixXd X(num_segments, 2);
+ X.col(0) = w.array().cos();
+ X.col(1) = w.array().sin();
+
+ // Each data point has an associated preimage position on the line segment
+ // contour. For each data point we initialize the preimage positions to
+ // the index of the closest control point.
+ const int num_observations = kY.rows();
+ VectorXd t(num_observations);
+ for (int i = 0; i < num_observations; ++i) {
+ (X.rowwise() - kY.row(i)).rowwise().squaredNorm().minCoeff(&t[i]);
+ }
+
+ ceres::Problem problem;
+
+ // For each data point add a residual which measures its distance to its
+ // corresponding position on the line segment contour.
+ std::vector<double*> parameter_blocks(1 + num_segments);
+ parameter_blocks[0] = NULL;
+ for (int i = 0; i < num_segments; ++i) {
+ parameter_blocks[i + 1] = X.data() + 2 * i;
+ }
+ for (int i = 0; i < num_observations; ++i) {
+ parameter_blocks[0] = &t[i];
+ problem.AddResidualBlock(
+ PointToLineSegmentContourCostFunction::Create(num_segments, kY.row(i)),
+ NULL,
+ parameter_blocks);
+ }
+
+ // Add regularization to minimize the length of the line segment contour.
+ for (int i = 0; i < num_segments; ++i) {
+ problem.AddResidualBlock(
+ EuclideanDistanceFunctor::Create(sqrt(regularization_weight)),
+ NULL,
+ X.data() + 2 * i,
+ X.data() + 2 * ((i + 1) % num_segments));
+ }
+
+ ceres::Solver::Options options;
+ options.max_num_iterations = 100;
+ options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+ // First, solve `X` and `t` jointly with dynamic_sparsity = true.
+ MatrixXd X0 = X;
+ VectorXd t0 = t;
+ CHECK(SolveWithFullReport(options, &problem, true));
+
+ // Second, solve with dynamic_sparsity = false.
+ X = X0;
+ t = t0;
+ CHECK(SolveWithFullReport(options, &problem, false));
+
+ return 0;
+}
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model.
+
+#include "fields_of_experts.h"
+
+#include <fstream>
+#include <cmath>
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+FieldsOfExpertsCost::FieldsOfExpertsCost(const std::vector<double>& filter)
+ : filter_(filter) {
+ set_num_residuals(1);
+ for (int i = 0; i < filter_.size(); ++i) {
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+}
+
+// This is a dot product between a the scalar parameters and a vector of filter
+// coefficients.
+bool FieldsOfExpertsCost::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ int num_variables = filter_.size();
+ residuals[0] = 0;
+ for (int i = 0; i < num_variables; ++i) {
+ residuals[0] += filter_[i] * parameters[i][0];
+ }
+
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_variables; ++i) {
+ if (jacobians[i] != NULL) {
+ jacobians[i][0] = filter_[i];
+ }
+ }
+ }
+
+ return true;
+}
+
+// This loss function builds the FoE terms and is equal to
+//
+// f(x) = alpha_i * log(1 + (1/2)s)
+//
+void FieldsOfExpertsLoss::Evaluate(double sq_norm, double rho[3]) const {
+ const double c = 0.5;
+ const double sum = 1.0 + sq_norm * c;
+ const double inv = 1.0 / sum;
+ // 'sum' and 'inv' are always positive, assuming that 's' is.
+ rho[0] = alpha_ * log(sum);
+ rho[1] = alpha_ * c * inv;
+ rho[2] = - alpha_ * c * c * inv * inv;
+}
+
+FieldsOfExperts::FieldsOfExperts()
+ : size_(0), num_filters_(0) {
+}
+
+bool FieldsOfExperts::LoadFromFile(const std::string& filename) {
+ std::ifstream foe_file(filename.c_str());
+ foe_file >> size_;
+ foe_file >> num_filters_;
+ if (size_ < 0 || num_filters_ < 0) {
+ return false;
+ }
+ const int num_variables = NumVariables();
+
+ x_delta_indices_.resize(num_variables);
+ for (int i = 0; i < num_variables; ++i) {
+ foe_file >> x_delta_indices_[i];
+ }
+
+ y_delta_indices_.resize(NumVariables());
+ for (int i = 0; i < num_variables; ++i) {
+ foe_file >> y_delta_indices_[i];
+ }
+
+ alpha_.resize(num_filters_);
+ for (int i = 0; i < num_filters_; ++i) {
+ foe_file >> alpha_[i];
+ }
+
+ filters_.resize(num_filters_);
+ for (int i = 0; i < num_filters_; ++i) {
+ filters_[i].resize(num_variables);
+ for (int j = 0; j < num_variables; ++j) {
+ foe_file >> filters_[i][j];
+ }
+ }
+
+ // If any read failed, return failure.
+ if (!foe_file) {
+ size_ = 0;
+ return false;
+ }
+
+ // There cannot be anything else in the file. Try reading another number and
+ // return failure if that succeeded.
+ double temp;
+ foe_file >> temp;
+ if (foe_file) {
+ size_ = 0;
+ return false;
+ }
+
+ return true;
+}
+
+ceres::CostFunction* FieldsOfExperts::NewCostFunction(int alpha_index) const {
+ return new FieldsOfExpertsCost(filters_[alpha_index]);
+}
+
+ceres::LossFunction* FieldsOfExperts::NewLossFunction(int alpha_index) const {
+ return new FieldsOfExpertsLoss(alpha_[alpha_index]);
+}
+
+
+} // namespace examples
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model. The Fields of Experts regularization consists of terms of the type
+//
+// alpha * log(1 + (1/2)*sum(F .* X)^2),
+//
+// where F is a d-by-d image patch and alpha is a constant. This is implemented
+// by a FieldsOfExpertsSum object which represents the dot product between the
+// image patches and a FieldsOfExpertsLoss which implements the log(1 + (1/2)s)
+// part.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+// Computer Vision, 82(2):205--229, 2009.
+
+#ifndef CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+#define CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+
+#include <iostream>
+#include <vector>
+
+#include "ceres/loss_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/sized_cost_function.h"
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+// One sum in the FoE regularizer. This is a dot product between a filter and an
+// image patch. It simply calculates the dot product between the filter
+// coefficients given in the constructor and the scalar parameters passed to it.
+class FieldsOfExpertsCost : public ceres::CostFunction {
+ public:
+ explicit FieldsOfExpertsCost(const std::vector<double>& filter);
+ // The number of scalar parameters passed to Evaluate must equal the number of
+ // filter coefficients passed to the constructor.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+
+ private:
+ const std::vector<double>& filter_;
+};
+
+// The loss function used to build the correct regularization. See above.
+//
+// f(x) = alpha_i * log(1 + (1/2)s)
+//
+class FieldsOfExpertsLoss : public ceres::LossFunction {
+ public:
+ explicit FieldsOfExpertsLoss(double alpha) : alpha_(alpha) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double alpha_;
+};
+
+// This class loads a set of filters and coefficients from file. Then the users
+// obtains the correct loss and cost functions through NewCostFunction and
+// NewLossFunction.
+class FieldsOfExperts {
+ public:
+ // Creates an empty object with size() == 0.
+ FieldsOfExperts();
+ // Attempts to load filters from a file. If unsuccessful it returns false and
+ // sets size() == 0.
+ bool LoadFromFile(const std::string& filename);
+
+ // Side length of a square filter in this FoE. They are all of the same size.
+ int Size() const {
+ return size_;
+ }
+
+ // Total number of pixels the filter covers.
+ int NumVariables() const {
+ return size_ * size_;
+ }
+
+ // Number of filters used by the FoE.
+ int NumFilters() const {
+ return num_filters_;
+ }
+
+ // Creates a new cost function. The caller is responsible for deallocating the
+ // memory. alpha_index specifies which filter is used in the cost function.
+ ceres::CostFunction* NewCostFunction(int alpha_index) const;
+ // Creates a new loss function. The caller is responsible for deallocating the
+ // memory. alpha_index specifies which filter this loss function is for.
+ ceres::LossFunction* NewLossFunction(int alpha_index) const;
+
+ // Gets the delta pixel indices for all pixels in a patch.
+ const std::vector<int>& GetXDeltaIndices() const {
+ return x_delta_indices_;
+ }
+ const std::vector<int>& GetYDeltaIndices() const {
+ return y_delta_indices_;
+ }
+
+ private:
+ // The side length of a square filter.
+ int size_;
+ // The number of different filters used.
+ int num_filters_;
+ // Pixel offsets for all variables.
+ std::vector<int> x_delta_indices_, y_delta_indices_;
+ // The coefficients in front of each term.
+ std::vector<double> alpha_;
+ // The filters used for the dot product with image patches.
+ std::vector<std::vector<double> > filters_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// automatic differentiation.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A templated cost functor that implements the residual r = 10 -
+// x. The method operator() is templated so that we can then use an
+// automatic differentiation wrapper around it to generate its
+// derivatives.
+struct CostFunctor {
+ template <typename T> bool operator()(const T* const x, T* residual) const {
+ residual[0] = 10.0 - x[0];
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value. It will be
+ // mutated in place by the solver.
+ double x = 0.5;
+ const double initial_x = x;
+
+ // Build the problem.
+ Problem problem;
+
+ // Set up the only cost function (also known as residual). This uses
+ // auto-differentiation to obtain the derivative (jacobian).
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+ return 0;
+}
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using analytic jacobian matrix.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::CostFunction;
+using ceres::SizedCostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A CostFunction implementing analytically derivatives for the
+// function f(x) = 10 - x.
+class QuadraticCostFunction
+ : public SizedCostFunction<1 /* number of residuals */,
+ 1 /* size of first parameter */> {
+ public:
+ virtual ~QuadraticCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ double x = parameters[0][0];
+
+ // f(x) = 10 - x.
+ residuals[0] = 10 - x;
+
+ // f'(x) = -1. Since there's only 1 parameter and that parameter
+ // has 1 dimension, there is only 1 element to fill in the
+ // jacobians.
+ //
+ // Since the Evaluate function can be called with the jacobians
+ // pointer equal to NULL, the Evaluate function must check to see
+ // if jacobians need to be computed.
+ //
+ // For this simple problem it is overkill to check if jacobians[0]
+ // is NULL, but in general when writing more complex
+ // CostFunctions, it is possible that Ceres may only demand the
+ // derivatives w.r.t. a subset of the parameter blocks.
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = -1;
+ }
+
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value. It will be
+ // mutated in place by the solver.
+ double x = 0.5;
+ const double initial_x = x;
+
+ // Build the problem.
+ Problem problem;
+
+ // Set up the only cost function (also known as residual).
+ CostFunction* cost_function = new QuadraticCostFunction;
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+
+ return 0;
+}
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// numeric differentiation.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::NumericDiffCostFunction;
+using ceres::CENTRAL;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A cost functor that implements the residual r = 10 - x.
+struct CostFunctor {
+ bool operator()(const double* const x, double* residual) const {
+ residual[0] = 10.0 - x[0];
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value. It will be
+ // mutated in place by the solver.
+ double x = 0.5;
+ const double initial_x = x;
+
+ // Build the problem.
+ Problem problem;
+
+ // Set up the only cost function (also known as residual). This uses
+ // numeric differentiation to obtain the derivative (jacobian).
+ CostFunction* cost_function =
+ new NumericDiffCostFunction<CostFunctor, CENTRAL, 1, 1> (new CostFunctor);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+ return 0;
+}
--- /dev/null
+// Copyright (c) 2013 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+// sergey.vfx@gmail.com (Sergey Sharybin)
+//
+// This is an example application which contains bundle adjustment code used
+// in the Libmv library and Blender. It reads problems from files passed via
+// the command line and runs the bundle adjuster on the problem.
+//
+// File with problem a binary file, for which it is crucial to know in which
+// order bytes of float values are stored in. This information is provided
+// by a single character in the beginning of the file. There're two possible
+// values of this byte:
+// - V, which means values in the file are stored with big endian type
+// - v, which means values in the file are stored with little endian type
+//
+// The rest of the file contains data in the following order:
+// - Space in which markers' coordinates are stored in
+// - Camera intrinsics
+// - Number of cameras
+// - Cameras
+// - Number of 3D points
+// - 3D points
+// - Number of markers
+// - Markers
+//
+// Markers' space could either be normalized or image (pixels). This is defined
+// by the single character in the file. P means markers in the file is in image
+// space, and N means markers are in normalized space.
+//
+// Camera intrinsics are 8 described by 8 float 8.
+// This values goes in the following order:
+//
+// - Focal length, principal point X, principal point Y, k1, k2, k3, p1, p2
+//
+// Every camera is described by:
+//
+// - Image for which camera belongs to (single 4 bytes integer value).
+// - Column-major camera rotation matrix, 9 float values.
+// - Camera translation, 3-component vector of float values.
+//
+// Image number shall be greater or equal to zero. Order of cameras does not
+// matter and gaps are possible.
+//
+// Every 3D point is decribed by:
+//
+// - Track number point belongs to (single 4 bytes integer value).
+// - 3D position vector, 3-component vector of float values.
+//
+// Track number shall be greater or equal to zero. Order of tracks does not
+// matter and gaps are possible.
+//
+// Finally every marker is described by:
+//
+// - Image marker belongs to single 4 bytes integer value).
+// - Track marker belongs to single 4 bytes integer value).
+// - 2D marker position vector, (two float values).
+//
+// Marker's space is used a default value for refine_intrinsics command line
+// flag. This means if there's no refine_intrinsics flag passed via command
+// line, camera intrinsics will be refined if markers in the problem are
+// stored in image space and camera intrinsics will not be refined if markers
+// are in normalized space.
+//
+// Passing refine_intrinsics command line flag defines explicitly whether
+// refinement of intrinsics will happen. Currently, only none and all
+// intrinsics refinement is supported.
+//
+// There're existing problem files dumped from blender stored in folder
+// ../data/libmv-ba-problems.
+
+#include <cstdio>
+#include <fcntl.h>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#ifdef _MSC_VER
+# include <io.h>
+# define open _open
+# define close _close
+typedef unsigned __int32 uint32_t;
+#else
+#include <stdint.h>
+#include <unistd.h>
+
+// O_BINARY is not defined on unix like platforms, as there is no
+// difference between binary and text files.
+#define O_BINARY 0
+
+#endif
+
+#include "ceres/ceres.h"
+#include "ceres/rotation.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+typedef Eigen::Matrix<double, 3, 3> Mat3;
+typedef Eigen::Matrix<double, 6, 1> Vec6;
+typedef Eigen::Vector3d Vec3;
+typedef Eigen::Vector4d Vec4;
+
+using std::vector;
+
+DEFINE_string(input, "", "Input File name");
+DEFINE_string(refine_intrinsics, "", "Camera intrinsics to be refined. "
+ "Options are: none, radial.");
+
+namespace {
+
+// A EuclideanCamera is the location and rotation of the camera
+// viewing an image.
+//
+// image identifies which image this camera represents.
+// R is a 3x3 matrix representing the rotation of the camera.
+// t is a translation vector representing its positions.
+struct EuclideanCamera {
+ EuclideanCamera() : image(-1) {}
+ EuclideanCamera(const EuclideanCamera &c) : image(c.image), R(c.R), t(c.t) {}
+
+ int image;
+ Mat3 R;
+ Vec3 t;
+};
+
+// A Point is the 3D location of a track.
+//
+// track identifies which track this point corresponds to.
+// X represents the 3D position of the track.
+struct EuclideanPoint {
+ EuclideanPoint() : track(-1) {}
+ EuclideanPoint(const EuclideanPoint &p) : track(p.track), X(p.X) {}
+ int track;
+ Vec3 X;
+};
+
+// A Marker is the 2D location of a tracked point in an image.
+//
+// x and y is the position of the marker in pixels from the top left corner
+// in the image identified by an image. All markers for to the same target
+// form a track identified by a common track number.
+struct Marker {
+ int image;
+ int track;
+ double x, y;
+};
+
+// Cameras intrinsics to be bundled.
+//
+// BUNDLE_RADIAL actually implies bundling of k1 and k2 coefficients only,
+// no bundling of k3 is possible at this moment.
+enum BundleIntrinsics {
+ BUNDLE_NO_INTRINSICS = 0,
+ BUNDLE_FOCAL_LENGTH = 1,
+ BUNDLE_PRINCIPAL_POINT = 2,
+ BUNDLE_RADIAL_K1 = 4,
+ BUNDLE_RADIAL_K2 = 8,
+ BUNDLE_RADIAL = 12,
+ BUNDLE_TANGENTIAL_P1 = 16,
+ BUNDLE_TANGENTIAL_P2 = 32,
+ BUNDLE_TANGENTIAL = 48,
+};
+
+// Denotes which blocks to keep constant during bundling.
+// For example it is useful to keep camera translations constant
+// when bundling tripod motions.
+enum BundleConstraints {
+ BUNDLE_NO_CONSTRAINTS = 0,
+ BUNDLE_NO_TRANSLATION = 1,
+};
+
+// The intrinsics need to get combined into a single parameter block; use these
+// enums to index instead of numeric constants.
+enum {
+ OFFSET_FOCAL_LENGTH,
+ OFFSET_PRINCIPAL_POINT_X,
+ OFFSET_PRINCIPAL_POINT_Y,
+ OFFSET_K1,
+ OFFSET_K2,
+ OFFSET_K3,
+ OFFSET_P1,
+ OFFSET_P2,
+};
+
+// Returns a pointer to the camera corresponding to a image.
+EuclideanCamera *CameraForImage(vector<EuclideanCamera> *all_cameras,
+ const int image) {
+ if (image < 0 || image >= all_cameras->size()) {
+ return NULL;
+ }
+ EuclideanCamera *camera = &(*all_cameras)[image];
+ if (camera->image == -1) {
+ return NULL;
+ }
+ return camera;
+}
+
+const EuclideanCamera *CameraForImage(
+ const vector<EuclideanCamera> &all_cameras,
+ const int image) {
+ if (image < 0 || image >= all_cameras.size()) {
+ return NULL;
+ }
+ const EuclideanCamera *camera = &all_cameras[image];
+ if (camera->image == -1) {
+ return NULL;
+ }
+ return camera;
+}
+
+// Returns maximal image number at which marker exists.
+int MaxImage(const vector<Marker> &all_markers) {
+ if (all_markers.size() == 0) {
+ return -1;
+ }
+
+ int max_image = all_markers[0].image;
+ for (int i = 1; i < all_markers.size(); i++) {
+ max_image = std::max(max_image, all_markers[i].image);
+ }
+ return max_image;
+}
+
+// Returns a pointer to the point corresponding to a track.
+EuclideanPoint *PointForTrack(vector<EuclideanPoint> *all_points,
+ const int track) {
+ if (track < 0 || track >= all_points->size()) {
+ return NULL;
+ }
+ EuclideanPoint *point = &(*all_points)[track];
+ if (point->track == -1) {
+ return NULL;
+ }
+ return point;
+}
+
+// Reader of binary file which makes sure possibly needed endian
+// conversion happens when loading values like floats and integers.
+//
+// File's endian type is reading from a first character of file, which
+// could either be V for big endian or v for little endian. This
+// means you need to design file format assuming first character
+// denotes file endianness in this way.
+class EndianAwareFileReader {
+ public:
+ EndianAwareFileReader(void) : file_descriptor_(-1) {
+ // Get an endian type of the host machine.
+ union {
+ unsigned char bytes[4];
+ uint32_t value;
+ } endian_test = { { 0, 1, 2, 3 } };
+ host_endian_type_ = endian_test.value;
+ file_endian_type_ = host_endian_type_;
+ }
+
+ ~EndianAwareFileReader(void) {
+ if (file_descriptor_ > 0) {
+ close(file_descriptor_);
+ }
+ }
+
+ bool OpenFile(const std::string &file_name) {
+ file_descriptor_ = open(file_name.c_str(), O_RDONLY | O_BINARY);
+ if (file_descriptor_ < 0) {
+ return false;
+ }
+ // Get an endian tpye of data in the file.
+ unsigned char file_endian_type_flag = Read<unsigned char>();
+ if (file_endian_type_flag == 'V') {
+ file_endian_type_ = kBigEndian;
+ } else if (file_endian_type_flag == 'v') {
+ file_endian_type_ = kLittleEndian;
+ } else {
+ LOG(FATAL) << "Problem file is stored in unknown endian type.";
+ }
+ return true;
+ }
+
+ // Read value from the file, will switch endian if needed.
+ template <typename T>
+ T Read(void) const {
+ T value;
+ CHECK_GT(read(file_descriptor_, &value, sizeof(value)), 0);
+ // Switch endian type if file contains data in different type
+ // that current machine.
+ if (file_endian_type_ != host_endian_type_) {
+ value = SwitchEndian<T>(value);
+ }
+ return value;
+ }
+ private:
+ static const long int kLittleEndian = 0x03020100ul;
+ static const long int kBigEndian = 0x00010203ul;
+
+ // Switch endian type between big to little.
+ template <typename T>
+ T SwitchEndian(const T value) const {
+ if (sizeof(T) == 4) {
+ unsigned int temp_value = static_cast<unsigned int>(value);
+ return ((temp_value >> 24)) |
+ ((temp_value << 8) & 0x00ff0000) |
+ ((temp_value >> 8) & 0x0000ff00) |
+ ((temp_value << 24));
+ } else if (sizeof(T) == 1) {
+ return value;
+ } else {
+ LOG(FATAL) << "Entered non-implemented part of endian switching function.";
+ }
+ }
+
+ int host_endian_type_;
+ int file_endian_type_;
+ int file_descriptor_;
+};
+
+// Read 3x3 column-major matrix from the file
+void ReadMatrix3x3(const EndianAwareFileReader &file_reader,
+ Mat3 *matrix) {
+ for (int i = 0; i < 9; i++) {
+ (*matrix)(i % 3, i / 3) = file_reader.Read<float>();
+ }
+}
+
+// Read 3-vector from file
+void ReadVector3(const EndianAwareFileReader &file_reader,
+ Vec3 *vector) {
+ for (int i = 0; i < 3; i++) {
+ (*vector)(i) = file_reader.Read<float>();
+ }
+}
+
+// Reads a bundle adjustment problem from the file.
+//
+// file_name denotes from which file to read the problem.
+// camera_intrinsics will contain initial camera intrinsics values.
+//
+// all_cameras is a vector of all reconstructed cameras to be optimized,
+// vector element with number i will contain camera for image i.
+//
+// all_points is a vector of all reconstructed 3D points to be optimized,
+// vector element with number i will contain point for track i.
+//
+// all_markers is a vector of all tracked markers existing in
+// the problem. Only used for reprojection error calculation, stay
+// unchanged during optimization.
+//
+// Returns false if any kind of error happened during
+// reading.
+bool ReadProblemFromFile(const std::string &file_name,
+ double camera_intrinsics[8],
+ vector<EuclideanCamera> *all_cameras,
+ vector<EuclideanPoint> *all_points,
+ bool *is_image_space,
+ vector<Marker> *all_markers) {
+ EndianAwareFileReader file_reader;
+ if (!file_reader.OpenFile(file_name)) {
+ return false;
+ }
+
+ // Read markers' space flag.
+ unsigned char is_image_space_flag = file_reader.Read<unsigned char>();
+ if (is_image_space_flag == 'P') {
+ *is_image_space = true;
+ } else if (is_image_space_flag == 'N') {
+ *is_image_space = false;
+ } else {
+ LOG(FATAL) << "Problem file contains markers stored in unknown space.";
+ }
+
+ // Read camera intrinsics.
+ for (int i = 0; i < 8; i++) {
+ camera_intrinsics[i] = file_reader.Read<float>();
+ }
+
+ // Read all cameras.
+ int number_of_cameras = file_reader.Read<int>();
+ for (int i = 0; i < number_of_cameras; i++) {
+ EuclideanCamera camera;
+
+ camera.image = file_reader.Read<int>();
+ ReadMatrix3x3(file_reader, &camera.R);
+ ReadVector3(file_reader, &camera.t);
+
+ if (camera.image >= all_cameras->size()) {
+ all_cameras->resize(camera.image + 1);
+ }
+
+ (*all_cameras)[camera.image].image = camera.image;
+ (*all_cameras)[camera.image].R = camera.R;
+ (*all_cameras)[camera.image].t = camera.t;
+ }
+
+ LOG(INFO) << "Read " << number_of_cameras << " cameras.";
+
+ // Read all reconstructed 3D points.
+ int number_of_points = file_reader.Read<int>();
+ for (int i = 0; i < number_of_points; i++) {
+ EuclideanPoint point;
+
+ point.track = file_reader.Read<int>();
+ ReadVector3(file_reader, &point.X);
+
+ if (point.track >= all_points->size()) {
+ all_points->resize(point.track + 1);
+ }
+
+ (*all_points)[point.track].track = point.track;
+ (*all_points)[point.track].X = point.X;
+ }
+
+ LOG(INFO) << "Read " << number_of_points << " points.";
+
+ // And finally read all markers.
+ int number_of_markers = file_reader.Read<int>();
+ for (int i = 0; i < number_of_markers; i++) {
+ Marker marker;
+
+ marker.image = file_reader.Read<int>();
+ marker.track = file_reader.Read<int>();
+ marker.x = file_reader.Read<float>();
+ marker.y = file_reader.Read<float>();
+
+ all_markers->push_back(marker);
+ }
+
+ LOG(INFO) << "Read " << number_of_markers << " markers.";
+
+ return true;
+}
+
+// Apply camera intrinsics to the normalized point to get image coordinates.
+// This applies the radial lens distortion to a point which is in normalized
+// camera coordinates (i.e. the principal point is at (0, 0)) to get image
+// coordinates in pixels. Templated for use with autodifferentiation.
+template <typename T>
+inline void ApplyRadialDistortionCameraIntrinsics(const T &focal_length_x,
+ const T &focal_length_y,
+ const T &principal_point_x,
+ const T &principal_point_y,
+ const T &k1,
+ const T &k2,
+ const T &k3,
+ const T &p1,
+ const T &p2,
+ const T &normalized_x,
+ const T &normalized_y,
+ T *image_x,
+ T *image_y) {
+ T x = normalized_x;
+ T y = normalized_y;
+
+ // Apply distortion to the normalized points to get (xd, yd).
+ T r2 = x*x + y*y;
+ T r4 = r2 * r2;
+ T r6 = r4 * r2;
+ T r_coeff = 1.0 + k1 * r2 + k2 * r4 + k3 * r6;
+ T xd = x * r_coeff + 2.0 * p1 * x * y + p2 * (r2 + 2.0 * x * x);
+ T yd = y * r_coeff + 2.0 * p2 * x * y + p1 * (r2 + 2.0 * y * y);
+
+ // Apply focal length and principal point to get the final image coordinates.
+ *image_x = focal_length_x * xd + principal_point_x;
+ *image_y = focal_length_y * yd + principal_point_y;
+}
+
+// Cost functor which computes reprojection error of 3D point X
+// on camera defined by angle-axis rotation and it's translation
+// (which are in the same block due to optimization reasons).
+//
+// This functor uses a radial distortion model.
+struct OpenCVReprojectionError {
+ OpenCVReprojectionError(const double observed_x, const double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const intrinsics,
+ const T* const R_t, // Rotation denoted by angle axis
+ // followed with translation
+ const T* const X, // Point coordinates 3x1.
+ T* residuals) const {
+ // Unpack the intrinsics.
+ const T& focal_length = intrinsics[OFFSET_FOCAL_LENGTH];
+ const T& principal_point_x = intrinsics[OFFSET_PRINCIPAL_POINT_X];
+ const T& principal_point_y = intrinsics[OFFSET_PRINCIPAL_POINT_Y];
+ const T& k1 = intrinsics[OFFSET_K1];
+ const T& k2 = intrinsics[OFFSET_K2];
+ const T& k3 = intrinsics[OFFSET_K3];
+ const T& p1 = intrinsics[OFFSET_P1];
+ const T& p2 = intrinsics[OFFSET_P2];
+
+ // Compute projective coordinates: x = RX + t.
+ T x[3];
+
+ ceres::AngleAxisRotatePoint(R_t, X, x);
+ x[0] += R_t[3];
+ x[1] += R_t[4];
+ x[2] += R_t[5];
+
+ // Compute normalized coordinates: x /= x[2].
+ T xn = x[0] / x[2];
+ T yn = x[1] / x[2];
+
+ T predicted_x, predicted_y;
+
+ // Apply distortion to the normalized points to get (xd, yd).
+ // TODO(keir): Do early bailouts for zero distortion; these are expensive
+ // jet operations.
+ ApplyRadialDistortionCameraIntrinsics(focal_length,
+ focal_length,
+ principal_point_x,
+ principal_point_y,
+ k1, k2, k3,
+ p1, p2,
+ xn, yn,
+ &predicted_x,
+ &predicted_y);
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - observed_x;
+ residuals[1] = predicted_y - observed_y;
+
+ return true;
+ }
+
+ const double observed_x;
+ const double observed_y;
+};
+
+// Print a message to the log which camera intrinsics are gonna to be optimized.
+void BundleIntrinsicsLogMessage(const int bundle_intrinsics) {
+ if (bundle_intrinsics == BUNDLE_NO_INTRINSICS) {
+ LOG(INFO) << "Bundling only camera positions.";
+ } else {
+ std::string bundling_message = "";
+
+#define APPEND_BUNDLING_INTRINSICS(name, flag) \
+ if (bundle_intrinsics & flag) { \
+ if (!bundling_message.empty()) { \
+ bundling_message += ", "; \
+ } \
+ bundling_message += name; \
+ } (void)0
+
+ APPEND_BUNDLING_INTRINSICS("f", BUNDLE_FOCAL_LENGTH);
+ APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT);
+ APPEND_BUNDLING_INTRINSICS("k1", BUNDLE_RADIAL_K1);
+ APPEND_BUNDLING_INTRINSICS("k2", BUNDLE_RADIAL_K2);
+ APPEND_BUNDLING_INTRINSICS("p1", BUNDLE_TANGENTIAL_P1);
+ APPEND_BUNDLING_INTRINSICS("p2", BUNDLE_TANGENTIAL_P2);
+
+ LOG(INFO) << "Bundling " << bundling_message << ".";
+ }
+}
+
+// Print a message to the log containing all the camera intriniscs values.
+void PrintCameraIntrinsics(const char *text, const double *camera_intrinsics) {
+ std::ostringstream intrinsics_output;
+
+ intrinsics_output << "f=" << camera_intrinsics[OFFSET_FOCAL_LENGTH];
+
+ intrinsics_output <<
+ " cx=" << camera_intrinsics[OFFSET_PRINCIPAL_POINT_X] <<
+ " cy=" << camera_intrinsics[OFFSET_PRINCIPAL_POINT_Y];
+
+#define APPEND_DISTORTION_COEFFICIENT(name, offset) \
+ { \
+ if (camera_intrinsics[offset] != 0.0) { \
+ intrinsics_output << " " name "=" << camera_intrinsics[offset]; \
+ } \
+ } (void)0
+
+ APPEND_DISTORTION_COEFFICIENT("k1", OFFSET_K1);
+ APPEND_DISTORTION_COEFFICIENT("k2", OFFSET_K2);
+ APPEND_DISTORTION_COEFFICIENT("k3", OFFSET_K3);
+ APPEND_DISTORTION_COEFFICIENT("p1", OFFSET_P1);
+ APPEND_DISTORTION_COEFFICIENT("p2", OFFSET_P2);
+
+#undef APPEND_DISTORTION_COEFFICIENT
+
+ LOG(INFO) << text << intrinsics_output.str();
+}
+
+// Get a vector of camera's rotations denoted by angle axis
+// conjuncted with translations into single block
+//
+// Element with index i matches to a rotation+translation for
+// camera at image i.
+vector<Vec6> PackCamerasRotationAndTranslation(
+ const vector<Marker> &all_markers,
+ const vector<EuclideanCamera> &all_cameras) {
+ vector<Vec6> all_cameras_R_t;
+ int max_image = MaxImage(all_markers);
+
+ all_cameras_R_t.resize(max_image + 1);
+
+ for (int i = 0; i <= max_image; i++) {
+ const EuclideanCamera *camera = CameraForImage(all_cameras, i);
+
+ if (!camera) {
+ continue;
+ }
+
+ ceres::RotationMatrixToAngleAxis(&camera->R(0, 0),
+ &all_cameras_R_t[i](0));
+ all_cameras_R_t[i].tail<3>() = camera->t;
+ }
+
+ return all_cameras_R_t;
+}
+
+// Convert cameras rotations fro mangle axis back to rotation matrix.
+void UnpackCamerasRotationAndTranslation(
+ const vector<Marker> &all_markers,
+ const vector<Vec6> &all_cameras_R_t,
+ vector<EuclideanCamera> *all_cameras) {
+ int max_image = MaxImage(all_markers);
+
+ for (int i = 0; i <= max_image; i++) {
+ EuclideanCamera *camera = CameraForImage(all_cameras, i);
+
+ if (!camera) {
+ continue;
+ }
+
+ ceres::AngleAxisToRotationMatrix(&all_cameras_R_t[i](0),
+ &camera->R(0, 0));
+ camera->t = all_cameras_R_t[i].tail<3>();
+ }
+}
+
+void EuclideanBundleCommonIntrinsics(const vector<Marker> &all_markers,
+ const int bundle_intrinsics,
+ const int bundle_constraints,
+ double *camera_intrinsics,
+ vector<EuclideanCamera> *all_cameras,
+ vector<EuclideanPoint> *all_points) {
+ PrintCameraIntrinsics("Original intrinsics: ", camera_intrinsics);
+
+ ceres::Problem::Options problem_options;
+ ceres::Problem problem(problem_options);
+
+ // Convert cameras rotations to angle axis and merge with translation
+ // into single parameter block for maximal minimization speed
+ //
+ // Block for minimization has got the following structure:
+ // <3 elements for angle-axis> <3 elements for translation>
+ vector<Vec6> all_cameras_R_t =
+ PackCamerasRotationAndTranslation(all_markers, *all_cameras);
+
+ // Parameterization used to restrict camera motion for modal solvers.
+ ceres::SubsetParameterization *constant_transform_parameterization = NULL;
+ if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
+ std::vector<int> constant_translation;
+
+ // First three elements are rotation, last three are translation.
+ constant_translation.push_back(3);
+ constant_translation.push_back(4);
+ constant_translation.push_back(5);
+
+ constant_transform_parameterization =
+ new ceres::SubsetParameterization(6, constant_translation);
+ }
+
+ int num_residuals = 0;
+ bool have_locked_camera = false;
+ for (int i = 0; i < all_markers.size(); ++i) {
+ const Marker &marker = all_markers[i];
+ EuclideanCamera *camera = CameraForImage(all_cameras, marker.image);
+ EuclideanPoint *point = PointForTrack(all_points, marker.track);
+ if (camera == NULL || point == NULL) {
+ continue;
+ }
+
+ // Rotation of camera denoted in angle axis followed with
+ // camera translaiton.
+ double *current_camera_R_t = &all_cameras_R_t[camera->image](0);
+
+ problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
+ OpenCVReprojectionError, 2, 8, 6, 3>(
+ new OpenCVReprojectionError(
+ marker.x,
+ marker.y)),
+ NULL,
+ camera_intrinsics,
+ current_camera_R_t,
+ &point->X(0));
+
+ // We lock the first camera to better deal with scene orientation ambiguity.
+ if (!have_locked_camera) {
+ problem.SetParameterBlockConstant(current_camera_R_t);
+ have_locked_camera = true;
+ }
+
+ if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
+ problem.SetParameterization(current_camera_R_t,
+ constant_transform_parameterization);
+ }
+
+ num_residuals++;
+ }
+ LOG(INFO) << "Number of residuals: " << num_residuals;
+
+ if (!num_residuals) {
+ LOG(INFO) << "Skipping running minimizer with zero residuals";
+ return;
+ }
+
+ BundleIntrinsicsLogMessage(bundle_intrinsics);
+
+ if (bundle_intrinsics == BUNDLE_NO_INTRINSICS) {
+ // No camera intrinsics are being refined,
+ // set the whole parameter block as constant for best performance.
+ problem.SetParameterBlockConstant(camera_intrinsics);
+ } else {
+ // Set the camera intrinsics that are not to be bundled as
+ // constant using some macro trickery.
+
+ std::vector<int> constant_intrinsics;
+#define MAYBE_SET_CONSTANT(bundle_enum, offset) \
+ if (!(bundle_intrinsics & bundle_enum)) { \
+ constant_intrinsics.push_back(offset); \
+ }
+ MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH, OFFSET_FOCAL_LENGTH);
+ MAYBE_SET_CONSTANT(BUNDLE_PRINCIPAL_POINT, OFFSET_PRINCIPAL_POINT_X);
+ MAYBE_SET_CONSTANT(BUNDLE_PRINCIPAL_POINT, OFFSET_PRINCIPAL_POINT_Y);
+ MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1, OFFSET_K1);
+ MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2, OFFSET_K2);
+ MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1, OFFSET_P1);
+ MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2, OFFSET_P2);
+#undef MAYBE_SET_CONSTANT
+
+ // Always set K3 constant, it's not used at the moment.
+ constant_intrinsics.push_back(OFFSET_K3);
+
+ ceres::SubsetParameterization *subset_parameterization =
+ new ceres::SubsetParameterization(8, constant_intrinsics);
+
+ problem.SetParameterization(camera_intrinsics, subset_parameterization);
+ }
+
+ // Configure the solver.
+ ceres::Solver::Options options;
+ options.use_nonmonotonic_steps = true;
+ options.preconditioner_type = ceres::SCHUR_JACOBI;
+ options.linear_solver_type = ceres::ITERATIVE_SCHUR;
+ options.use_inner_iterations = true;
+ options.max_num_iterations = 100;
+ options.minimizer_progress_to_stdout = true;
+
+ // Solve!
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+
+ std::cout << "Final report:\n" << summary.FullReport();
+
+ // Copy rotations and translations back.
+ UnpackCamerasRotationAndTranslation(all_markers,
+ all_cameras_R_t,
+ all_cameras);
+
+ PrintCameraIntrinsics("Final intrinsics: ", camera_intrinsics);
+}
+} // namespace
+
+int main(int argc, char **argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ if (FLAGS_input.empty()) {
+ LOG(ERROR) << "Usage: libmv_bundle_adjuster --input=blender_problem";
+ return EXIT_FAILURE;
+ }
+
+ double camera_intrinsics[8];
+ vector<EuclideanCamera> all_cameras;
+ vector<EuclideanPoint> all_points;
+ bool is_image_space;
+ vector<Marker> all_markers;
+
+ if (!ReadProblemFromFile(FLAGS_input,
+ camera_intrinsics,
+ &all_cameras,
+ &all_points,
+ &is_image_space,
+ &all_markers)) {
+ LOG(ERROR) << "Error reading problem file";
+ return EXIT_FAILURE;
+ }
+
+ // If there's no refine_intrinsics passed via command line
+ // (in this case FLAGS_refine_intrinsics will be an empty string)
+ // we use problem's settings to detect whether intrinsics
+ // shall be refined or not.
+ //
+ // Namely, if problem has got markers stored in image (pixel)
+ // space, we do full intrinsics refinement. If markers are
+ // stored in normalized space, and refine_intrinsics is not
+ // set, no refining will happen.
+ //
+ // Using command line argument refine_intrinsics will explicitly
+ // declare which intrinsics need to be refined and in this case
+ // refining flags does not depend on problem at all.
+ int bundle_intrinsics = BUNDLE_NO_INTRINSICS;
+ if (FLAGS_refine_intrinsics.empty()) {
+ if (is_image_space) {
+ bundle_intrinsics = BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL;
+ }
+ } else {
+ if (FLAGS_refine_intrinsics == "radial") {
+ bundle_intrinsics = BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL;
+ } else if (FLAGS_refine_intrinsics != "none") {
+ LOG(ERROR) << "Unsupported value for refine-intrinsics";
+ return EXIT_FAILURE;
+ }
+ }
+
+ // Run the bundler.
+ EuclideanBundleCommonIntrinsics(all_markers,
+ bundle_intrinsics,
+ BUNDLE_NO_CONSTRAINTS,
+ camera_intrinsics,
+ &all_cameras,
+ &all_points);
+
+ return EXIT_SUCCESS;
+}
--- /dev/null
+// 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.
+//
+// Copyright (c) 2014 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//
+// Author: sergey.vfx@gmail.com (Sergey Sharybin)
+//
+// This file demonstrates solving for a homography between two sets of points.
+// A homography describes a transformation between a sets of points on a plane,
+// perspectively projected into two images. The first step is to solve a
+// homogeneous system of equations via singular value decompposition, giving an
+// algebraic solution for the homography, then solving for a final solution by
+// minimizing the symmetric transfer error in image space with Ceres (called the
+// Gold Standard Solution in "Multiple View Geometry"). The routines are based on
+// the routines from the Libmv library.
+//
+// This example demonstrates custom exit criterion by having a callback check
+// for image-space error.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+typedef Eigen::NumTraits<double> EigenDouble;
+
+typedef Eigen::MatrixXd Mat;
+typedef Eigen::VectorXd Vec;
+typedef Eigen::Matrix<double, 3, 3> Mat3;
+typedef Eigen::Matrix<double, 2, 1> Vec2;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 8> MatX8;
+typedef Eigen::Vector3d Vec3;
+
+namespace {
+
+// This structure contains options that controls how the homography
+// estimation operates.
+//
+// Defaults should be suitable for a wide range of use cases, but
+// better performance and accuracy might require tweaking.
+struct EstimateHomographyOptions {
+ // Default settings for homography estimation which should be suitable
+ // for a wide range of use cases.
+ EstimateHomographyOptions()
+ : max_num_iterations(50),
+ expected_average_symmetric_distance(1e-16) {}
+
+ // Maximal number of iterations for the refinement step.
+ int max_num_iterations;
+
+ // Expected average of symmetric geometric distance between
+ // actual destination points and original ones transformed by
+ // estimated homography matrix.
+ //
+ // Refinement will finish as soon as average of symmetric
+ // geometric distance is less or equal to this value.
+ //
+ // This distance is measured in the same units as input points are.
+ double expected_average_symmetric_distance;
+};
+
+// Calculate symmetric geometric cost terms:
+//
+// forward_error = D(H * x1, x2)
+// backward_error = D(H^-1 * x2, x1)
+//
+// Templated to be used with autodifferenciation.
+template <typename T>
+void SymmetricGeometricDistanceTerms(const Eigen::Matrix<T, 3, 3> &H,
+ const Eigen::Matrix<T, 2, 1> &x1,
+ const Eigen::Matrix<T, 2, 1> &x2,
+ T forward_error[2],
+ T backward_error[2]) {
+ typedef Eigen::Matrix<T, 3, 1> Vec3;
+ Vec3 x(x1(0), x1(1), T(1.0));
+ Vec3 y(x2(0), x2(1), T(1.0));
+
+ Vec3 H_x = H * x;
+ Vec3 Hinv_y = H.inverse() * y;
+
+ H_x /= H_x(2);
+ Hinv_y /= Hinv_y(2);
+
+ forward_error[0] = H_x(0) - y(0);
+ forward_error[1] = H_x(1) - y(1);
+ backward_error[0] = Hinv_y(0) - x(0);
+ backward_error[1] = Hinv_y(1) - x(1);
+}
+
+// Calculate symmetric geometric cost:
+//
+// D(H * x1, x2)^2 + D(H^-1 * x2, x1)^2
+//
+double SymmetricGeometricDistance(const Mat3 &H,
+ const Vec2 &x1,
+ const Vec2 &x2) {
+ Vec2 forward_error, backward_error;
+ SymmetricGeometricDistanceTerms<double>(H,
+ x1,
+ x2,
+ forward_error.data(),
+ backward_error.data());
+ return forward_error.squaredNorm() +
+ backward_error.squaredNorm();
+}
+
+// A parameterization of the 2D homography matrix that uses 8 parameters so
+// that the matrix is normalized (H(2,2) == 1).
+// The homography matrix H is built from a list of 8 parameters (a, b,...g, h)
+// as follows
+//
+// |a b c|
+// H = |d e f|
+// |g h 1|
+//
+template<typename T = double>
+class Homography2DNormalizedParameterization {
+ public:
+ typedef Eigen::Matrix<T, 8, 1> Parameters; // a, b, ... g, h
+ typedef Eigen::Matrix<T, 3, 3> Parameterized; // H
+
+ // Convert from the 8 parameters to a H matrix.
+ static void To(const Parameters &p, Parameterized *h) {
+ *h << p(0), p(1), p(2),
+ p(3), p(4), p(5),
+ p(6), p(7), 1.0;
+ }
+
+ // Convert from a H matrix to the 8 parameters.
+ static void From(const Parameterized &h, Parameters *p) {
+ *p << h(0, 0), h(0, 1), h(0, 2),
+ h(1, 0), h(1, 1), h(1, 2),
+ h(2, 0), h(2, 1);
+ }
+};
+
+// 2D Homography transformation estimation in the case that points are in
+// euclidean coordinates.
+//
+// x = H y
+//
+// x and y vector must have the same direction, we could write
+//
+// crossproduct(|x|, * H * |y| ) = |0|
+//
+// | 0 -1 x2| |a b c| |y1| |0|
+// | 1 0 -x1| * |d e f| * |y2| = |0|
+// |-x2 x1 0| |g h 1| |1 | |0|
+//
+// That gives:
+//
+// (-d+x2*g)*y1 + (-e+x2*h)*y2 + -f+x2 |0|
+// (a-x1*g)*y1 + (b-x1*h)*y2 + c-x1 = |0|
+// (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f |0|
+//
+bool Homography2DFromCorrespondencesLinearEuc(
+ const Mat &x1,
+ const Mat &x2,
+ Mat3 *H,
+ double expected_precision) {
+ assert(2 == x1.rows());
+ assert(4 <= x1.cols());
+ assert(x1.rows() == x2.rows());
+ assert(x1.cols() == x2.cols());
+
+ int n = x1.cols();
+ MatX8 L = Mat::Zero(n * 3, 8);
+ Mat b = Mat::Zero(n * 3, 1);
+ for (int i = 0; i < n; ++i) {
+ int j = 3 * i;
+ L(j, 0) = x1(0, i); // a
+ L(j, 1) = x1(1, i); // b
+ L(j, 2) = 1.0; // c
+ L(j, 6) = -x2(0, i) * x1(0, i); // g
+ L(j, 7) = -x2(0, i) * x1(1, i); // h
+ b(j, 0) = x2(0, i); // i
+
+ ++j;
+ L(j, 3) = x1(0, i); // d
+ L(j, 4) = x1(1, i); // e
+ L(j, 5) = 1.0; // f
+ L(j, 6) = -x2(1, i) * x1(0, i); // g
+ L(j, 7) = -x2(1, i) * x1(1, i); // h
+ b(j, 0) = x2(1, i); // i
+
+ // This ensures better stability
+ // TODO(julien) make a lite version without this 3rd set
+ ++j;
+ L(j, 0) = x2(1, i) * x1(0, i); // a
+ L(j, 1) = x2(1, i) * x1(1, i); // b
+ L(j, 2) = x2(1, i); // c
+ L(j, 3) = -x2(0, i) * x1(0, i); // d
+ L(j, 4) = -x2(0, i) * x1(1, i); // e
+ L(j, 5) = -x2(0, i); // f
+ }
+ // Solve Lx=B
+ const Vec h = L.fullPivLu().solve(b);
+ Homography2DNormalizedParameterization<double>::To(h, H);
+ return (L * h).isApprox(b, expected_precision);
+}
+
+// Cost functor which computes symmetric geometric distance
+// used for homography matrix refinement.
+class HomographySymmetricGeometricCostFunctor {
+ public:
+ HomographySymmetricGeometricCostFunctor(const Vec2 &x,
+ const Vec2 &y)
+ : x_(x), y_(y) { }
+
+ template<typename T>
+ bool operator()(const T* homography_parameters, T* residuals) const {
+ typedef Eigen::Matrix<T, 3, 3> Mat3;
+ typedef Eigen::Matrix<T, 2, 1> Vec2;
+
+ Mat3 H(homography_parameters);
+ Vec2 x(T(x_(0)), T(x_(1)));
+ Vec2 y(T(y_(0)), T(y_(1)));
+
+ SymmetricGeometricDistanceTerms<T>(H,
+ x,
+ y,
+ &residuals[0],
+ &residuals[2]);
+ return true;
+ }
+
+ const Vec2 x_;
+ const Vec2 y_;
+};
+
+// Termination checking callback. This is needed to finish the
+// optimization when an absolute error threshold is met, as opposed
+// to Ceres's function_tolerance, which provides for finishing when
+// successful steps reduce the cost function by a fractional amount.
+// In this case, the callback checks for the absolute average reprojection
+// error and terminates when it's below a threshold (for example all
+// points < 0.5px error).
+class TerminationCheckingCallback : public ceres::IterationCallback {
+ public:
+ TerminationCheckingCallback(const Mat &x1, const Mat &x2,
+ const EstimateHomographyOptions &options,
+ Mat3 *H)
+ : options_(options), x1_(x1), x2_(x2), H_(H) {}
+
+ virtual ceres::CallbackReturnType operator()(
+ const ceres::IterationSummary& summary) {
+ // If the step wasn't successful, there's nothing to do.
+ if (!summary.step_is_successful) {
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ // Calculate average of symmetric geometric distance.
+ double average_distance = 0.0;
+ for (int i = 0; i < x1_.cols(); i++) {
+ average_distance += SymmetricGeometricDistance(*H_,
+ x1_.col(i),
+ x2_.col(i));
+ }
+ average_distance /= x1_.cols();
+
+ if (average_distance <= options_.expected_average_symmetric_distance) {
+ return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
+ }
+
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ private:
+ const EstimateHomographyOptions &options_;
+ const Mat &x1_;
+ const Mat &x2_;
+ Mat3 *H_;
+};
+
+bool EstimateHomography2DFromCorrespondences(
+ const Mat &x1,
+ const Mat &x2,
+ const EstimateHomographyOptions &options,
+ Mat3 *H) {
+ assert(2 == x1.rows());
+ assert(4 <= x1.cols());
+ assert(x1.rows() == x2.rows());
+ assert(x1.cols() == x2.cols());
+
+ // Step 1: Algebraic homography estimation.
+ // Assume algebraic estimation always succeeds.
+ Homography2DFromCorrespondencesLinearEuc(x1,
+ x2,
+ H,
+ EigenDouble::dummy_precision());
+
+ LOG(INFO) << "Estimated matrix after algebraic estimation:\n" << *H;
+
+ // Step 2: Refine matrix using Ceres minimizer.
+ ceres::Problem problem;
+ for (int i = 0; i < x1.cols(); i++) {
+ HomographySymmetricGeometricCostFunctor
+ *homography_symmetric_geometric_cost_function =
+ new HomographySymmetricGeometricCostFunctor(x1.col(i),
+ x2.col(i));
+
+ problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<
+ HomographySymmetricGeometricCostFunctor,
+ 4, // num_residuals
+ 9>(homography_symmetric_geometric_cost_function),
+ NULL,
+ H->data());
+ }
+
+ // Configure the solve.
+ ceres::Solver::Options solver_options;
+ solver_options.linear_solver_type = ceres::DENSE_QR;
+ solver_options.max_num_iterations = options.max_num_iterations;
+ solver_options.update_state_every_iteration = true;
+
+ // Terminate if the average symmetric distance is good enough.
+ TerminationCheckingCallback callback(x1, x2, options, H);
+ solver_options.callbacks.push_back(&callback);
+
+ // Run the solve.
+ ceres::Solver::Summary summary;
+ ceres::Solve(solver_options, &problem, &summary);
+
+ LOG(INFO) << "Summary:\n" << summary.FullReport();
+ LOG(INFO) << "Final refined matrix:\n" << *H;
+
+ return summary.IsSolutionUsable();
+}
+
+} // namespace libmv
+
+int main(int argc, char **argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ Mat x1(2, 100);
+ for (int i = 0; i < x1.cols(); ++i) {
+ x1(0, i) = rand() % 1024;
+ x1(1, i) = rand() % 1024;
+ }
+
+ Mat3 homography_matrix;
+ // This matrix has been dumped from a Blender test file of plane tracking.
+ homography_matrix << 1.243715, -0.461057, -111.964454,
+ 0.0, 0.617589, -192.379252,
+ 0.0, -0.000983, 1.0;
+
+ Mat x2 = x1;
+ for (int i = 0; i < x2.cols(); ++i) {
+ Vec3 homogenous_x1 = Vec3(x1(0, i), x1(1, i), 1.0);
+ Vec3 homogenous_x2 = homography_matrix * homogenous_x1;
+ x2(0, i) = homogenous_x2(0) / homogenous_x2(2);
+ x2(1, i) = homogenous_x2(1) / homogenous_x2(2);
+
+ // Apply some noise so algebraic estimation is not good enough.
+ x2(0, i) += static_cast<double>(rand() % 1000) / 5000.0;
+ x2(1, i) += static_cast<double>(rand() % 1000) / 5000.0;
+ }
+
+ Mat3 estimated_matrix;
+
+ EstimateHomographyOptions options;
+ options.expected_average_symmetric_distance = 0.02;
+ EstimateHomography2DFromCorrespondences(x1, x2, options, &estimated_matrix);
+
+ // Normalize the matrix for easier comparison.
+ estimated_matrix /= estimated_matrix(2 ,2);
+
+ std::cout << "Original matrix:\n" << homography_matrix << "\n";
+ std::cout << "Estimated matrix:\n" << estimated_matrix << "\n";
+
+ return EXIT_SUCCESS;
+}
--- /dev/null
+// 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)
+//
+// Test problems from the paper
+//
+// Testing Unconstrained Optimization Software
+// Jorge J. More, Burton S. Garbow and Kenneth E. Hillstrom
+// ACM Transactions on Mathematical Software, 7(1), pp. 17-41, 1981
+//
+// A subset of these problems were augmented with bounds and used for
+// testing bounds constrained optimization algorithms by
+//
+// A Trust Region Approach to Linearly Constrained Optimization
+// David M. Gay
+// Numerical Analysis (Griffiths, D.F., ed.), pp. 72-105
+// Lecture Notes in Mathematics 1066, Springer Verlag, 1984.
+//
+// The latter paper is behind a paywall. We obtained the bounds on the
+// variables and the function values at the global minimums from
+//
+// http://www.mat.univie.ac.at/~neum/glopt/bounds.html
+//
+// A problem is considered solved if of the log relative error of its
+// objective function is at least 4.
+
+
+#include <cmath>
+#include <iostream> // NOLINT
+#include <sstream> // NOLINT
+#include <string>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+DEFINE_string(problem, "all", "Which problem to solve");
+DEFINE_bool(use_numeric_diff, false,
+ "Use numeric differentiation instead of automatic "
+ "differentiation.");
+DEFINE_string(numeric_diff_method, "ridders", "When using numeric "
+ "differentiation, selects algorithm. Options are: central, "
+ "forward, ridders.");
+DEFINE_int32(ridders_extrapolations, 3, "Maximal number of extrapolations in "
+ "Ridders' method.");
+
+namespace ceres {
+namespace examples {
+
+const double kDoubleMax = std::numeric_limits<double>::max();
+
+static void SetNumericDiffOptions(ceres::NumericDiffOptions* options) {
+ options->max_num_ridders_extrapolations = FLAGS_ridders_extrapolations;
+}
+
+#define BEGIN_MGH_PROBLEM(name, num_parameters, num_residuals) \
+ struct name { \
+ static const int kNumParameters = num_parameters; \
+ static const double initial_x[kNumParameters]; \
+ static const double lower_bounds[kNumParameters]; \
+ static const double upper_bounds[kNumParameters]; \
+ static const double constrained_optimal_cost; \
+ static const double unconstrained_optimal_cost; \
+ static CostFunction* Create() { \
+ if (FLAGS_use_numeric_diff) { \
+ ceres::NumericDiffOptions options; \
+ SetNumericDiffOptions(&options); \
+ if (FLAGS_numeric_diff_method == "central") { \
+ return new NumericDiffCostFunction<name, \
+ ceres::CENTRAL, \
+ num_residuals, \
+ num_parameters>( \
+ new name, ceres::TAKE_OWNERSHIP, num_residuals, options); \
+ } else if (FLAGS_numeric_diff_method == "forward") { \
+ return new NumericDiffCostFunction<name, \
+ ceres::FORWARD, \
+ num_residuals, \
+ num_parameters>( \
+ new name, ceres::TAKE_OWNERSHIP, num_residuals, options); \
+ } else if (FLAGS_numeric_diff_method == "ridders") { \
+ return new NumericDiffCostFunction<name, \
+ ceres::RIDDERS, \
+ num_residuals, \
+ num_parameters>( \
+ new name, ceres::TAKE_OWNERSHIP, num_residuals, options); \
+ } else { \
+ LOG(ERROR) << "Invalid numeric diff method specified"; \
+ return NULL; \
+ } \
+ } else { \
+ return new AutoDiffCostFunction<name, \
+ num_residuals, \
+ num_parameters>(new name); \
+ } \
+ } \
+ template <typename T> \
+ bool operator()(const T* const x, T* residual) const {
+
+#define END_MGH_PROBLEM return true; } }; // NOLINT
+
+// Rosenbrock function.
+BEGIN_MGH_PROBLEM(TestProblem1, 2, 2)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ residual[0] = 10.0 * (x2 - x1 * x1);
+ residual[1] = 1.0 - x1;
+END_MGH_PROBLEM;
+
+const double TestProblem1::initial_x[] = {-1.2, 1.0};
+const double TestProblem1::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem1::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem1::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem1::unconstrained_optimal_cost = 0.0;
+
+// Freudenstein and Roth function.
+BEGIN_MGH_PROBLEM(TestProblem2, 2, 2)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ residual[0] = -13.0 + x1 + ((5.0 - x2) * x2 - 2.0) * x2;
+ residual[1] = -29.0 + x1 + ((x2 + 1.0) * x2 - 14.0) * x2;
+END_MGH_PROBLEM;
+
+const double TestProblem2::initial_x[] = {0.5, -2.0};
+const double TestProblem2::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem2::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem2::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem2::unconstrained_optimal_cost = 0.0;
+
+// Powell badly scaled function.
+BEGIN_MGH_PROBLEM(TestProblem3, 2, 2)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ residual[0] = 10000.0 * x1 * x2 - 1.0;
+ residual[1] = exp(-x1) + exp(-x2) - 1.0001;
+END_MGH_PROBLEM;
+
+const double TestProblem3::initial_x[] = {0.0, 1.0};
+const double TestProblem3::lower_bounds[] = {0.0, 1.0};
+const double TestProblem3::upper_bounds[] = {1.0, 9.0};
+const double TestProblem3::constrained_optimal_cost = 0.15125900e-9;
+const double TestProblem3::unconstrained_optimal_cost = 0.0;
+
+// Brown badly scaled function.
+BEGIN_MGH_PROBLEM(TestProblem4, 2, 3)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ residual[0] = x1 - 1000000.0;
+ residual[1] = x2 - 0.000002;
+ residual[2] = x1 * x2 - 2.0;
+END_MGH_PROBLEM;
+
+const double TestProblem4::initial_x[] = {1.0, 1.0};
+const double TestProblem4::lower_bounds[] = {0.0, 0.00003};
+const double TestProblem4::upper_bounds[] = {1000000.0, 100.0};
+const double TestProblem4::constrained_optimal_cost = 0.78400000e3;
+const double TestProblem4::unconstrained_optimal_cost = 0.0;
+
+// Beale function.
+BEGIN_MGH_PROBLEM(TestProblem5, 2, 3)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ residual[0] = 1.5 - x1 * (1.0 - x2);
+ residual[1] = 2.25 - x1 * (1.0 - x2 * x2);
+ residual[2] = 2.625 - x1 * (1.0 - x2 * x2 * x2);
+END_MGH_PROBLEM;
+
+const double TestProblem5::initial_x[] = {1.0, 1.0};
+const double TestProblem5::lower_bounds[] = {0.6, 0.5};
+const double TestProblem5::upper_bounds[] = {10.0, 100.0};
+const double TestProblem5::constrained_optimal_cost = 0.0;
+const double TestProblem5::unconstrained_optimal_cost = 0.0;
+
+// Jennrich and Sampson function.
+BEGIN_MGH_PROBLEM(TestProblem6, 2, 10)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ for (int i = 1; i <= 10; ++i) {
+ residual[i - 1] = 2.0 + 2.0 * i -
+ (exp(static_cast<double>(i) * x1) +
+ exp(static_cast<double>(i) * x2));
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem6::initial_x[] = {1.0, 1.0};
+const double TestProblem6::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem6::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem6::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem6::unconstrained_optimal_cost = 124.362;
+
+// Helical valley function.
+BEGIN_MGH_PROBLEM(TestProblem7, 3, 3)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T theta = (0.5 / M_PI) * atan(x2 / x1) + (x1 > 0.0 ? 0.0 : 0.5);
+ residual[0] = 10.0 * (x3 - 10.0 * theta);
+ residual[1] = 10.0 * (sqrt(x1 * x1 + x2 * x2) - 1.0);
+ residual[2] = x3;
+END_MGH_PROBLEM;
+
+const double TestProblem7::initial_x[] = {-1.0, 0.0, 0.0};
+const double TestProblem7::lower_bounds[] = {-100.0, -1.0, -1.0};
+const double TestProblem7::upper_bounds[] = {0.8, 1.0, 1.0};
+const double TestProblem7::constrained_optimal_cost = 0.99042212;
+const double TestProblem7::unconstrained_optimal_cost = 0.0;
+
+// Bard function
+BEGIN_MGH_PROBLEM(TestProblem8, 3, 15)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+
+ double y[] = {0.14, 0.18, 0.22, 0.25,
+ 0.29, 0.32, 0.35, 0.39, 0.37, 0.58,
+ 0.73, 0.96, 1.34, 2.10, 4.39};
+
+ for (int i = 1; i <=15; ++i) {
+ const double u = i;
+ const double v = 16 - i;
+ const double w = std::min(i, 16 - i);
+ residual[i - 1] = y[i - 1] - (x1 + u / (v * x2 + w * x3));
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem8::initial_x[] = {1.0, 1.0, 1.0};
+const double TestProblem8::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem8::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem8::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem8::unconstrained_optimal_cost = 8.21487e-3;
+
+// Gaussian function.
+BEGIN_MGH_PROBLEM(TestProblem9, 3, 15)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+
+ const double y[] = {0.0009, 0.0044, 0.0175, 0.0540, 0.1295, 0.2420, 0.3521,
+ 0.3989,
+ 0.3521, 0.2420, 0.1295, 0.0540, 0.0175, 0.0044, 0.0009};
+ for (int i = 0; i < 15; ++i) {
+ const double t_i = (8.0 - i - 1.0) / 2.0;
+ residual[i] = x1 * exp(-x2 * (t_i - x3) * (t_i - x3) / 2.0) - y[i];
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem9::initial_x[] = {0.4, 1.0, 0.0};
+const double TestProblem9::lower_bounds[] = {0.398, 1.0, -0.5};
+const double TestProblem9::upper_bounds[] = {4.2, 2.0, 0.1};
+const double TestProblem9::constrained_optimal_cost = 0.11279300e-7;
+const double TestProblem9::unconstrained_optimal_cost = 0.112793e-7;
+
+// Meyer function.
+BEGIN_MGH_PROBLEM(TestProblem10, 3, 16)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+
+ const double y[] = {34780, 28610, 23650, 19630, 16370, 13720, 11540, 9744,
+ 8261, 7030, 6005, 5147, 4427, 3820, 3307, 2872};
+
+ for (int i = 0; i < 16; ++i) {
+ const double ti = 45.0 + 5.0 * (i + 1);
+ residual[i] = x1 * exp(x2 / (ti + x3)) - y[i];
+ }
+END_MGH_PROBLEM
+
+const double TestProblem10::initial_x[] = {0.02, 4000, 250};
+const double TestProblem10::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem10::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem10::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem10::unconstrained_optimal_cost = 87.9458;
+
+// Gulf research and development function
+BEGIN_MGH_PROBLEM(TestProblem11, 3, 100)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ for (int i = 1; i <= 100; ++i) {
+ const double ti = i / 100.0;
+ const double yi = 25.0 + pow(-50.0 * log(ti), 2.0 / 3.0);
+ residual[i - 1] = exp(-pow(abs((yi * 100.0 * i) * x2), x3) / x1) - ti;
+ }
+END_MGH_PROBLEM
+
+const double TestProblem11::initial_x[] = {5.0, 2.5, 0.15};
+const double TestProblem11::lower_bounds[] = {1e-16, 0.0, 0.0};
+const double TestProblem11::upper_bounds[] = {10.0, 10.0, 10.0};
+const double TestProblem11::constrained_optimal_cost = 0.58281431e-4;
+const double TestProblem11::unconstrained_optimal_cost = 0.0;
+
+// Box three-dimensional function.
+BEGIN_MGH_PROBLEM(TestProblem12, 3, 3)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+
+ const double t1 = 0.1;
+ const double t2 = 0.2;
+ const double t3 = 0.3;
+
+ residual[0] = exp(-t1 * x1) - exp(-t1 * x2) - x3 * (exp(-t1) - exp(-10.0 * t1));
+ residual[1] = exp(-t2 * x1) - exp(-t2 * x2) - x3 * (exp(-t2) - exp(-10.0 * t2));
+ residual[2] = exp(-t3 * x1) - exp(-t3 * x2) - x3 * (exp(-t3) - exp(-10.0 * t3));
+END_MGH_PROBLEM
+
+const double TestProblem12::initial_x[] = {0.0, 10.0, 20.0};
+const double TestProblem12::lower_bounds[] = {0.0, 5.0, 0.0};
+const double TestProblem12::upper_bounds[] = {2.0, 9.5, 20.0};
+const double TestProblem12::constrained_optimal_cost = 0.30998153e-5;
+const double TestProblem12::unconstrained_optimal_cost = 0.0;
+
+// Powell Singular function.
+BEGIN_MGH_PROBLEM(TestProblem13, 4, 4)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+
+ residual[0] = x1 + 10.0 * x2;
+ residual[1] = sqrt(5.0) * (x3 - x4);
+ residual[2] = (x2 - 2.0 * x3) * (x2 - 2.0 * x3);
+ residual[3] = sqrt(10.0) * (x1 - x4) * (x1 - x4);
+END_MGH_PROBLEM
+
+const double TestProblem13::initial_x[] = {3.0, -1.0, 0.0, 1.0};
+const double TestProblem13::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem13::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem13::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem13::unconstrained_optimal_cost = 0.0;
+
+// Wood function.
+BEGIN_MGH_PROBLEM(TestProblem14, 4, 6)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+
+ residual[0] = 10.0 * (x2 - x1 * x1);
+ residual[1] = 1.0 - x1;
+ residual[2] = sqrt(90.0) * (x4 - x3 * x3);
+ residual[3] = 1.0 - x3;
+ residual[4] = sqrt(10.0) * (x2 + x4 - 2.0);
+ residual[5] = 1.0 / sqrt(10.0) * (x2 - x4);
+END_MGH_PROBLEM;
+
+ const double TestProblem14::initial_x[] = {-3.0, -1.0, -3.0, -1.0};
+ const double TestProblem14::lower_bounds[] = {-100.0, -100.0, -100.0, -100.0};
+ const double TestProblem14::upper_bounds[] = {0.0, 10.0, 100.0, 100.0};
+ const double TestProblem14::constrained_optimal_cost = 0.15567008e1;
+ const double TestProblem14::unconstrained_optimal_cost = 0.0;
+
+ // Kowalik and Osborne function.
+ BEGIN_MGH_PROBLEM(TestProblem15, 4, 11)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+
+ const double y[] = {0.1957, 0.1947, 0.1735, 0.1600, 0.0844, 0.0627,
+ 0.0456, 0.0342, 0.0323, 0.0235, 0.0246};
+ const double u[] = {4.0, 2.0, 1.0, 0.5, 0.25, 0.167, 0.125, 0.1,
+ 0.0833, 0.0714, 0.0625};
+
+ for (int i = 0; i < 11; ++i) {
+ residual[i] = y[i] - x1 * (u[i] * u[i] + u[i] * x2) /
+ (u[i] * u[i] + u[i] * x3 + x4);
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem15::initial_x[] = {0.25, 0.39, 0.415, 0.39};
+const double TestProblem15::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem15::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem15::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem15::unconstrained_optimal_cost = 3.07505e-4;
+
+// Brown and Dennis function.
+BEGIN_MGH_PROBLEM(TestProblem16, 4, 20)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+
+ for (int i = 0; i < 20; ++i) {
+ const double ti = (i + 1) / 5.0;
+ residual[i] = (x1 + ti * x2 - exp(ti)) * (x1 + ti * x2 - exp(ti)) +
+ (x3 + x4 * sin(ti) - cos(ti)) * (x3 + x4 * sin(ti) - cos(ti));
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem16::initial_x[] = {25.0, 5.0, -5.0, -1.0};
+const double TestProblem16::lower_bounds[] = {-10.0, 0.0, -100.0, -20.0};
+const double TestProblem16::upper_bounds[] = {100.0, 15.0, 0.0, 0.2};
+const double TestProblem16::constrained_optimal_cost = 0.88860479e5;
+const double TestProblem16::unconstrained_optimal_cost = 85822.2;
+
+// Osborne 1 function.
+BEGIN_MGH_PROBLEM(TestProblem17, 5, 33)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+ const T x5 = x[4];
+
+ const double y[] = {0.844, 0.908, 0.932, 0.936, 0.925, 0.908, 0.881, 0.850, 0.818,
+ 0.784, 0.751, 0.718, 0.685, 0.658, 0.628, 0.603, 0.580, 0.558,
+ 0.538, 0.522, 0.506, 0.490, 0.478, 0.467, 0.457, 0.448, 0.438,
+ 0.431, 0.424, 0.420, 0.414, 0.411, 0.406};
+
+ for (int i = 0; i < 33; ++i) {
+ const double ti = 10.0 * i;
+ residual[i] = y[i] - (x1 + x2 * exp(-ti * x4) + x3 * exp(-ti * x5));
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem17::initial_x[] = {0.5, 1.5, -1.0, 0.01, 0.02};
+const double TestProblem17::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem17::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem17::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem17::unconstrained_optimal_cost = 5.46489e-5;
+
+// Biggs EXP6 function.
+BEGIN_MGH_PROBLEM(TestProblem18, 6, 13)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+ const T x5 = x[4];
+ const T x6 = x[5];
+
+ for (int i = 0; i < 13; ++i) {
+ const double ti = 0.1 * (i + 1.0);
+ const double yi = exp(-ti) - 5.0 * exp(-10.0 * ti) + 3.0 * exp(-4.0 * ti);
+ residual[i] =
+ x3 * exp(-ti * x1) - x4 * exp(-ti * x2) + x6 * exp(-ti * x5) - yi;
+ }
+ END_MGH_PROBLEM
+
+ const double TestProblem18::initial_x[] = {1.0, 2.0, 1.0, 1.0, 1.0, 1.0};
+ const double TestProblem18::lower_bounds[] = {0.0, 0.0, 0.0, 1.0, 0.0, 0.0};
+ const double TestProblem18::upper_bounds[] = {2.0, 8.0, 1.0, 7.0, 5.0, 5.0};
+ const double TestProblem18::constrained_optimal_cost = 0.53209865e-3;
+ const double TestProblem18::unconstrained_optimal_cost = 0.0;
+
+ // Osborne 2 function.
+ BEGIN_MGH_PROBLEM(TestProblem19, 11, 65)
+ const T x1 = x[0];
+ const T x2 = x[1];
+ const T x3 = x[2];
+ const T x4 = x[3];
+ const T x5 = x[4];
+ const T x6 = x[5];
+ const T x7 = x[6];
+ const T x8 = x[7];
+ const T x9 = x[8];
+ const T x10 = x[9];
+ const T x11 = x[10];
+
+ const double y[] = {1.366, 1.191, 1.112, 1.013, 0.991,
+ 0.885, 0.831, 0.847, 0.786, 0.725,
+ 0.746, 0.679, 0.608, 0.655, 0.616,
+ 0.606, 0.602, 0.626, 0.651, 0.724,
+ 0.649, 0.649, 0.694, 0.644, 0.624,
+ 0.661, 0.612, 0.558, 0.533, 0.495,
+ 0.500, 0.423, 0.395, 0.375, 0.372,
+ 0.391, 0.396, 0.405, 0.428, 0.429,
+ 0.523, 0.562, 0.607, 0.653, 0.672,
+ 0.708, 0.633, 0.668, 0.645, 0.632,
+ 0.591, 0.559, 0.597, 0.625, 0.739,
+ 0.710, 0.729, 0.720, 0.636, 0.581,
+ 0.428, 0.292, 0.162, 0.098, 0.054};
+
+ for (int i = 0; i < 65; ++i) {
+ const double ti = i / 10.0;
+ residual[i] = y[i] - (x1 * exp(-(ti * x5)) +
+ x2 * exp(-(ti - x9) * (ti - x9) * x6) +
+ x3 * exp(-(ti - x10) * (ti - x10) * x7) +
+ x4 * exp(-(ti - x11) * (ti - x11) * x8));
+ }
+END_MGH_PROBLEM;
+
+const double TestProblem19::initial_x[] = {1.3, 0.65, 0.65, 0.7, 0.6,
+ 3.0, 5.0, 7.0, 2.0, 4.5, 5.5};
+const double TestProblem19::lower_bounds[] = {
+ -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem19::upper_bounds[] = {
+ kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem19::constrained_optimal_cost =
+ std::numeric_limits<double>::quiet_NaN();
+const double TestProblem19::unconstrained_optimal_cost = 4.01377e-2;
+
+
+#undef BEGIN_MGH_PROBLEM
+#undef END_MGH_PROBLEM
+
+template<typename TestProblem> bool Solve(bool is_constrained, int trial) {
+ double x[TestProblem::kNumParameters];
+ for (int i = 0; i < TestProblem::kNumParameters; ++i) {
+ x[i] = pow(10, trial) * TestProblem::initial_x[i];
+ }
+
+ Problem problem;
+ problem.AddResidualBlock(TestProblem::Create(), NULL, x);
+ double optimal_cost = TestProblem::unconstrained_optimal_cost;
+
+ if (is_constrained) {
+ for (int i = 0; i < TestProblem::kNumParameters; ++i) {
+ problem.SetParameterLowerBound(x, i, TestProblem::lower_bounds[i]);
+ problem.SetParameterUpperBound(x, i, TestProblem::upper_bounds[i]);
+ }
+ optimal_cost = TestProblem::constrained_optimal_cost;
+ }
+
+ Solver::Options options;
+ options.parameter_tolerance = 1e-18;
+ options.function_tolerance = 1e-18;
+ options.gradient_tolerance = 1e-18;
+ options.max_num_iterations = 1000;
+ options.linear_solver_type = DENSE_QR;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ const double kMinLogRelativeError = 4.0;
+ const double log_relative_error = -std::log10(
+ std::abs(2.0 * summary.final_cost - optimal_cost) /
+ (optimal_cost > 0.0 ? optimal_cost : 1.0));
+
+ const bool success = log_relative_error >= kMinLogRelativeError;
+ LOG(INFO) << "Expected : " << optimal_cost
+ << " actual: " << 2.0 * summary.final_cost
+ << " " << success
+ << " in " << summary.total_time_in_seconds
+ << " seconds";
+ return success;
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ using ceres::examples::Solve;
+
+ int unconstrained_problems = 0;
+ int unconstrained_successes = 0;
+ int constrained_problems = 0;
+ int constrained_successes = 0;
+ std::stringstream ss;
+
+#define UNCONSTRAINED_SOLVE(n) \
+ ss << "Unconstrained Problem " << n << " : "; \
+ if (FLAGS_problem == #n || FLAGS_problem == "all") { \
+ unconstrained_problems += 3; \
+ if (Solve<ceres::examples::TestProblem##n>(false, 0)) { \
+ unconstrained_successes += 1; \
+ ss << "Yes "; \
+ } else { \
+ ss << "No "; \
+ } \
+ if (Solve<ceres::examples::TestProblem##n>(false, 1)) { \
+ unconstrained_successes += 1; \
+ ss << "Yes "; \
+ } else { \
+ ss << "No "; \
+ } \
+ if (Solve<ceres::examples::TestProblem##n>(false, 2)) { \
+ unconstrained_successes += 1; \
+ ss << "Yes "; \
+ } else { \
+ ss << "No "; \
+ } \
+ } \
+ ss << std::endl;
+
+ UNCONSTRAINED_SOLVE(1);
+ UNCONSTRAINED_SOLVE(2);
+ UNCONSTRAINED_SOLVE(3);
+ UNCONSTRAINED_SOLVE(4);
+ UNCONSTRAINED_SOLVE(5);
+ UNCONSTRAINED_SOLVE(6);
+ UNCONSTRAINED_SOLVE(7);
+ UNCONSTRAINED_SOLVE(8);
+ UNCONSTRAINED_SOLVE(9);
+ UNCONSTRAINED_SOLVE(10);
+ UNCONSTRAINED_SOLVE(11);
+ UNCONSTRAINED_SOLVE(12);
+ UNCONSTRAINED_SOLVE(13);
+ UNCONSTRAINED_SOLVE(14);
+ UNCONSTRAINED_SOLVE(15);
+ UNCONSTRAINED_SOLVE(16);
+ UNCONSTRAINED_SOLVE(17);
+ UNCONSTRAINED_SOLVE(18);
+ UNCONSTRAINED_SOLVE(19);
+
+ ss << "Unconstrained : "
+ << unconstrained_successes
+ << "/"
+ << unconstrained_problems << std::endl;
+
+#define CONSTRAINED_SOLVE(n) \
+ ss << "Constrained Problem " << n << " : "; \
+ if (FLAGS_problem == #n || FLAGS_problem == "all") { \
+ constrained_problems += 1; \
+ if (Solve<ceres::examples::TestProblem##n>(true, 0)) { \
+ constrained_successes += 1; \
+ ss << "Yes "; \
+ } else { \
+ ss << "No "; \
+ } \
+ } \
+ ss << std::endl;
+
+ CONSTRAINED_SOLVE(3);
+ CONSTRAINED_SOLVE(4);
+ CONSTRAINED_SOLVE(5);
+ CONSTRAINED_SOLVE(7);
+ CONSTRAINED_SOLVE(9);
+ CONSTRAINED_SOLVE(11);
+ CONSTRAINED_SOLVE(12);
+ CONSTRAINED_SOLVE(14);
+ CONSTRAINED_SOLVE(16);
+ CONSTRAINED_SOLVE(18);
+ ss << "Constrained : "
+ << constrained_successes
+ << "/"
+ << constrained_problems << std::endl;
+
+ std::cout << ss.str();
+ return 0;
+}
--- /dev/null
+// 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)
+//
+// The National Institute of Standards and Technology has released a
+// set of problems to test non-linear least squares solvers.
+//
+// More information about the background on these problems and
+// suggested evaluation methodology can be found at:
+//
+// http://www.itl.nist.gov/div898/strd/nls/nls_info.shtml
+//
+// The problem data themselves can be found at
+//
+// http://www.itl.nist.gov/div898/strd/nls/nls_main.shtml
+//
+// The problems are divided into three levels of difficulty, Easy,
+// Medium and Hard. For each problem there are two starting guesses,
+// the first one far away from the global minimum and the second
+// closer to it.
+//
+// A problem is considered successfully solved, if every components of
+// the solution matches the globally optimal solution in at least 4
+// digits or more.
+//
+// This dataset was used for an evaluation of Non-linear least squares
+// solvers:
+//
+// P. F. Mondragon & B. Borchers, A Comparison of Nonlinear Regression
+// Codes, Journal of Modern Applied Statistical Methods, 4(1):343-351,
+// 2005.
+//
+// The results from Mondragon & Borchers can be summarized as
+// Excel Gnuplot GaussFit HBN MinPack
+// Average LRE 2.3 4.3 4.0 6.8 4.4
+// Winner 1 5 12 29 12
+//
+// Where the row Winner counts, the number of problems for which the
+// solver had the highest LRE.
+
+// In this file, we implement the same evaluation methodology using
+// Ceres. Currently using Levenberg-Marquardt with DENSE_QR, we get
+//
+// Excel Gnuplot GaussFit HBN MinPack Ceres
+// Average LRE 2.3 4.3 4.0 6.8 4.4 9.4
+// Winner 0 0 5 11 2 41
+
+#include <iostream>
+#include <iterator>
+#include <fstream>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "Eigen/Core"
+
+DEFINE_string(nist_data_dir, "", "Directory containing the NIST non-linear"
+ "regression examples");
+DEFINE_string(minimizer, "trust_region",
+ "Minimizer type to use, choices are: line_search & trust_region");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+ "Options are: levenberg_marquardt, dogleg");
+DEFINE_string(dogleg, "traditional_dogleg",
+ "Options are: traditional_dogleg, subspace_dogleg");
+DEFINE_string(linear_solver, "dense_qr", "Options are: "
+ "sparse_cholesky, dense_qr, dense_normal_cholesky and"
+ "cgnr");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+ "identity, jacobi");
+DEFINE_string(line_search, "wolfe",
+ "Line search algorithm to use, choices are: armijo and wolfe.");
+DEFINE_string(line_search_direction, "lbfgs",
+ "Line search direction algorithm to use, choices: lbfgs, bfgs");
+DEFINE_int32(max_line_search_iterations, 20,
+ "Maximum number of iterations for each line search.");
+DEFINE_int32(max_line_search_restarts, 10,
+ "Maximum number of restarts of line search direction algorithm.");
+DEFINE_string(line_search_interpolation, "cubic",
+ "Degree of polynomial aproximation in line search, "
+ "choices are: bisection, quadratic & cubic.");
+DEFINE_int32(lbfgs_rank, 20,
+ "Rank of L-BFGS inverse Hessian approximation in line search.");
+DEFINE_bool(approximate_eigenvalue_bfgs_scaling, false,
+ "Use approximate eigenvalue scaling in (L)BFGS line search.");
+DEFINE_double(sufficient_decrease, 1.0e-4,
+ "Line search Armijo sufficient (function) decrease factor.");
+DEFINE_double(sufficient_curvature_decrease, 0.9,
+ "Line search Wolfe sufficient curvature decrease factor.");
+DEFINE_int32(num_iterations, 10000, "Number of iterations");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+ " nonmonotic steps");
+DEFINE_double(initial_trust_region_radius, 1e4, "Initial trust region radius");
+DEFINE_bool(use_numeric_diff, false,
+ "Use numeric differentiation instead of automatic "
+ "differentiation.");
+DEFINE_string(numeric_diff_method, "ridders", "When using numeric "
+ "differentiation, selects algorithm. Options are: central, "
+ "forward, ridders.");
+DEFINE_double(ridders_step_size, 1e-9, "Initial step size for Ridders "
+ "numeric differentiation.");
+DEFINE_int32(ridders_extrapolations, 3, "Maximal number of Ridders "
+ "extrapolations.");
+
+namespace ceres {
+namespace examples {
+
+using Eigen::Dynamic;
+using Eigen::RowMajor;
+typedef Eigen::Matrix<double, Dynamic, 1> Vector;
+typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+
+using std::atof;
+using std::atoi;
+using std::cout;
+using std::ifstream;
+using std::string;
+using std::vector;
+
+void SplitStringUsingChar(const string& full,
+ const char delim,
+ vector<string>* result) {
+ std::back_insert_iterator< vector<string> > it(*result);
+
+ const char* p = full.data();
+ const char* end = p + full.size();
+ while (p != end) {
+ if (*p == delim) {
+ ++p;
+ } else {
+ const char* start = p;
+ while (++p != end && *p != delim) {
+ // Skip to the next occurence of the delimiter.
+ }
+ *it++ = string(start, p - start);
+ }
+ }
+}
+
+bool GetAndSplitLine(ifstream& ifs, vector<string>* pieces) {
+ pieces->clear();
+ char buf[256];
+ ifs.getline(buf, 256);
+ SplitStringUsingChar(string(buf), ' ', pieces);
+ return true;
+}
+
+void SkipLines(ifstream& ifs, int num_lines) {
+ char buf[256];
+ for (int i = 0; i < num_lines; ++i) {
+ ifs.getline(buf, 256);
+ }
+}
+
+class NISTProblem {
+ public:
+ explicit NISTProblem(const string& filename) {
+ ifstream ifs(filename.c_str(), ifstream::in);
+ CHECK(ifs) << "Unable to open : " << filename;
+
+ vector<string> pieces;
+ SkipLines(ifs, 24);
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumResponses = atoi(pieces[1].c_str());
+
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumPredictors = atoi(pieces[0].c_str());
+
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumObservations = atoi(pieces[0].c_str());
+
+ SkipLines(ifs, 4);
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumParameters = atoi(pieces[0].c_str());
+ SkipLines(ifs, 8);
+
+ // Get the first line of initial and final parameter values to
+ // determine the number of tries.
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumTries = pieces.size() - 4;
+
+ predictor_.resize(kNumObservations, kNumPredictors);
+ response_.resize(kNumObservations, kNumResponses);
+ initial_parameters_.resize(kNumTries, kNumParameters);
+ final_parameters_.resize(1, kNumParameters);
+
+ // Parse the line for parameter b1.
+ int parameter_id = 0;
+ for (int i = 0; i < kNumTries; ++i) {
+ initial_parameters_(i, parameter_id) = atof(pieces[i + 2].c_str());
+ }
+ final_parameters_(0, parameter_id) = atof(pieces[2 + kNumTries].c_str());
+
+ // Parse the remaining parameter lines.
+ for (int parameter_id = 1; parameter_id < kNumParameters; ++parameter_id) {
+ GetAndSplitLine(ifs, &pieces);
+ // b2, b3, ....
+ for (int i = 0; i < kNumTries; ++i) {
+ initial_parameters_(i, parameter_id) = atof(pieces[i + 2].c_str());
+ }
+ final_parameters_(0, parameter_id) = atof(pieces[2 + kNumTries].c_str());
+ }
+
+ // Certfied cost
+ SkipLines(ifs, 1);
+ GetAndSplitLine(ifs, &pieces);
+ certified_cost_ = atof(pieces[4].c_str()) / 2.0;
+
+ // Read the observations.
+ SkipLines(ifs, 18 - kNumParameters);
+ for (int i = 0; i < kNumObservations; ++i) {
+ GetAndSplitLine(ifs, &pieces);
+ // Response.
+ for (int j = 0; j < kNumResponses; ++j) {
+ response_(i, j) = atof(pieces[j].c_str());
+ }
+
+ // Predictor variables.
+ for (int j = 0; j < kNumPredictors; ++j) {
+ predictor_(i, j) = atof(pieces[j + kNumResponses].c_str());
+ }
+ }
+ }
+
+ Matrix initial_parameters(int start) const { return initial_parameters_.row(start); } // NOLINT
+ Matrix final_parameters() const { return final_parameters_; }
+ Matrix predictor() const { return predictor_; }
+ Matrix response() const { return response_; }
+ int predictor_size() const { return predictor_.cols(); }
+ int num_observations() const { return predictor_.rows(); }
+ int response_size() const { return response_.cols(); }
+ int num_parameters() const { return initial_parameters_.cols(); }
+ int num_starts() const { return initial_parameters_.rows(); }
+ double certified_cost() const { return certified_cost_; }
+
+ private:
+ Matrix predictor_;
+ Matrix response_;
+ Matrix initial_parameters_;
+ Matrix final_parameters_;
+ double certified_cost_;
+};
+
+#define NIST_BEGIN(CostFunctionName) \
+ struct CostFunctionName { \
+ CostFunctionName(const double* const x, \
+ const double* const y) \
+ : x_(*x), y_(*y) {} \
+ double x_; \
+ double y_; \
+ template <typename T> \
+ bool operator()(const T* const b, T* residual) const { \
+ const T y(y_); \
+ const T x(x_); \
+ residual[0] = y - (
+
+#define NIST_END ); return true; }};
+
+// y = b1 * (b2+x)**(-1/b3) + e
+NIST_BEGIN(Bennet5)
+ b[0] * pow(b[1] + x, -1.0 / b[2])
+NIST_END
+
+// y = b1*(1-exp[-b2*x]) + e
+NIST_BEGIN(BoxBOD)
+ b[0] * (1.0 - exp(-b[1] * x))
+NIST_END
+
+// y = exp[-b1*x]/(b2+b3*x) + e
+NIST_BEGIN(Chwirut)
+ exp(-b[0] * x) / (b[1] + b[2] * x)
+NIST_END
+
+// y = b1*x**b2 + e
+NIST_BEGIN(DanWood)
+ b[0] * pow(x, b[1])
+NIST_END
+
+// y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+// + b6*exp( -(x-b7)**2 / b8**2 ) + e
+NIST_BEGIN(Gauss)
+ b[0] * exp(-b[1] * x) +
+ b[2] * exp(-pow((x - b[3])/b[4], 2)) +
+ b[5] * exp(-pow((x - b[6])/b[7], 2))
+NIST_END
+
+// y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e
+NIST_BEGIN(Lanczos)
+ b[0] * exp(-b[1] * x) + b[2] * exp(-b[3] * x) + b[4] * exp(-b[5] * x)
+NIST_END
+
+// y = (b1+b2*x+b3*x**2+b4*x**3) /
+// (1+b5*x+b6*x**2+b7*x**3) + e
+NIST_BEGIN(Hahn1)
+ (b[0] + b[1] * x + b[2] * x * x + b[3] * x * x * x) /
+ (1.0 + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2) /
+// (1 + b4*x + b5*x**2) + e
+NIST_BEGIN(Kirby2)
+ (b[0] + b[1] * x + b[2] * x * x) /
+ (1.0 + b[3] * x + b[4] * x * x)
+NIST_END
+
+// y = b1*(x**2+x*b2) / (x**2+x*b3+b4) + e
+NIST_BEGIN(MGH09)
+ b[0] * (x * x + x * b[1]) / (x * x + x * b[2] + b[3])
+NIST_END
+
+// y = b1 * exp[b2/(x+b3)] + e
+NIST_BEGIN(MGH10)
+ b[0] * exp(b[1] / (x + b[2]))
+NIST_END
+
+// y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5]
+NIST_BEGIN(MGH17)
+ b[0] + b[1] * exp(-x * b[3]) + b[2] * exp(-x * b[4])
+NIST_END
+
+// y = b1*(1-exp[-b2*x]) + e
+NIST_BEGIN(Misra1a)
+ b[0] * (1.0 - exp(-b[1] * x))
+NIST_END
+
+// y = b1 * (1-(1+b2*x/2)**(-2)) + e
+NIST_BEGIN(Misra1b)
+ b[0] * (1.0 - 1.0/ ((1.0 + b[1] * x / 2.0) * (1.0 + b[1] * x / 2.0))) // NOLINT
+NIST_END
+
+// y = b1 * (1-(1+2*b2*x)**(-.5)) + e
+NIST_BEGIN(Misra1c)
+ b[0] * (1.0 - pow(1.0 + 2.0 * b[1] * x, -0.5))
+NIST_END
+
+// y = b1*b2*x*((1+b2*x)**(-1)) + e
+NIST_BEGIN(Misra1d)
+ b[0] * b[1] * x / (1.0 + b[1] * x)
+NIST_END
+
+const double kPi = 3.141592653589793238462643383279;
+// pi = 3.141592653589793238462643383279E0
+// y = b1 - b2*x - arctan[b3/(x-b4)]/pi + e
+NIST_BEGIN(Roszman1)
+ b[0] - b[1] * x - atan2(b[2], (x - b[3])) / kPi
+NIST_END
+
+// y = b1 / (1+exp[b2-b3*x]) + e
+NIST_BEGIN(Rat42)
+ b[0] / (1.0 + exp(b[1] - b[2] * x))
+NIST_END
+
+// y = b1 / ((1+exp[b2-b3*x])**(1/b4)) + e
+NIST_BEGIN(Rat43)
+ b[0] / pow(1.0 + exp(b[1] - b[2] * x), 1.0 / b[3])
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2 + b4*x**3) /
+// (1 + b5*x + b6*x**2 + b7*x**3) + e
+NIST_BEGIN(Thurber)
+ (b[0] + b[1] * x + b[2] * x * x + b[3] * x * x * x) /
+ (1.0 + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 )
+// + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )
+// + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 ) + e
+NIST_BEGIN(ENSO)
+ b[0] + b[1] * cos(2.0 * kPi * x / 12.0) +
+ b[2] * sin(2.0 * kPi * x / 12.0) +
+ b[4] * cos(2.0 * kPi * x / b[3]) +
+ b[5] * sin(2.0 * kPi * x / b[3]) +
+ b[7] * cos(2.0 * kPi * x / b[6]) +
+ b[8] * sin(2.0 * kPi * x / b[6])
+NIST_END
+
+// y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2] + e
+NIST_BEGIN(Eckerle4)
+ b[0] / b[1] * exp(-0.5 * pow((x - b[2])/b[1], 2))
+NIST_END
+
+struct Nelson {
+ public:
+ Nelson(const double* const x, const double* const y)
+ : x1_(x[0]), x2_(x[1]), y_(y[0]) {}
+
+ template <typename T>
+ bool operator()(const T* const b, T* residual) const {
+ // log[y] = b1 - b2*x1 * exp[-b3*x2] + e
+ residual[0] = log(y_) - (b[0] - b[1] * x1_ * exp(-b[2] * x2_));
+ return true;
+ }
+
+ private:
+ double x1_;
+ double x2_;
+ double y_;
+};
+
+static void SetNumericDiffOptions(ceres::NumericDiffOptions* options) {
+ options->max_num_ridders_extrapolations = FLAGS_ridders_extrapolations;
+ options->ridders_relative_initial_step_size = FLAGS_ridders_step_size;
+}
+
+string JoinPath(const string& dirname, const string& basename) {
+#ifdef _WIN32
+ static const char separator = '\\';
+#else
+ static const char separator = '/';
+#endif // _WIN32
+
+ if ((!basename.empty() && basename[0] == separator) || dirname.empty()) {
+ return basename;
+ } else if (dirname[dirname.size() - 1] == separator) {
+ return dirname + basename;
+ } else {
+ return dirname + string(&separator, 1) + basename;
+ }
+}
+
+template <typename Model, int num_residuals, int num_parameters>
+int RegressionDriver(const string& filename,
+ const ceres::Solver::Options& options) {
+ NISTProblem nist_problem(JoinPath(FLAGS_nist_data_dir, filename));
+ CHECK_EQ(num_residuals, nist_problem.response_size());
+ CHECK_EQ(num_parameters, nist_problem.num_parameters());
+
+ Matrix predictor = nist_problem.predictor();
+ Matrix response = nist_problem.response();
+ Matrix final_parameters = nist_problem.final_parameters();
+
+ printf("%s\n", filename.c_str());
+
+ // Each NIST problem comes with multiple starting points, so we
+ // construct the problem from scratch for each case and solve it.
+ int num_success = 0;
+ for (int start = 0; start < nist_problem.num_starts(); ++start) {
+ Matrix initial_parameters = nist_problem.initial_parameters(start);
+
+ ceres::Problem problem;
+ for (int i = 0; i < nist_problem.num_observations(); ++i) {
+ Model* model = new Model(
+ predictor.data() + nist_problem.predictor_size() * i,
+ response.data() + nist_problem.response_size() * i);
+ ceres::CostFunction* cost_function = NULL;
+ if (FLAGS_use_numeric_diff) {
+ ceres::NumericDiffOptions options;
+ SetNumericDiffOptions(&options);
+ if (FLAGS_numeric_diff_method == "central") {
+ cost_function = new NumericDiffCostFunction<Model,
+ ceres::CENTRAL,
+ num_residuals,
+ num_parameters>(
+ model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+ } else if (FLAGS_numeric_diff_method == "forward") {
+ cost_function = new NumericDiffCostFunction<Model,
+ ceres::FORWARD,
+ num_residuals,
+ num_parameters>(
+ model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+ } else if (FLAGS_numeric_diff_method == "ridders") {
+ cost_function = new NumericDiffCostFunction<Model,
+ ceres::RIDDERS,
+ num_residuals,
+ num_parameters>(
+ model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+ } else {
+ LOG(ERROR) << "Invalid numeric diff method specified";
+ return 0;
+ }
+ } else {
+ cost_function =
+ new ceres::AutoDiffCostFunction<Model,
+ num_residuals,
+ num_parameters>(model);
+ }
+
+ problem.AddResidualBlock(cost_function,
+ NULL,
+ initial_parameters.data());
+ }
+
+ ceres::Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ // Compute the LRE by comparing each component of the solution
+ // with the ground truth, and taking the minimum.
+ Matrix final_parameters = nist_problem.final_parameters();
+ const double kMaxNumSignificantDigits = 11;
+ double log_relative_error = kMaxNumSignificantDigits + 1;
+ for (int i = 0; i < num_parameters; ++i) {
+ const double tmp_lre =
+ -std::log10(std::fabs(final_parameters(i) - initial_parameters(i)) /
+ std::fabs(final_parameters(i)));
+ // The maximum LRE is capped at 11 - the precision at which the
+ // ground truth is known.
+ //
+ // The minimum LRE is capped at 0 - no digits match between the
+ // computed solution and the ground truth.
+ log_relative_error =
+ std::min(log_relative_error,
+ std::max(0.0, std::min(kMaxNumSignificantDigits, tmp_lre)));
+ }
+
+ const int kMinNumMatchingDigits = 4;
+ if (log_relative_error > kMinNumMatchingDigits) {
+ ++num_success;
+ }
+
+ printf("start: %d status: %s lre: %4.1f initial cost: %e final cost:%e "
+ "certified cost: %e total iterations: %d\n",
+ start + 1,
+ log_relative_error < kMinNumMatchingDigits ? "FAILURE" : "SUCCESS",
+ log_relative_error,
+ summary.initial_cost,
+ summary.final_cost,
+ nist_problem.certified_cost(),
+ (summary.num_successful_steps + summary.num_unsuccessful_steps));
+ }
+ return num_success;
+}
+
+void SetMinimizerOptions(ceres::Solver::Options* options) {
+ CHECK(ceres::StringToMinimizerType(FLAGS_minimizer,
+ &options->minimizer_type));
+ CHECK(ceres::StringToLinearSolverType(FLAGS_linear_solver,
+ &options->linear_solver_type));
+ CHECK(ceres::StringToPreconditionerType(FLAGS_preconditioner,
+ &options->preconditioner_type));
+ CHECK(ceres::StringToTrustRegionStrategyType(
+ FLAGS_trust_region_strategy,
+ &options->trust_region_strategy_type));
+ CHECK(ceres::StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+ CHECK(ceres::StringToLineSearchDirectionType(
+ FLAGS_line_search_direction,
+ &options->line_search_direction_type));
+ CHECK(ceres::StringToLineSearchType(FLAGS_line_search,
+ &options->line_search_type));
+ CHECK(ceres::StringToLineSearchInterpolationType(
+ FLAGS_line_search_interpolation,
+ &options->line_search_interpolation_type));
+
+ options->max_num_iterations = FLAGS_num_iterations;
+ options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+ options->initial_trust_region_radius = FLAGS_initial_trust_region_radius;
+ options->max_lbfgs_rank = FLAGS_lbfgs_rank;
+ options->line_search_sufficient_function_decrease = FLAGS_sufficient_decrease;
+ options->line_search_sufficient_curvature_decrease =
+ FLAGS_sufficient_curvature_decrease;
+ options->max_num_line_search_step_size_iterations =
+ FLAGS_max_line_search_iterations;
+ options->max_num_line_search_direction_restarts =
+ FLAGS_max_line_search_restarts;
+ options->use_approximate_eigenvalue_bfgs_scaling =
+ FLAGS_approximate_eigenvalue_bfgs_scaling;
+ options->function_tolerance = std::numeric_limits<double>::epsilon();
+ options->gradient_tolerance = std::numeric_limits<double>::epsilon();
+ options->parameter_tolerance = std::numeric_limits<double>::epsilon();
+}
+
+void SolveNISTProblems() {
+ if (FLAGS_nist_data_dir.empty()) {
+ LOG(FATAL) << "Must specify the directory containing the NIST problems";
+ }
+
+ ceres::Solver::Options options;
+ SetMinimizerOptions(&options);
+
+ cout << "Lower Difficulty\n";
+ int easy_success = 0;
+ easy_success += RegressionDriver<Misra1a, 1, 2>("Misra1a.dat", options);
+ easy_success += RegressionDriver<Chwirut, 1, 3>("Chwirut1.dat", options);
+ easy_success += RegressionDriver<Chwirut, 1, 3>("Chwirut2.dat", options);
+ easy_success += RegressionDriver<Lanczos, 1, 6>("Lanczos3.dat", options);
+ easy_success += RegressionDriver<Gauss, 1, 8>("Gauss1.dat", options);
+ easy_success += RegressionDriver<Gauss, 1, 8>("Gauss2.dat", options);
+ easy_success += RegressionDriver<DanWood, 1, 2>("DanWood.dat", options);
+ easy_success += RegressionDriver<Misra1b, 1, 2>("Misra1b.dat", options);
+
+ cout << "\nMedium Difficulty\n";
+ int medium_success = 0;
+ medium_success += RegressionDriver<Kirby2, 1, 5>("Kirby2.dat", options);
+ medium_success += RegressionDriver<Hahn1, 1, 7>("Hahn1.dat", options);
+ medium_success += RegressionDriver<Nelson, 1, 3>("Nelson.dat", options);
+ medium_success += RegressionDriver<MGH17, 1, 5>("MGH17.dat", options);
+ medium_success += RegressionDriver<Lanczos, 1, 6>("Lanczos1.dat", options);
+ medium_success += RegressionDriver<Lanczos, 1, 6>("Lanczos2.dat", options);
+ medium_success += RegressionDriver<Gauss, 1, 8>("Gauss3.dat", options);
+ medium_success += RegressionDriver<Misra1c, 1, 2>("Misra1c.dat", options);
+ medium_success += RegressionDriver<Misra1d, 1, 2>("Misra1d.dat", options);
+ medium_success += RegressionDriver<Roszman1, 1, 4>("Roszman1.dat", options);
+ medium_success += RegressionDriver<ENSO, 1, 9>("ENSO.dat", options);
+
+ cout << "\nHigher Difficulty\n";
+ int hard_success = 0;
+ hard_success += RegressionDriver<MGH09, 1, 4>("MGH09.dat", options);
+ hard_success += RegressionDriver<Thurber, 1, 7>("Thurber.dat", options);
+ hard_success += RegressionDriver<BoxBOD, 1, 2>("BoxBOD.dat", options);
+ hard_success += RegressionDriver<Rat42, 1, 3>("Rat42.dat", options);
+ hard_success += RegressionDriver<MGH10, 1, 3>("MGH10.dat", options);
+
+ hard_success += RegressionDriver<Eckerle4, 1, 3>("Eckerle4.dat", options);
+ hard_success += RegressionDriver<Rat43, 1, 4>("Rat43.dat", options);
+ hard_success += RegressionDriver<Bennet5, 1, 3>("Bennett5.dat", options);
+
+ cout << "\n";
+ cout << "Easy : " << easy_success << "/16\n";
+ cout << "Medium : " << medium_success << "/22\n";
+ cout << "Hard : " << hard_success << "/16\n";
+ cout << "Total : "
+ << easy_success + medium_success + hard_success << "/54\n";
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+ ceres::examples::SolveNISTProblems();
+ return 0;
+}
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+//
+// Simple class for accessing PGM images.
+
+#ifndef CERES_EXAMPLES_PGM_IMAGE_H_
+#define CERES_EXAMPLES_PGM_IMAGE_H_
+
+#include <algorithm>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+
+template<typename Real>
+class PGMImage {
+ public:
+ // Create an empty image
+ PGMImage(int width, int height);
+ // Load an image from file
+ explicit PGMImage(std::string filename);
+ // Sets an image to a constant
+ void Set(double constant);
+
+ // Reading dimensions
+ int width() const;
+ int height() const;
+ int NumPixels() const;
+
+ // Get individual pixels
+ Real* MutablePixel(int x, int y);
+ Real Pixel(int x, int y) const;
+ Real* MutablePixelFromLinearIndex(int index);
+ Real PixelFromLinearIndex(int index) const;
+ int LinearIndex(int x, int y) const;
+
+ // Adds an image to another
+ void operator+=(const PGMImage& image);
+ // Adds a constant to an image
+ void operator+=(Real a);
+ // Multiplies an image by a constant
+ void operator*=(Real a);
+
+ // File access
+ bool WriteToFile(std::string filename) const;
+ bool ReadFromFile(std::string filename);
+
+ // Accessing the image data directly
+ bool SetData(const std::vector<Real>& new_data);
+ const std::vector<Real>& data() const;
+
+ protected:
+ int height_, width_;
+ std::vector<Real> data_;
+};
+
+// --- IMPLEMENTATION
+
+template<typename Real>
+PGMImage<Real>::PGMImage(int width, int height)
+ : height_(height), width_(width), data_(width*height, 0.0) {
+}
+
+template<typename Real>
+PGMImage<Real>::PGMImage(std::string filename) {
+ if (!ReadFromFile(filename)) {
+ height_ = 0;
+ width_ = 0;
+ }
+}
+
+template<typename Real>
+void PGMImage<Real>::Set(double constant) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] = constant;
+ }
+}
+
+template<typename Real>
+int PGMImage<Real>::width() const {
+ return width_;
+}
+
+template<typename Real>
+int PGMImage<Real>::height() const {
+ return height_;
+}
+
+template<typename Real>
+int PGMImage<Real>::NumPixels() const {
+ return width_ * height_;
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixel(int x, int y) {
+ return MutablePixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real PGMImage<Real>::Pixel(int x, int y) const {
+ return PixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixelFromLinearIndex(int index) {
+ CHECK(index >= 0);
+ CHECK(index < width_ * height_);
+ CHECK(index < data_.size());
+ return &data_[index];
+}
+
+template<typename Real>
+Real PGMImage<Real>::PixelFromLinearIndex(int index) const {
+ CHECK(index >= 0);
+ CHECK(index < width_ * height_);
+ CHECK(index < data_.size());
+ return data_[index];
+}
+
+template<typename Real>
+int PGMImage<Real>::LinearIndex(int x, int y) const {
+ return x + width_*y;
+}
+
+// Adds an image to another
+template<typename Real>
+void PGMImage<Real>::operator+= (const PGMImage<Real>& image) {
+ CHECK(data_.size() == image.data_.size());
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] += image.data_[i];
+ }
+}
+
+// Adds a constant to an image
+template<typename Real>
+void PGMImage<Real>::operator+= (Real a) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] += a;
+ }
+}
+
+// Multiplies an image by a constant
+template<typename Real>
+void PGMImage<Real>::operator*= (Real a) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] *= a;
+ }
+}
+
+template<typename Real>
+bool PGMImage<Real>::WriteToFile(std::string filename) const {
+ std::ofstream outputfile(filename.c_str());
+ outputfile << "P2" << std::endl;
+ outputfile << "# PGM format" << std::endl;
+ outputfile << " # <width> <height> <levels> " << std::endl;
+ outputfile << " # <data> ... " << std::endl;
+ outputfile << width_ << ' ' << height_ << " 255 " << std::endl;
+
+ // Write data
+ int num_pixels = width_*height_;
+ for (int i = 0; i < num_pixels; ++i) {
+ // Convert to integer by rounding when writing file
+ outputfile << static_cast<int>(data_[i] + 0.5) << ' ';
+ }
+
+ return bool(outputfile); // Returns true/false
+}
+
+namespace {
+
+// Helper function to read data from a text file, ignoring "#" comments.
+template<typename T>
+bool GetIgnoreComment(std::istream* in, T& t) {
+ std::string word;
+ bool ok;
+ do {
+ ok = true;
+ (*in) >> word;
+ if (word.length() > 0 && word[0] == '#') {
+ // Comment; read the whole line
+ ok = false;
+ std::getline(*in, word);
+ }
+ } while (!ok);
+
+ // Convert the string
+ std::stringstream sin(word);
+ sin >> t;
+
+ // Check for success
+ if (!in || !sin) {
+ return false;
+ }
+ return true;
+}
+} // namespace
+
+template<typename Real>
+bool PGMImage<Real>::ReadFromFile(std::string filename) {
+ std::ifstream inputfile(filename.c_str());
+
+ // File must start with "P2"
+ char ch1, ch2;
+ inputfile >> ch1 >> ch2;
+ if (!inputfile || ch1 != 'P' || (ch2 != '2' && ch2 != '5')) {
+ return false;
+ }
+
+ // Read the image header
+ int two_fifty_five;
+ if (!GetIgnoreComment(&inputfile, width_) ||
+ !GetIgnoreComment(&inputfile, height_) ||
+ !GetIgnoreComment(&inputfile, two_fifty_five) ) {
+ return false;
+ }
+ // Assert that the number of grey levels is 255.
+ if (two_fifty_five != 255) {
+ return false;
+ }
+
+ // Now read the data
+ int num_pixels = width_*height_;
+ data_.resize(num_pixels);
+ if (ch2 == '2') {
+ // Ascii file
+ for (int i = 0; i < num_pixels; ++i) {
+ int pixel_data;
+ bool res = GetIgnoreComment(&inputfile, pixel_data);
+ if (!res) {
+ return false;
+ }
+ data_[i] = pixel_data;
+ }
+ // There cannot be anything else in the file (except comments). Try reading
+ // another number and return failure if that succeeded.
+ int temp;
+ bool res = GetIgnoreComment(&inputfile, temp);
+ if (res) {
+ return false;
+ }
+ } else {
+ // Read the line feed character
+ if (inputfile.get() != '\n') {
+ return false;
+ }
+ // Binary file
+ // TODO(strandmark): Will not work on Windows (linebreak conversion).
+ for (int i = 0; i < num_pixels; ++i) {
+ unsigned char pixel_data = inputfile.get();
+ if (!inputfile) {
+ return false;
+ }
+ data_[i] = pixel_data;
+ }
+ // There cannot be anything else in the file. Try reading another byte
+ // and return failure if that succeeded.
+ inputfile.get();
+ if (inputfile) {
+ return false;
+ }
+ }
+
+ return true;
+}
+
+template<typename Real>
+bool PGMImage<Real>::SetData(const std::vector<Real>& new_data) {
+ // This function cannot change the dimensions
+ if (new_data.size() != data_.size()) {
+ return false;
+ }
+ std::copy(new_data.begin(), new_data.end(), data_.begin());
+ return true;
+}
+
+template<typename Real>
+const std::vector<Real>& PGMImage<Real>::data() const {
+ return data_;
+}
+
+} // namespace examples
+} // namespace ceres
+
+
+#endif // CERES_EXAMPLES_PGM_IMAGE_H_
--- /dev/null
+// 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)
+//
+// An example program that minimizes Powell's singular function.
+//
+// F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+// f1 = x1 + 10*x2;
+// f2 = sqrt(5) * (x3 - x4)
+// f3 = (x2 - 2*x3)^2
+// f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+struct F1 {
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x2,
+ T* residual) const {
+ // f1 = x1 + 10 * x2;
+ residual[0] = x1[0] + 10.0 * x2[0];
+ return true;
+ }
+};
+
+struct F2 {
+ template <typename T> bool operator()(const T* const x3,
+ const T* const x4,
+ T* residual) const {
+ // f2 = sqrt(5) (x3 - x4)
+ residual[0] = sqrt(5.0) * (x3[0] - x4[0]);
+ return true;
+ }
+};
+
+struct F3 {
+ template <typename T> bool operator()(const T* const x2,
+ const T* const x4,
+ T* residual) const {
+ // f3 = (x2 - 2 x3)^2
+ residual[0] = (x2[0] - 2.0 * x4[0]) * (x2[0] - 2.0 * x4[0]);
+ return true;
+ }
+};
+
+struct F4 {
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x4,
+ T* residual) const {
+ // f4 = sqrt(10) (x1 - x4)^2
+ residual[0] = sqrt(10.0) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+};
+
+DEFINE_string(minimizer, "trust_region",
+ "Minimizer type to use, choices are: line_search & trust_region");
+
+int main(int argc, char** argv) {
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ double x1 = 3.0;
+ double x2 = -1.0;
+ double x3 = 0.0;
+ double x4 = 1.0;
+
+ Problem problem;
+ // Add residual terms to the problem using the using the autodiff
+ // wrapper to get the derivatives automatically. The parameters, x1 through
+ // x4, are modified in place.
+ problem.AddResidualBlock(new AutoDiffCostFunction<F1, 1, 1, 1>(new F1),
+ NULL,
+ &x1, &x2);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F2, 1, 1, 1>(new F2),
+ NULL,
+ &x3, &x4);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F3, 1, 1, 1>(new F3),
+ NULL,
+ &x2, &x3);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F4, 1, 1, 1>(new F4),
+ NULL,
+ &x1, &x4);
+
+ Solver::Options options;
+ LOG_IF(FATAL, !ceres::StringToMinimizerType(FLAGS_minimizer,
+ &options.minimizer_type))
+ << "Invalid minimizer: " << FLAGS_minimizer
+ << ", valid options are: trust_region and line_search.";
+
+ options.max_num_iterations = 100;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ std::cout << "Initial x1 = " << x1
+ << ", x2 = " << x2
+ << ", x3 = " << x3
+ << ", x4 = " << x4
+ << "\n";
+
+ // Run the solver!
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.FullReport() << "\n";
+ std::cout << "Final x1 = " << x1
+ << ", x2 = " << x2
+ << ", x3 = " << x3
+ << ", x4 = " << x4
+ << "\n";
+ return 0;
+}
--- /dev/null
+// 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)
+
+#ifndef CERES_EXAMPLES_RANDOM_H_
+#define CERES_EXAMPLES_RANDOM_H_
+
+#include <math.h>
+#include <stdlib.h>
+
+namespace ceres {
+namespace examples {
+
+// Return a random number sampled from a uniform distribution in the range
+// [0,1].
+inline double RandDouble() {
+ double r = static_cast<double>(rand());
+ return r / RAND_MAX;
+}
+
+// Marsaglia Polar method for generation standard normal (pseudo)
+// random numbers http://en.wikipedia.org/wiki/Marsaglia_polar_method
+inline double RandNormal() {
+ double x1, x2, w;
+ do {
+ x1 = 2.0 * RandDouble() - 1.0;
+ x2 = 2.0 * RandDouble() - 1.0;
+ w = x1 * x1 + x2 * x2;
+ } while ( w >= 1.0 || w == 0.0 );
+
+ w = sqrt((-2.0 * log(w)) / w);
+ return x1 * w;
+}
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_RANDOM_H_
--- /dev/null
+// 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: joydeepb@ri.cmu.edu (Joydeep Biswas)
+//
+// This example demonstrates how to use the DynamicAutoDiffCostFunction
+// variant of CostFunction. The DynamicAutoDiffCostFunction is meant to
+// be used in cases where the number of parameter blocks or the sizes are not
+// known at compile time.
+//
+// This example simulates a robot traversing down a 1-dimension hallway with
+// noise odometry readings and noisy range readings of the end of the hallway.
+// By fusing the noisy odometry and sensor readings this example demonstrates
+// how to compute the maximum likelihood estimate (MLE) of the robot's pose at
+// each timestep.
+//
+// The robot starts at the origin, and it is travels to the end of a corridor of
+// fixed length specified by the "--corridor_length" flag. It executes a series
+// of motion commands to move forward a fixed length, specified by the
+// "--pose_separation" flag, at which pose it receives relative odometry
+// measurements as well as a range reading of the distance to the end of the
+// hallway. The odometry readings are drawn with Gaussian noise and standard
+// deviation specified by the "--odometry_stddev" flag, and the range readings
+// similarly with standard deviation specified by the "--range-stddev" flag.
+//
+// There are two types of residuals in this problem:
+// 1) The OdometryConstraint residual, that accounts for the odometry readings
+// between successive pose estimatess of the robot.
+// 2) The RangeConstraint residual, that accounts for the errors in the observed
+// range readings from each pose.
+//
+// The OdometryConstraint residual is modeled as an AutoDiffCostFunction with
+// a fixed parameter block size of 1, which is the relative odometry being
+// solved for, between a pair of successive poses of the robot. Differences
+// between observed and computed relative odometry values are penalized weighted
+// by the known standard deviation of the odometry readings.
+//
+// The RangeConstraint residual is modeled as a DynamicAutoDiffCostFunction
+// which sums up the relative odometry estimates to compute the estimated
+// global pose of the robot, and then computes the expected range reading.
+// Differences between the observed and expected range readings are then
+// penalized weighted by the standard deviation of readings of the sensor.
+// Since the number of poses of the robot is not known at compile time, this
+// cost function is implemented as a DynamicAutoDiffCostFunction.
+//
+// The outputs of the example are the initial values of the odometry and range
+// readings, and the range and odometry errors for every pose of the robot.
+// After computing the MLE, the computed poses and corrected odometry values
+// are printed out, along with the corresponding range and odometry errors. Note
+// that as an MLE of a noisy system the errors will not be reduced to zero, but
+// the odometry estimates will be updated to maximize the joint likelihood of
+// all odometry and range readings of the robot.
+//
+// Mathematical Formulation
+// ======================================================
+//
+// Let p_0, .., p_N be (N+1) robot poses, where the robot moves down the
+// corridor starting from p_0 and ending at p_N. We assume that p_0 is the
+// origin of the coordinate system.
+// Odometry u_i is the observed relative odometry between pose p_(i-1) and p_i,
+// and range reading y_i is the range reading of the end of the corridor from
+// pose p_i. Both odometry as well as range readings are noisy, but we wish to
+// compute the maximum likelihood estimate (MLE) of corrected odometry values
+// u*_0 to u*_(N-1), such that the Belief is optimized:
+//
+// Belief(u*_(0:N-1) | u_(0:N-1), y_(0:N-1)) 1.
+// = P(u*_(0:N-1) | u_(0:N-1), y_(0:N-1)) 2.
+// \propto P(y_(0:N-1) | u*_(0:N-1), u_(0:N-1)) P(u*_(0:N-1) | u_(0:N-1)) 3.
+// = \prod_i{ P(y_i | u*_(0:i)) P(u*_i | u_i) } 4.
+//
+// Here, the subscript "(0:i)" is used as shorthand to indicate entries from all
+// timesteps 0 to i for that variable, both inclusive.
+//
+// Bayes' rule is used to derive eq. 3 from 2, and the independence of
+// odometry observations and range readings is expolited to derive 4 from 3.
+//
+// Thus, the Belief, up to scale, is factored as a product of a number of
+// terms, two for each pose, where for each pose term there is one term for the
+// range reading, P(y_i | u*_(0:i) and one term for the odometry reading,
+// P(u*_i | u_i) . Note that the term for the range reading is dependent on all
+// odometry values u*_(0:i), while the odometry term, P(u*_i | u_i) depends only
+// on a single value, u_i. Both the range reading as well as odoemtry
+// probability terms are modeled as the Normal distribution, and have the form:
+//
+// p(x) \propto \exp{-((x - x_mean) / x_stddev)^2}
+//
+// where x refers to either the MLE odometry u* or range reading y, and x_mean
+// is the corresponding mean value, u for the odometry terms, and y_expected,
+// the expected range reading based on all the previous odometry terms.
+// The MLE is thus found by finding those values x* which minimize:
+//
+// x* = \arg\min{((x - x_mean) / x_stddev)^2}
+//
+// which is in the nonlinear least-square form, suited to being solved by Ceres.
+// The non-linear component arise from the computation of x_mean. The residuals
+// ((x - x_mean) / x_stddev) for the residuals that Ceres will optimize. As
+// mentioned earlier, the odometry term for each pose depends only on one
+// variable, and will be computed by an AutoDiffCostFunction, while the term
+// for the range reading will depend on all previous odometry observations, and
+// will be computed by a DynamicAutoDiffCostFunction since the number of
+// odoemtry observations will only be known at run time.
+
+#include <cstdio>
+#include <math.h>
+#include <vector>
+
+#include "ceres/ceres.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "random.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::DynamicAutoDiffCostFunction;
+using ceres::CauchyLoss;
+using ceres::CostFunction;
+using ceres::LossFunction;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+using ceres::examples::RandNormal;
+using std::min;
+using std::vector;
+
+DEFINE_double(corridor_length, 30.0, "Length of the corridor that the robot is "
+ "travelling down.");
+
+DEFINE_double(pose_separation, 0.5, "The distance that the robot traverses "
+ "between successive odometry updates.");
+
+DEFINE_double(odometry_stddev, 0.1, "The standard deviation of "
+ "odometry error of the robot.");
+
+DEFINE_double(range_stddev, 0.01, "The standard deviation of range readings of "
+ "the robot.");
+
+// The stride length of the dynamic_autodiff_cost_function evaluator.
+static const int kStride = 10;
+
+struct OdometryConstraint {
+ typedef AutoDiffCostFunction<OdometryConstraint, 1, 1> OdometryCostFunction;
+
+ OdometryConstraint(double odometry_mean, double odometry_stddev) :
+ odometry_mean(odometry_mean), odometry_stddev(odometry_stddev) {}
+
+ template <typename T>
+ bool operator()(const T* const odometry, T* residual) const {
+ *residual = (*odometry - odometry_mean) / odometry_stddev;
+ return true;
+ }
+
+ static OdometryCostFunction* Create(const double odometry_value) {
+ return new OdometryCostFunction(
+ new OdometryConstraint(odometry_value, FLAGS_odometry_stddev));
+ }
+
+ const double odometry_mean;
+ const double odometry_stddev;
+};
+
+struct RangeConstraint {
+ typedef DynamicAutoDiffCostFunction<RangeConstraint, kStride>
+ RangeCostFunction;
+
+ RangeConstraint(
+ int pose_index,
+ double range_reading,
+ double range_stddev,
+ double corridor_length) :
+ pose_index(pose_index), range_reading(range_reading),
+ range_stddev(range_stddev), corridor_length(corridor_length) {}
+
+ template <typename T>
+ bool operator()(T const* const* relative_poses, T* residuals) const {
+ T global_pose(0);
+ for (int i = 0; i <= pose_index; ++i) {
+ global_pose += relative_poses[i][0];
+ }
+ residuals[0] = (global_pose + range_reading - corridor_length) /
+ range_stddev;
+ return true;
+ }
+
+ // Factory method to create a CostFunction from a RangeConstraint to
+ // conveniently add to a ceres problem.
+ static RangeCostFunction* Create(const int pose_index,
+ const double range_reading,
+ vector<double>* odometry_values,
+ vector<double*>* parameter_blocks) {
+ RangeConstraint* constraint = new RangeConstraint(
+ pose_index, range_reading, FLAGS_range_stddev, FLAGS_corridor_length);
+ RangeCostFunction* cost_function = new RangeCostFunction(constraint);
+ // Add all the parameter blocks that affect this constraint.
+ parameter_blocks->clear();
+ for (int i = 0; i <= pose_index; ++i) {
+ parameter_blocks->push_back(&((*odometry_values)[i]));
+ cost_function->AddParameterBlock(1);
+ }
+ cost_function->SetNumResiduals(1);
+ return (cost_function);
+ }
+
+ const int pose_index;
+ const double range_reading;
+ const double range_stddev;
+ const double corridor_length;
+};
+
+void SimulateRobot(vector<double>* odometry_values,
+ vector<double>* range_readings) {
+ const int num_steps = static_cast<int>(
+ ceil(FLAGS_corridor_length / FLAGS_pose_separation));
+
+ // The robot starts out at the origin.
+ double robot_location = 0.0;
+ for (int i = 0; i < num_steps; ++i) {
+ const double actual_odometry_value = min(
+ FLAGS_pose_separation, FLAGS_corridor_length - robot_location);
+ robot_location += actual_odometry_value;
+ const double actual_range = FLAGS_corridor_length - robot_location;
+ const double observed_odometry =
+ RandNormal() * FLAGS_odometry_stddev + actual_odometry_value;
+ const double observed_range =
+ RandNormal() * FLAGS_range_stddev + actual_range;
+ odometry_values->push_back(observed_odometry);
+ range_readings->push_back(observed_range);
+ }
+}
+
+void PrintState(const vector<double>& odometry_readings,
+ const vector<double>& range_readings) {
+ CHECK_EQ(odometry_readings.size(), range_readings.size());
+ double robot_location = 0.0;
+ printf("pose: location odom range r.error o.error\n");
+ for (int i = 0; i < odometry_readings.size(); ++i) {
+ robot_location += odometry_readings[i];
+ const double range_error =
+ robot_location + range_readings[i] - FLAGS_corridor_length;
+ const double odometry_error =
+ FLAGS_pose_separation - odometry_readings[i];
+ printf("%4d: %8.3f %8.3f %8.3f %8.3f %8.3f\n",
+ static_cast<int>(i), robot_location, odometry_readings[i],
+ range_readings[i], range_error, odometry_error);
+ }
+}
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ // Make sure that the arguments parsed are all positive.
+ CHECK_GT(FLAGS_corridor_length, 0.0);
+ CHECK_GT(FLAGS_pose_separation, 0.0);
+ CHECK_GT(FLAGS_odometry_stddev, 0.0);
+ CHECK_GT(FLAGS_range_stddev, 0.0);
+
+ vector<double> odometry_values;
+ vector<double> range_readings;
+ SimulateRobot(&odometry_values, &range_readings);
+
+ printf("Initial values:\n");
+ PrintState(odometry_values, range_readings);
+ ceres::Problem problem;
+
+ for (int i = 0; i < odometry_values.size(); ++i) {
+ // Create and add a DynamicAutoDiffCostFunction for the RangeConstraint from
+ // pose i.
+ vector<double*> parameter_blocks;
+ RangeConstraint::RangeCostFunction* range_cost_function =
+ RangeConstraint::Create(
+ i, range_readings[i], &odometry_values, ¶meter_blocks);
+ problem.AddResidualBlock(range_cost_function, NULL, parameter_blocks);
+
+ // Create and add an AutoDiffCostFunction for the OdometryConstraint for
+ // pose i.
+ problem.AddResidualBlock(OdometryConstraint::Create(odometry_values[i]),
+ NULL,
+ &(odometry_values[i]));
+ }
+
+ ceres::Solver::Options solver_options;
+ solver_options.minimizer_progress_to_stdout = true;
+
+ Solver::Summary summary;
+ printf("Solving...\n");
+ Solve(solver_options, &problem, &summary);
+ printf("Done.\n");
+ std::cout << summary.FullReport() << "\n";
+ printf("Final values:\n");
+ PrintState(odometry_values, range_readings);
+ return 0;
+}
--- /dev/null
+// 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/ceres.h"
+#include "glog/logging.h"
+
+// Data generated using the following octave code.
+// randn('seed', 23497);
+// m = 0.3;
+// c = 0.1;
+// x=[0:0.075:5];
+// y = exp(m * x + c);
+// noise = randn(size(x)) * 0.2;
+// outlier_noise = rand(size(x)) < 0.05;
+// y_observed = y + noise + outlier_noise;
+// data = [x', y_observed'];
+
+const int kNumObservations = 67;
+const double data[] = {
+0.000000e+00, 1.133898e+00,
+7.500000e-02, 1.334902e+00,
+1.500000e-01, 1.213546e+00,
+2.250000e-01, 1.252016e+00,
+3.000000e-01, 1.392265e+00,
+3.750000e-01, 1.314458e+00,
+4.500000e-01, 1.472541e+00,
+5.250000e-01, 1.536218e+00,
+6.000000e-01, 1.355679e+00,
+6.750000e-01, 1.463566e+00,
+7.500000e-01, 1.490201e+00,
+8.250000e-01, 1.658699e+00,
+9.000000e-01, 1.067574e+00,
+9.750000e-01, 1.464629e+00,
+1.050000e+00, 1.402653e+00,
+1.125000e+00, 1.713141e+00,
+1.200000e+00, 1.527021e+00,
+1.275000e+00, 1.702632e+00,
+1.350000e+00, 1.423899e+00,
+1.425000e+00, 5.543078e+00, // Outlier point
+1.500000e+00, 5.664015e+00, // Outlier point
+1.575000e+00, 1.732484e+00,
+1.650000e+00, 1.543296e+00,
+1.725000e+00, 1.959523e+00,
+1.800000e+00, 1.685132e+00,
+1.875000e+00, 1.951791e+00,
+1.950000e+00, 2.095346e+00,
+2.025000e+00, 2.361460e+00,
+2.100000e+00, 2.169119e+00,
+2.175000e+00, 2.061745e+00,
+2.250000e+00, 2.178641e+00,
+2.325000e+00, 2.104346e+00,
+2.400000e+00, 2.584470e+00,
+2.475000e+00, 1.914158e+00,
+2.550000e+00, 2.368375e+00,
+2.625000e+00, 2.686125e+00,
+2.700000e+00, 2.712395e+00,
+2.775000e+00, 2.499511e+00,
+2.850000e+00, 2.558897e+00,
+2.925000e+00, 2.309154e+00,
+3.000000e+00, 2.869503e+00,
+3.075000e+00, 3.116645e+00,
+3.150000e+00, 3.094907e+00,
+3.225000e+00, 2.471759e+00,
+3.300000e+00, 3.017131e+00,
+3.375000e+00, 3.232381e+00,
+3.450000e+00, 2.944596e+00,
+3.525000e+00, 3.385343e+00,
+3.600000e+00, 3.199826e+00,
+3.675000e+00, 3.423039e+00,
+3.750000e+00, 3.621552e+00,
+3.825000e+00, 3.559255e+00,
+3.900000e+00, 3.530713e+00,
+3.975000e+00, 3.561766e+00,
+4.050000e+00, 3.544574e+00,
+4.125000e+00, 3.867945e+00,
+4.200000e+00, 4.049776e+00,
+4.275000e+00, 3.885601e+00,
+4.350000e+00, 4.110505e+00,
+4.425000e+00, 4.345320e+00,
+4.500000e+00, 4.161241e+00,
+4.575000e+00, 4.363407e+00,
+4.650000e+00, 4.161576e+00,
+4.725000e+00, 4.619728e+00,
+4.800000e+00, 4.737410e+00,
+4.875000e+00, 4.727863e+00,
+4.950000e+00, 4.669206e+00
+};
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::CauchyLoss;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+
+struct ExponentialResidual {
+ ExponentialResidual(double x, double y)
+ : x_(x), y_(y) {}
+
+ template <typename T> bool operator()(const T* const m,
+ const T* const c,
+ T* residual) const {
+ residual[0] = y_ - exp(m[0] * x_ + c[0]);
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ double m = 0.0;
+ double c = 0.0;
+
+ Problem problem;
+ for (int i = 0; i < kNumObservations; ++i) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+ new ExponentialResidual(data[2 * i], data[2 * i + 1]));
+ problem.AddResidualBlock(cost_function,
+ new CauchyLoss(0.5),
+ &m, &c);
+ }
+
+ Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
+ std::cout << "Final m: " << m << " c: " << c << "\n";
+ return 0;
+}
--- /dev/null
+// 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/ceres.h"
+#include "glog/logging.h"
+
+// f(x,y) = (1-x)^2 + 100(y - x^2)^2;
+class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+ virtual ~Rosenbrock() {}
+
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ const double x = parameters[0];
+ const double y = parameters[1];
+
+ cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+ if (gradient != NULL) {
+ gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+ gradient[1] = 200.0 * (y - x * x);
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 2; }
+};
+
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ double parameters[2] = {-1.2, 1.0};
+
+ ceres::GradientProblemSolver::Options options;
+ options.minimizer_progress_to_stdout = true;
+
+ ceres::GradientProblemSolver::Summary summary;
+ ceres::GradientProblem problem(new Rosenbrock());
+ ceres::Solve(options, problem, parameters, &summary);
+
+ std::cout << summary.FullReport() << "\n";
+ std::cout << "Initial x: " << -1.2 << " y: " << 1.0 << "\n";
+ std::cout << "Final x: " << parameters[0]
+ << " y: " << parameters[1] << "\n";
+ return 0;
+}
--- /dev/null
+# 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: vitus@google.com (Michael Vitus)
+
+add_executable(sampled_function sampled_function.cc)
+target_link_libraries(sampled_function ceres)
--- /dev/null
+Sampled Functions
+--
+
+It is common to not have an analytical representation of the optimization
+problem but rather a table of values at specific inputs. This commonly occurs
+when working with images or when the functions in the problem are expensive to
+evaluate. To use this data in an optimization problem we can use interpolation
+to evaluate the function and derivatives at intermediate input values.
+
+There are many libraries that implement a variety of interpolation schemes, but
+it is difficult to use them in Ceres' automatic differentiation framework.
+Instead, Ceres provides the ability to interpolate one and two dimensional data.
+
+The one dimensional interpolation is based on the Cubic Hermite Spline. This
+interpolation method requires knowledge of the function derivatives at the
+control points, however we only know the function values. Consequently, we will
+use the data to estimate derivatives at the control points. The choice of how to
+compute the derivatives is not unique and Ceres uses the Catmull–Rom Spline
+variant which uses `0.5 * (p_{k+1} - p_{k-1})` as the derivative for control
+point `p_k.` This produces a first order differentiable interpolating
+function. The two dimensional interpolation scheme is a generalization of the
+one dimensional scheme where the interpolating function is assumed to be
+separable in the two dimensions.
+
+This example shows how to use interpolation schemes within the Ceres automatic
+differentiation framework. This is a one dimensional example and the objective
+function is to minimize `0.5 * f(x)^2` where `f(x) = (x - 4.5)^2`.
+
+It is also possible to use analytical derivatives with the provided
+interpolation schemes by using a `SizedCostFunction` and defining the
+``Evaluate` function. For this example, the evaluate function would be:
+
+```c++
+bool Evaluate(double const* const* parameters, double* residuals, double** jacobians) const {
+ if (jacobians == NULL || jacobians[0] == NULL)
+ interpolator_.Evaluate(parameters[0][0], residuals);
+ else
+ interpolator_.Evaluate(parameters[0][0], residuals, jacobians[0]);
+
+ return true;
+}
+```
--- /dev/null
+// 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)
+//
+// A simple example of optimizing a sampled function by using cubic
+// interpolation.
+
+#include "ceres/ceres.h"
+#include "ceres/cubic_interpolation.h"
+#include "glog/logging.h"
+
+using ceres::Grid1D;
+using ceres::CubicInterpolator;
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A simple cost functor that interfaces an interpolated table of
+// values with automatic differentiation.
+struct InterpolatedCostFunctor {
+ explicit InterpolatedCostFunctor(
+ const CubicInterpolator<Grid1D<double> >& interpolator)
+ : interpolator_(interpolator) {
+ }
+
+ template<typename T> bool operator()(const T* x, T* residuals) const {
+ interpolator_.Evaluate(*x, residuals);
+ return true;
+ }
+
+ static CostFunction* Create(
+ const CubicInterpolator<Grid1D<double> >& interpolator) {
+ return new AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
+ new InterpolatedCostFunctor(interpolator));
+ }
+
+ private:
+ const CubicInterpolator<Grid1D<double> >& interpolator_;
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+
+ // Evaluate the function f(x) = (x - 4.5)^2;
+ const int kNumSamples = 10;
+ double values[kNumSamples];
+ for (int i = 0; i < kNumSamples; ++i) {
+ values[i] = (i - 4.5) * (i - 4.5);
+ }
+
+ Grid1D<double> array(values, 0, kNumSamples);
+ CubicInterpolator<Grid1D<double> > interpolator(array);
+
+ double x = 1.0;
+ Problem problem;
+ CostFunction* cost_function = InterpolatedCostFunctor::Create(interpolator);
+ problem.AddResidualBlock(cost_function, NULL, &x);
+
+ Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Expected x: 4.5. Actual x : " << x << std::endl;
+ return 0;
+}
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A minimal, self-contained bundle adjuster using Ceres, that reads
+// files from University of Washington' Bundle Adjustment in the Large dataset:
+// http://grail.cs.washington.edu/projects/bal
+//
+// This does not use the best configuration for solving; see the more involved
+// bundle_adjuster.cc file for details.
+
+#include <cmath>
+#include <cstdio>
+#include <iostream>
+
+#include "ceres/ceres.h"
+#include "ceres/rotation.h"
+
+// Read a Bundle Adjustment in the Large dataset.
+class BALProblem {
+ public:
+ ~BALProblem() {
+ delete[] point_index_;
+ delete[] camera_index_;
+ delete[] observations_;
+ delete[] parameters_;
+ }
+
+ int num_observations() const { return num_observations_; }
+ const double* observations() const { return observations_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() { return parameters_ + 9 * num_cameras_; }
+
+ double* mutable_camera_for_observation(int i) {
+ return mutable_cameras() + camera_index_[i] * 9;
+ }
+ double* mutable_point_for_observation(int i) {
+ return mutable_points() + point_index_[i] * 3;
+ }
+
+ bool LoadFile(const char* filename) {
+ FILE* fptr = fopen(filename, "r");
+ if (fptr == NULL) {
+ return false;
+ };
+
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+ return true;
+ }
+
+ private:
+ template<typename T>
+ void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+ }
+
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ double* parameters_;
+};
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ ceres::AngleAxisRotatePoint(camera, point, p);
+
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ T r2 = xp*xp + yp*yp;
+ T distortion = 1.0 + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ const T& focal = camera[6];
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - observed_x;
+ residuals[1] = predicted_y - observed_y;
+
+ return true;
+ }
+
+ // Factory to hide the construction of the CostFunction object from
+ // the client code.
+ static ceres::CostFunction* Create(const double observed_x,
+ const double observed_y) {
+ return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(observed_x, observed_y)));
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+ if (argc != 2) {
+ std::cerr << "usage: simple_bundle_adjuster <bal_problem>\n";
+ return 1;
+ }
+
+ BALProblem bal_problem;
+ if (!bal_problem.LoadFile(argv[1])) {
+ std::cerr << "ERROR: unable to open file " << argv[1] << "\n";
+ return 1;
+ }
+
+ const double* observations = bal_problem.observations();
+
+ // Create residuals for each observation in the bundle adjustment problem. The
+ // parameters for cameras and points are added automatically.
+ ceres::Problem problem;
+ for (int i = 0; i < bal_problem.num_observations(); ++i) {
+ // Each Residual block takes a point and a camera as input and outputs a 2
+ // dimensional residual. Internally, the cost function stores the observed
+ // image location and compares the reprojection against the observation.
+
+ ceres::CostFunction* cost_function =
+ SnavelyReprojectionError::Create(observations[2 * i + 0],
+ observations[2 * i + 1]);
+ problem.AddResidualBlock(cost_function,
+ NULL /* squared loss */,
+ bal_problem.mutable_camera_for_observation(i),
+ bal_problem.mutable_point_for_observation(i));
+ }
+
+ // Make Ceres automatically detect the bundle structure. Note that the
+ // standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
+ // for standard bundle adjustment problems.
+ ceres::Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.minimizer_progress_to_stdout = true;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+ return 0;
+}
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 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: vitus@google.com (Michael Vitus)
+include_directories(./)
+
+add_subdirectory(pose_graph_2d)
+add_subdirectory(pose_graph_3d)
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+//
+// Reads a file in the g2o filename format that describes a pose graph problem.
+
+#ifndef EXAMPLES_CERES_READ_G2O_H_
+#define EXAMPLES_CERES_READ_G2O_H_
+
+#include <fstream>
+#include <string>
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+
+// Reads a single pose from the input and inserts it into the map. Returns false
+// if there is a duplicate entry.
+template <typename Pose, typename Allocator>
+bool ReadVertex(std::ifstream* infile,
+ std::map<int, Pose, std::less<int>, Allocator>* poses) {
+ int id;
+ Pose pose;
+ *infile >> id >> pose;
+
+ // Ensure we don't have duplicate poses.
+ if (poses->find(id) != poses->end()) {
+ LOG(ERROR) << "Duplicate vertex with ID: " << id;
+ return false;
+ }
+ (*poses)[id] = pose;
+
+ return true;
+}
+
+// Reads the contraints between two vertices in the pose graph
+template <typename Constraint, typename Allocator>
+void ReadConstraint(std::ifstream* infile,
+ std::vector<Constraint, Allocator>* constraints) {
+ Constraint constraint;
+ *infile >> constraint;
+
+ constraints->push_back(constraint);
+}
+
+// Reads a file in the g2o filename format that describes a pose graph
+// problem. The g2o format consists of two entries, vertices and constraints.
+//
+// In 2D, a vertex is defined as follows:
+//
+// VERTEX_SE2 ID x_meters y_meters yaw_radians
+//
+// A constraint is defined as follows:
+//
+// EDGE_SE2 ID_A ID_B A_x_B A_y_B A_yaw_B I_11 I_12 I_13 I_22 I_23 I_33
+//
+// where I_ij is the (i, j)-th entry of the information matrix for the
+// measurement.
+//
+//
+// In 3D, a vertex is defined as follows:
+//
+// VERTEX_SE3:QUAT ID x y z q_x q_y q_z q_w
+//
+// where the quaternion is in Hamilton form.
+// A constraint is defined as follows:
+//
+// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12 I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
+//
+// where I_ij is the (i, j)-th entry of the information matrix for the
+// measurement. Only the upper-triangular part is stored. The measurement order
+// is the delta position followed by the delta orientation.
+template <typename Pose, typename Constraint, typename MapAllocator,
+ typename VectorAllocator>
+bool ReadG2oFile(const std::string& filename,
+ std::map<int, Pose, std::less<int>, MapAllocator>* poses,
+ std::vector<Constraint, VectorAllocator>* constraints) {
+ CHECK(poses != NULL);
+ CHECK(constraints != NULL);
+
+ poses->clear();
+ constraints->clear();
+
+ std::ifstream infile(filename.c_str());
+ if (!infile) {
+ return false;
+ }
+
+ std::string data_type;
+ while (infile.good()) {
+ // Read whether the type is a node or a constraint.
+ infile >> data_type;
+ if (data_type == Pose::name()) {
+ if (!ReadVertex(&infile, poses)) {
+ return false;
+ }
+ } else if (data_type == Constraint::name()) {
+ ReadConstraint(&infile, constraints);
+ } else {
+ LOG(ERROR) << "Unknown data type: " << data_type;
+ return false;
+ }
+
+ // Clear any trailing whitespace from the line.
+ infile >> std::ws;
+ }
+
+ return true;
+}
+
+} // namespace examples
+} // namespace ceres
+
+#endif // EXAMPLES_CERES_READ_G2O_H_
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+if (GFLAGS)
+ add_executable(pose_graph_2d
+ angle_local_parameterization.h
+ normalize_angle.h
+ pose_graph_2d.cc
+ pose_graph_2d_error_term.h
+ types.h)
+ target_link_libraries(pose_graph_2d ceres ${GFLAGS_LIBRARIES})
+endif (GFLAGS)
\ No newline at end of file
--- /dev/null
+Pose Graph 2D
+----------------
+
+The Simultaneous Localization and Mapping (SLAM) problem consists of building a
+map of an unknown environment while simultaneously localizing against this
+map. The main difficulty of this problem stems from not having any additional
+external aiding information such as GPS. SLAM has been considered one of the
+fundamental challenges of robotics. A pose graph optimization problem is one
+example of a SLAM problem.
+
+This package defines the necessary Ceres cost functions needed to model the
+2-dimensional pose graph optimization problem as well as a binary to build and
+solve the problem. The cost functions are shown for instruction purposes and can
+be speed up by using analytical derivatives which take longer to implement.
+
+Running
+-----------
+This package includes an executable `pose_graph_2d` that will read a problem
+definition file. This executable can work with any 2D problem definition that
+uses the g2o format. It would be relatively straightforward to implement a new
+reader for a different format such as TORO or others. `pose_graph_2d` will print
+the Ceres solver full summary and then output to disk the original and optimized
+poses (`poses_original.txt` and `poses_optimized.txt`, respectively) of the
+robot in the following format:
+
+```
+pose_id x y yaw_radians
+pose_id x y yaw_radians
+pose_id x y yaw_radians
+...
+```
+
+where `pose_id` is the corresponding integer ID from the file definition. Note,
+the file will be sorted in ascending order for the `pose_id`.
+
+The executable `pose_graph_2d` expects the first argument to be the path to the
+problem definition. To run the executable,
+
+```
+/path/to/bin/pose_graph_2d /path/to/dataset/dataset.g2o
+```
+
+A python script is provided to visualize the resulting output files.
+```
+/path/to/repo/examples/slam/pose_graph_2d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+```
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+
+#include "ceres/local_parameterization.h"
+#include "normalize_angle.h"
+
+namespace ceres {
+namespace examples {
+
+// Defines a local parameterization for updating the angle to be constrained in
+// [-pi to pi).
+class AngleLocalParameterization {
+ public:
+
+ template <typename T>
+ bool operator()(const T* theta_radians, const T* delta_theta_radians,
+ T* theta_radians_plus_delta) const {
+ *theta_radians_plus_delta =
+ NormalizeAngle(*theta_radians + *delta_theta_radians);
+
+ return true;
+ }
+
+ static ceres::LocalParameterization* Create() {
+ return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
+ 1, 1>);
+ }
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
+
+#include <cmath>
+
+#include "ceres/ceres.h"
+
+namespace ceres {
+namespace examples {
+
+// Normalizes the angle in radians between [-pi and pi).
+template <typename T>
+inline T NormalizeAngle(const T& angle_radians) {
+ // Use ceres::floor because it is specialized for double and Jet types.
+ T two_pi(2.0 * M_PI);
+ return angle_radians -
+ two_pi * ceres::floor((angle_radians + T(M_PI)) / two_pi);
+}
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
--- /dev/null
+#!/usr/bin/python
+#
+# Plots the results from the 2D pose graph optimization. It will draw a line
+# between consecutive vertices. The commandline expects two optional filenames:
+#
+# ./plot_results.py --initial_poses optional --optimized_poses optional
+#
+# The files have the following format:
+# ID x y yaw_radians
+
+import matplotlib.pyplot as plot
+import numpy
+import sys
+from optparse import OptionParser
+
+parser = OptionParser()
+parser.add_option("--initial_poses", dest="initial_poses",
+ default="", help="The filename that contains the original poses.")
+parser.add_option("--optimized_poses", dest="optimized_poses",
+ default="", help="The filename that contains the optimized poses.")
+(options, args) = parser.parse_args()
+
+# Read the original and optimized poses files.
+poses_original = None
+if options.initial_poses != '':
+ poses_original = numpy.genfromtxt(options.initial_poses, usecols = (1, 2))
+
+poses_optimized = None
+if options.optimized_poses != '':
+ poses_optimized = numpy.genfromtxt(options.optimized_poses, usecols = (1, 2))
+
+# Plots the results for the specified poses.
+plot.figure()
+if poses_original is not None:
+ plot.plot(poses_original[:, 0], poses_original[:, 1], '-', label="Original",
+ alpha=0.5, color="green")
+
+if poses_optimized is not None:
+ plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], '-', label="Optimized",
+ alpha=0.5, color="blue")
+
+plot.axis('equal')
+plot.legend()
+# Show the plot and wait for the user to close.
+plot.show()
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+//
+// An example of solving a graph-based formulation of Simultaneous Localization
+// and Mapping (SLAM). It reads a 2D pose graph problem definition file in the
+// g2o format, formulates and solves the Ceres optimization problem, and outputs
+// the original and optimized poses to file for plotting.
+
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <string>
+#include <vector>
+
+#include "angle_local_parameterization.h"
+#include "ceres/ceres.h"
+#include "common/read_g2o.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "pose_graph_2d_error_term.h"
+#include "types.h"
+
+DEFINE_string(input, "", "The pose graph definition filename in g2o format.");
+
+namespace ceres {
+namespace examples {
+
+// Constructs the nonlinear least squares optimization problem from the pose
+// graph constraints.
+void BuildOptimizationProblem(const std::vector<Constraint2d>& constraints,
+ std::map<int, Pose2d>* poses,
+ ceres::Problem* problem) {
+ CHECK(poses != NULL);
+ CHECK(problem != NULL);
+ if (constraints.empty()) {
+ LOG(INFO) << "No constraints, no problem to optimize.";
+ return;
+ }
+
+ ceres::LossFunction* loss_function = NULL;
+ ceres::LocalParameterization* angle_local_parameterization =
+ AngleLocalParameterization::Create();
+
+ for (std::vector<Constraint2d>::const_iterator constraints_iter =
+ constraints.begin();
+ constraints_iter != constraints.end(); ++constraints_iter) {
+ const Constraint2d& constraint = *constraints_iter;
+
+ std::map<int, Pose2d>::iterator pose_begin_iter =
+ poses->find(constraint.id_begin);
+ CHECK(pose_begin_iter != poses->end())
+ << "Pose with ID: " << constraint.id_begin << " not found.";
+ std::map<int, Pose2d>::iterator pose_end_iter =
+ poses->find(constraint.id_end);
+ CHECK(pose_end_iter != poses->end())
+ << "Pose with ID: " << constraint.id_end << " not found.";
+
+ const Eigen::Matrix3d sqrt_information =
+ constraint.information.llt().matrixL();
+ // Ceres will take ownership of the pointer.
+ ceres::CostFunction* cost_function = PoseGraph2dErrorTerm::Create(
+ constraint.x, constraint.y, constraint.yaw_radians, sqrt_information);
+ problem->AddResidualBlock(
+ cost_function, loss_function, &pose_begin_iter->second.x,
+ &pose_begin_iter->second.y, &pose_begin_iter->second.yaw_radians,
+ &pose_end_iter->second.x, &pose_end_iter->second.y,
+ &pose_end_iter->second.yaw_radians);
+
+ problem->SetParameterization(&pose_begin_iter->second.yaw_radians,
+ angle_local_parameterization);
+ problem->SetParameterization(&pose_end_iter->second.yaw_radians,
+ angle_local_parameterization);
+ }
+
+ // The pose graph optimization problem has three DOFs that are not fully
+ // constrained. This is typically referred to as gauge freedom. You can apply
+ // a rigid body transformation to all the nodes and the optimization problem
+ // will still have the exact same cost. The Levenberg-Marquardt algorithm has
+ // internal damping which mitigate this issue, but it is better to properly
+ // constrain the gauge freedom. This can be done by setting one of the poses
+ // as constant so the optimizer cannot change it.
+ std::map<int, Pose2d>::iterator pose_start_iter =
+ poses->begin();
+ CHECK(pose_start_iter != poses->end()) << "There are no poses.";
+ problem->SetParameterBlockConstant(&pose_start_iter->second.x);
+ problem->SetParameterBlockConstant(&pose_start_iter->second.y);
+ problem->SetParameterBlockConstant(&pose_start_iter->second.yaw_radians);
+}
+
+// Returns true if the solve was successful.
+bool SolveOptimizationProblem(ceres::Problem* problem) {
+ CHECK(problem != NULL);
+
+ ceres::Solver::Options options;
+ options.max_num_iterations = 100;
+ options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+
+ std::cout << summary.FullReport() << '\n';
+
+ return summary.IsSolutionUsable();
+}
+
+// Output the poses to the file with format: ID x y yaw_radians.
+bool OutputPoses(const std::string& filename,
+ const std::map<int, Pose2d>& poses) {
+ std::fstream outfile;
+ outfile.open(filename.c_str(), std::istream::out);
+ if (!outfile) {
+ std::cerr << "Error opening the file: " << filename << '\n';
+ return false;
+ }
+ for (std::map<int, Pose2d>::const_iterator poses_iter = poses.begin();
+ poses_iter != poses.end(); ++poses_iter) {
+ const std::map<int, Pose2d>::value_type& pair = *poses_iter;
+ outfile << pair.first << " " << pair.second.x << " " << pair.second.y
+ << ' ' << pair.second.yaw_radians << '\n';
+ }
+ return true;
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+
+ CHECK(FLAGS_input != "") << "Need to specify the filename to read.";
+
+ std::map<int, ceres::examples::Pose2d> poses;
+ std::vector<ceres::examples::Constraint2d> constraints;
+
+ CHECK(ceres::examples::ReadG2oFile(FLAGS_input, &poses, &constraints))
+ << "Error reading the file: " << FLAGS_input;
+
+ std::cout << "Number of poses: " << poses.size() << '\n';
+ std::cout << "Number of constraints: " << constraints.size() << '\n';
+
+ CHECK(ceres::examples::OutputPoses("poses_original.txt", poses))
+ << "Error outputting to poses_original.txt";
+
+ ceres::Problem problem;
+ ceres::examples::BuildOptimizationProblem(constraints, &poses, &problem);
+
+ CHECK(ceres::examples::SolveOptimizationProblem(&problem))
+ << "The solve was not successful, exiting.";
+
+ CHECK(ceres::examples::OutputPoses("poses_optimized.txt", poses))
+ << "Error outputting to poses_original.txt";
+
+ return 0;
+}
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+//
+// Cost function for a 2D pose graph formulation.
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+namespace examples {
+
+template <typename T>
+Eigen::Matrix<T, 2, 2> RotationMatrix2D(T yaw_radians) {
+ const T cos_yaw = ceres::cos(yaw_radians);
+ const T sin_yaw = ceres::sin(yaw_radians);
+
+ Eigen::Matrix<T, 2, 2> rotation;
+ rotation << cos_yaw, -sin_yaw, sin_yaw, cos_yaw;
+ return rotation;
+}
+
+// Computes the error term for two poses that have a relative pose measurement
+// between them. Let the hat variables be the measurement.
+//
+// residual = information^{1/2} * [ r_a^T * (p_b - p_a) - \hat{p_ab} ]
+// [ Normalize(yaw_b - yaw_a - \hat{yaw_ab}) ]
+//
+// where r_a is the rotation matrix that rotates a vector represented in frame A
+// into the global frame, and Normalize(*) ensures the angles are in the range
+// [-pi, pi).
+class PoseGraph2dErrorTerm {
+ public:
+ PoseGraph2dErrorTerm(double x_ab, double y_ab, double yaw_ab_radians,
+ const Eigen::Matrix3d& sqrt_information)
+ : p_ab_(x_ab, y_ab),
+ yaw_ab_radians_(yaw_ab_radians),
+ sqrt_information_(sqrt_information) {}
+
+ template <typename T>
+ bool operator()(const T* const x_a, const T* const y_a, const T* const yaw_a,
+ const T* const x_b, const T* const y_b, const T* const yaw_b,
+ T* residuals_ptr) const {
+ const Eigen::Matrix<T, 2, 1> p_a(*x_a, *y_a);
+ const Eigen::Matrix<T, 2, 1> p_b(*x_b, *y_b);
+
+ Eigen::Map<Eigen::Matrix<T, 3, 1> > residuals_map(residuals_ptr);
+
+ residuals_map.template head<2>() =
+ RotationMatrix2D(*yaw_a).transpose() * (p_b - p_a) -
+ p_ab_.cast<T>();
+ residuals_map(2) = ceres::examples::NormalizeAngle(
+ (*yaw_b - *yaw_a) - static_cast<T>(yaw_ab_radians_));
+
+ // Scale the residuals by the square root information matrix to account for
+ // the measurement uncertainty.
+ residuals_map = sqrt_information_.template cast<T>() * residuals_map;
+
+ return true;
+ }
+
+ static ceres::CostFunction* Create(double x_ab, double y_ab,
+ double yaw_ab_radians,
+ const Eigen::Matrix3d& sqrt_information) {
+ return (new ceres::AutoDiffCostFunction<PoseGraph2dErrorTerm, 3, 1, 1, 1, 1,
+ 1, 1>(new PoseGraph2dErrorTerm(
+ x_ab, y_ab, yaw_ab_radians, sqrt_information)));
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+ // The position of B relative to A in the A frame.
+ const Eigen::Vector2d p_ab_;
+ // The orientation of frame B relative to frame A.
+ const double yaw_ab_radians_;
+ // The inverse square root of the measurement covariance matrix.
+ const Eigen::Matrix3d sqrt_information_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+//
+// Defines the types used in the 2D pose graph SLAM formulation. Each vertex of
+// the graph has a unique integer ID with a position and orientation. There are
+// delta transformation constraints between two vertices.
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
+
+#include <fstream>
+
+#include "Eigen/Core"
+#include "normalize_angle.h"
+
+namespace ceres {
+namespace examples {
+
+// The state for each vertex in the pose graph.
+struct Pose2d {
+ double x;
+ double y;
+ double yaw_radians;
+
+ // The name of the data type in the g2o file format.
+ static std::string name() {
+ return "VERTEX_SE2";
+ }
+};
+
+std::istream& operator>>(std::istream& input, Pose2d& pose) {
+ input >> pose.x >> pose.y >> pose.yaw_radians;
+ // Normalize the angle between -pi to pi.
+ pose.yaw_radians = NormalizeAngle(pose.yaw_radians);
+ return input;
+}
+
+// The constraint between two vertices in the pose graph. The constraint is the
+// transformation from vertex id_begin to vertex id_end.
+struct Constraint2d {
+ int id_begin;
+ int id_end;
+
+ double x;
+ double y;
+ double yaw_radians;
+
+ // The inverse of the covariance matrix for the measurement. The order of the
+ // entries are x, y, and yaw.
+ Eigen::Matrix3d information;
+
+ // The name of the data type in the g2o file format.
+ static std::string name() {
+ return "EDGE_SE2";
+ }
+};
+
+std::istream& operator>>(std::istream& input, Constraint2d& constraint) {
+ input >> constraint.id_begin >> constraint.id_end >> constraint.x >>
+ constraint.y >> constraint.yaw_radians >>
+ constraint.information(0, 0) >> constraint.information(0, 1) >>
+ constraint.information(0, 2) >> constraint.information(1, 1) >>
+ constraint.information(1, 2) >> constraint.information(2, 2);
+
+ // Set the lower triangular part of the information matrix.
+ constraint.information(1, 0) = constraint.information(0, 1);
+ constraint.information(2, 0) = constraint.information(0, 2);
+ constraint.information(2, 1) = constraint.information(1, 2);
+
+ // Normalize the angle between -pi to pi.
+ constraint.yaw_radians = NormalizeAngle(constraint.yaw_radians);
+ return input;
+}
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+if (GFLAGS)
+ add_executable(pose_graph_3d pose_graph_3d.cc)
+ target_link_libraries(pose_graph_3d ceres ${GFLAGS_LIBRARIES})
+endif (GFLAGS)
\ No newline at end of file
--- /dev/null
+Pose Graph 3D
+----------------
+
+The Simultaneous Localization and Mapping (SLAM) problem consists of building a
+map of an unknown environment while simultaneously localizing against this
+map. The main difficulty of this problem stems from not having any additional
+external aiding information such as GPS. SLAM has been considered one of the
+fundamental challenges of robotics. A pose graph optimization problem is one
+example of a SLAM problem.
+
+The example also illustrates how to use Eigen's geometry module with Ceres'
+automatic differentiation functionality. To represent the orientation, we will
+use Eigen's quaternion which uses the Hamiltonian convention but has different
+element ordering as compared with Ceres's rotation representation. Specifically
+they differ by whether the scalar component q_w is first or last; the element
+order for Ceres's quaternion is [q_w, q_x, q_y, q_z] where as Eigen's quaternion
+is [q_x, q_y, q_z, q_w].
+
+This package defines the necessary Ceres cost functions needed to model the
+3-dimensional pose graph optimization problem as well as a binary to build and
+solve the problem. The cost functions are shown for instruction purposes and can
+be speed up by using analytical derivatives which take longer to implement.
+
+
+Running
+-----------
+This package includes an executable `pose_graph_3d` that will read a problem
+definition file. This executable can work with any 3D problem definition that
+uses the g2o format with quaternions used for the orientation representation. It
+would be relatively straightforward to implement a new reader for a different
+format such as TORO or others. `pose_graph_3d` will print the Ceres solver full
+summary and then output to disk the original and optimized poses
+(`poses_original.txt` and `poses_optimized.txt`, respectively) of the robot in
+the following format:
+```
+pose_id x y z q_x q_y q_z q_w
+pose_id x y z q_x q_y q_z q_w
+pose_id x y z q_x q_y q_z q_w
+...
+```
+where `pose_id` is the corresponding integer ID from the file definition. Note,
+the file will be sorted in ascending order for the ```pose_id```.
+
+The executable `pose_graph_3d` expects the first argument to be the path to the
+problem definition. To run the executable,
+```
+/path/to/bin/pose_graph_3d /path/to/dataset/dataset.g2o
+```
+
+A script is provided to visualize the resulting output files. There is also an
+option to enable equal axes using ```--axes_equal```.
+```
+/path/to/repo/examples/slam/pose_graph_3d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+```
--- /dev/null
+#!/usr/bin/python
+#
+# Plots the results from the 3D pose graph optimization. It will draw a line
+# between consecutive vertices. The commandline expects two optional filenames:
+#
+# ./plot_results.py --initial_poses filename --optimized_poses filename
+#
+# The files have the following format:
+# ID x y z q_x q_y q_z q_w
+
+from mpl_toolkits.mplot3d import Axes3D
+import matplotlib.pyplot as plot
+import numpy
+import sys
+from optparse import OptionParser
+
+def set_axes_equal(axes):
+ ''' Sets the axes of a 3D plot to have equal scale. '''
+ x_limits = axes.get_xlim3d()
+ y_limits = axes.get_ylim3d()
+ z_limits = axes.get_zlim3d()
+
+ x_range = abs(x_limits[1] - x_limits[0])
+ x_middle = numpy.mean(x_limits)
+ y_range = abs(y_limits[1] - y_limits[0])
+ y_middle = numpy.mean(y_limits)
+ z_range = abs(z_limits[1] - z_limits[0])
+ z_middle = numpy.mean(z_limits)
+
+ length = 0.5 * max([x_range, y_range, z_range])
+
+ axes.set_xlim3d([x_middle - length, x_middle + length])
+ axes.set_ylim3d([y_middle - length, y_middle + length])
+ axes.set_zlim3d([z_middle - length, z_middle + length])
+
+parser = OptionParser()
+parser.add_option("--initial_poses", dest="initial_poses",
+ default="", help="The filename that contains the original poses.")
+parser.add_option("--optimized_poses", dest="optimized_poses",
+ default="", help="The filename that contains the optimized poses.")
+parser.add_option("-e", "--axes_equal", action="store_true", dest="axes_equal",
+ default="", help="Make the plot axes equal.")
+(options, args) = parser.parse_args()
+
+# Read the original and optimized poses files.
+poses_original = None
+if options.initial_poses != '':
+ poses_original = numpy.genfromtxt(options.initial_poses,
+ usecols = (1, 2, 3))
+
+poses_optimized = None
+if options.optimized_poses != '':
+ poses_optimized = numpy.genfromtxt(options.optimized_poses,
+ usecols = (1, 2, 3))
+
+# Plots the results for the specified poses.
+figure = plot.figure()
+
+if poses_original is not None:
+ axes = plot.subplot(1, 2, 1, projection='3d')
+ plot.plot(poses_original[:, 0], poses_original[:, 1], poses_original[:, 2],
+ '-', alpha=0.5, color="green")
+ plot.title('Original')
+ if options.axes_equal:
+ axes.set_aspect('equal')
+ set_axes_equal(axes)
+
+
+if poses_optimized is not None:
+ axes = plot.subplot(1, 2, 2, projection='3d')
+ plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], poses_optimized[:, 2],
+ '-', alpha=0.5, color="blue")
+ plot.title('Optimized')
+ if options.axes_equal:
+ axes.set_aspect('equal')
+ set_axes_equal(plot.gca())
+
+
+# Show the plot and wait for the user to close.
+plot.show()
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+#include <iostream>
+#include <fstream>
+#include <string>
+
+#include "ceres/ceres.h"
+#include "common/read_g2o.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "pose_graph_3d_error_term.h"
+#include "types.h"
+
+DEFINE_string(input, "", "The pose graph definition filename in g2o format.");
+
+namespace ceres {
+namespace examples {
+
+// Constructs the nonlinear least squares optimization problem from the pose
+// graph constraints.
+void BuildOptimizationProblem(const VectorOfConstraints& constraints,
+ MapOfPoses* poses, ceres::Problem* problem) {
+ CHECK(poses != NULL);
+ CHECK(problem != NULL);
+ if (constraints.empty()) {
+ LOG(INFO) << "No constraints, no problem to optimize.";
+ return;
+ }
+
+ ceres::LossFunction* loss_function = NULL;
+ ceres::LocalParameterization* quaternion_local_parameterization =
+ new EigenQuaternionParameterization;
+
+ for (VectorOfConstraints::const_iterator constraints_iter =
+ constraints.begin();
+ constraints_iter != constraints.end(); ++constraints_iter) {
+ const Constraint3d& constraint = *constraints_iter;
+
+ MapOfPoses::iterator pose_begin_iter = poses->find(constraint.id_begin);
+ CHECK(pose_begin_iter != poses->end())
+ << "Pose with ID: " << constraint.id_begin << " not found.";
+ MapOfPoses::iterator pose_end_iter = poses->find(constraint.id_end);
+ CHECK(pose_end_iter != poses->end())
+ << "Pose with ID: " << constraint.id_end << " not found.";
+
+ const Eigen::Matrix<double, 6, 6> sqrt_information =
+ constraint.information.llt().matrixL();
+ // Ceres will take ownership of the pointer.
+ ceres::CostFunction* cost_function =
+ PoseGraph3dErrorTerm::Create(constraint.t_be, sqrt_information);
+
+ problem->AddResidualBlock(cost_function, loss_function,
+ pose_begin_iter->second.p.data(),
+ pose_begin_iter->second.q.coeffs().data(),
+ pose_end_iter->second.p.data(),
+ pose_end_iter->second.q.coeffs().data());
+
+ problem->SetParameterization(pose_begin_iter->second.q.coeffs().data(),
+ quaternion_local_parameterization);
+ problem->SetParameterization(pose_end_iter->second.q.coeffs().data(),
+ quaternion_local_parameterization);
+ }
+
+ // The pose graph optimization problem has six DOFs that are not fully
+ // constrained. This is typically referred to as gauge freedom. You can apply
+ // a rigid body transformation to all the nodes and the optimization problem
+ // will still have the exact same cost. The Levenberg-Marquardt algorithm has
+ // internal damping which mitigates this issue, but it is better to properly
+ // constrain the gauge freedom. This can be done by setting one of the poses
+ // as constant so the optimizer cannot change it.
+ MapOfPoses::iterator pose_start_iter = poses->begin();
+ CHECK(pose_start_iter != poses->end()) << "There are no poses.";
+ problem->SetParameterBlockConstant(pose_start_iter->second.p.data());
+ problem->SetParameterBlockConstant(pose_start_iter->second.q.coeffs().data());
+}
+
+// Returns true if the solve was successful.
+bool SolveOptimizationProblem(ceres::Problem* problem) {
+ CHECK(problem != NULL);
+
+ ceres::Solver::Options options;
+ options.max_num_iterations = 200;
+ options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+
+ std::cout << summary.FullReport() << '\n';
+
+ return summary.IsSolutionUsable();
+}
+
+// Output the poses to the file with format: id x y z q_x q_y q_z q_w.
+bool OutputPoses(const std::string& filename, const MapOfPoses& poses) {
+ std::fstream outfile;
+ outfile.open(filename.c_str(), std::istream::out);
+ if (!outfile) {
+ LOG(ERROR) << "Error opening the file: " << filename;
+ return false;
+ }
+ for (std::map<int, Pose3d, std::less<int>,
+ Eigen::aligned_allocator<std::pair<const int, Pose3d> > >::
+ const_iterator poses_iter = poses.begin();
+ poses_iter != poses.end(); ++poses_iter) {
+ const std::map<int, Pose3d, std::less<int>,
+ Eigen::aligned_allocator<std::pair<const int, Pose3d> > >::
+ value_type& pair = *poses_iter;
+ outfile << pair.first << " " << pair.second.p.transpose() << " "
+ << pair.second.q.x() << " " << pair.second.q.y() << " "
+ << pair.second.q.z() << " " << pair.second.q.w() << '\n';
+ }
+ return true;
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+
+ CHECK(FLAGS_input != "") << "Need to specify the filename to read.";
+
+ ceres::examples::MapOfPoses poses;
+ ceres::examples::VectorOfConstraints constraints;
+
+ CHECK(ceres::examples::ReadG2oFile(FLAGS_input, &poses, &constraints))
+ << "Error reading the file: " << FLAGS_input;
+
+ std::cout << "Number of poses: " << poses.size() << '\n';
+ std::cout << "Number of constraints: " << constraints.size() << '\n';
+
+ CHECK(ceres::examples::OutputPoses("poses_original.txt", poses))
+ << "Error outputting to poses_original.txt";
+
+ ceres::Problem problem;
+ ceres::examples::BuildOptimizationProblem(constraints, &poses, &problem);
+
+ CHECK(ceres::examples::SolveOptimizationProblem(&problem))
+ << "The solve was not successful, exiting.";
+
+ CHECK(ceres::examples::OutputPoses("poses_optimized.txt", poses))
+ << "Error outputting to poses_original.txt";
+
+ return 0;
+}
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+#ifndef EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
+#define EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
+
+#include "Eigen/Core"
+#include "ceres/autodiff_cost_function.h"
+
+#include "types.h"
+
+namespace ceres {
+namespace examples {
+
+// Computes the error term for two poses that have a relative pose measurement
+// between them. Let the hat variables be the measurement. We have two poses x_a
+// and x_b. Through sensor measurements we can measure the transformation of
+// frame B w.r.t frame A denoted as t_ab_hat. We can compute an error metric
+// between the current estimate of the poses and the measurement.
+//
+// In this formulation, we have chosen to represent the rigid transformation as
+// a Hamiltonian quaternion, q, and position, p. The quaternion ordering is
+// [x, y, z, w].
+
+// The estimated measurement is:
+// t_ab = [ p_ab ] = [ R(q_a)^T * (p_b - p_a) ]
+// [ q_ab ] [ q_a^{-1] * q_b ]
+//
+// where ^{-1} denotes the inverse and R(q) is the rotation matrix for the
+// quaternion. Now we can compute an error metric between the estimated and
+// measurement transformation. For the orientation error, we will use the
+// standard multiplicative error resulting in:
+//
+// error = [ p_ab - \hat{p}_ab ]
+// [ 2.0 * Vec(q_ab * \hat{q}_ab^{-1}) ]
+//
+// where Vec(*) returns the vector (imaginary) part of the quaternion. Since
+// the measurement has an uncertainty associated with how accurate it is, we
+// will weight the errors by the square root of the measurement information
+// matrix:
+//
+// residuals = I^{1/2) * error
+// where I is the information matrix which is the inverse of the covariance.
+class PoseGraph3dErrorTerm {
+ public:
+ PoseGraph3dErrorTerm(const Pose3d& t_ab_measured,
+ const Eigen::Matrix<double, 6, 6>& sqrt_information)
+ : t_ab_measured_(t_ab_measured), sqrt_information_(sqrt_information) {}
+
+ template <typename T>
+ bool operator()(const T* const p_a_ptr, const T* const q_a_ptr,
+ const T* const p_b_ptr, const T* const q_b_ptr,
+ T* residuals_ptr) const {
+ Eigen::Map<const Eigen::Matrix<T, 3, 1> > p_a(p_a_ptr);
+ Eigen::Map<const Eigen::Quaternion<T> > q_a(q_a_ptr);
+
+ Eigen::Map<const Eigen::Matrix<T, 3, 1> > p_b(p_b_ptr);
+ Eigen::Map<const Eigen::Quaternion<T> > q_b(q_b_ptr);
+
+ // Compute the relative transformation between the two frames.
+ Eigen::Quaternion<T> q_a_inverse = q_a.conjugate();
+ Eigen::Quaternion<T> q_ab_estimated = q_a_inverse * q_b;
+
+ // Represent the displacement between the two frames in the A frame.
+ Eigen::Matrix<T, 3, 1> p_ab_estimated = q_a_inverse * (p_b - p_a);
+
+ // Compute the error between the two orientation estimates.
+ Eigen::Quaternion<T> delta_q =
+ t_ab_measured_.q.template cast<T>() * q_ab_estimated.conjugate();
+
+ // Compute the residuals.
+ // [ position ] [ delta_p ]
+ // [ orientation (3x1)] = [ 2 * delta_q(0:2) ]
+ Eigen::Map<Eigen::Matrix<T, 6, 1> > residuals(residuals_ptr);
+ residuals.template block<3, 1>(0, 0) =
+ p_ab_estimated - t_ab_measured_.p.template cast<T>();
+ residuals.template block<3, 1>(3, 0) = T(2.0) * delta_q.vec();
+
+ // Scale the residuals by the measurement uncertainty.
+ residuals.applyOnTheLeft(sqrt_information_.template cast<T>());
+
+ return true;
+ }
+
+ static ceres::CostFunction* Create(
+ const Pose3d& t_ab_measured,
+ const Eigen::Matrix<double, 6, 6>& sqrt_information) {
+ return new ceres::AutoDiffCostFunction<PoseGraph3dErrorTerm, 6, 3, 4, 3, 4>(
+ new PoseGraph3dErrorTerm(t_ab_measured, sqrt_information));
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+ // The measurement for the position of B relative to A in the A frame.
+ const Pose3d t_ab_measured_;
+ // The square root of the measurement information matrix.
+ const Eigen::Matrix<double, 6, 6> sqrt_information_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: vitus@google.com (Michael Vitus)
+
+#ifndef EXAMPLES_CERES_TYPES_H_
+#define EXAMPLES_CERES_TYPES_H_
+
+#include <istream>
+#include <map>
+#include <string>
+#include <vector>
+
+#include "Eigen/Core"
+#include "Eigen/Geometry"
+
+namespace ceres {
+namespace examples {
+
+struct Pose3d {
+ Eigen::Vector3d p;
+ Eigen::Quaterniond q;
+
+ // The name of the data type in the g2o file format.
+ static std::string name() {
+ return "VERTEX_SE3:QUAT";
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+std::istream& operator>>(std::istream& input, Pose3d& pose) {
+ input >> pose.p.x() >> pose.p.y() >> pose.p.z() >> pose.q.x() >>
+ pose.q.y() >> pose.q.z() >> pose.q.w();
+ // Normalize the quaternion to account for precision loss due to
+ // serialization.
+ pose.q.normalize();
+ return input;
+}
+
+typedef std::map<int, Pose3d, std::less<int>,
+ Eigen::aligned_allocator<std::pair<const int, Pose3d> > >
+ MapOfPoses;
+
+// The constraint between two vertices in the pose graph. The constraint is the
+// transformation from vertex id_begin to vertex id_end.
+struct Constraint3d {
+ int id_begin;
+ int id_end;
+
+ // The transformation that represents the pose of the end frame E w.r.t. the
+ // begin frame B. In other words, it transforms a vector in the E frame to
+ // the B frame.
+ Pose3d t_be;
+
+ // The inverse of the covariance matrix for the measurement. The order of the
+ // entries are x, y, z, delta orientation.
+ Eigen::Matrix<double, 6, 6> information;
+
+ // The name of the data type in the g2o file format.
+ static std::string name() {
+ return "EDGE_SE3:QUAT";
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+std::istream& operator>>(std::istream& input, Constraint3d& constraint) {
+ Pose3d& t_be = constraint.t_be;
+ input >> constraint.id_begin >> constraint.id_end >> t_be;
+
+ for (int i = 0; i < 6 && input.good(); ++i) {
+ for (int j = i; j < 6 && input.good(); ++j) {
+ input >> constraint.information(i, j);
+ if (i != j) {
+ constraint.information(j, i) = constraint.information(i, j);
+ }
+ }
+ }
+ return input;
+}
+
+typedef std::vector<Constraint3d, Eigen::aligned_allocator<Constraint3d> >
+ VectorOfConstraints;
+
+} // namespace examples
+} // namespace ceres
+
+#endif // EXAMPLES_CERES_TYPES_H_
--- /dev/null
+// 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)
+//
+// Templated struct implementing the camera model and residual
+// computation for bundle adjustment used by Noah Snavely's Bundler
+// SfM system. This is also the camera model/residual for the bundle
+// adjustment problems in the BAL dataset. It is templated so that we
+// can use Ceres's automatic differentiation to compute analytic
+// jacobians.
+//
+// For details see: http://phototour.cs.washington.edu/bundler/
+// and http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+#define CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+
+#include "ceres/rotation.h"
+
+namespace ceres {
+namespace examples {
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ AngleAxisRotatePoint(camera, point, p);
+
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ const T xp = - p[0] / p[2];
+ const T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ const T r2 = xp*xp + yp*yp;
+ const T distortion = 1.0 + r2 * (l1 + l2 * r2);
+
+
+ // Compute final projected point position.
+ const T& focal = camera[6];
+ const T predicted_x = focal * distortion * xp;
+ const T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - observed_x;
+ residuals[1] = predicted_y - observed_y;
+
+ return true;
+ }
+
+ // Factory to hide the construction of the CostFunction object from
+ // the client code.
+ static ceres::CostFunction* Create(const double observed_x,
+ const double observed_y) {
+ return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(observed_x, observed_y)));
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 10 parameters. 4 for rotation, 3 for
+// translation, 1 for focal length and 2 for radial distortion. The
+// principal point is not modeled (i.e. it is assumed be located at
+// the image center).
+struct SnavelyReprojectionErrorWithQuaternions {
+ // (u, v): the position of the observation with respect to the image
+ // center point.
+ SnavelyReprojectionErrorWithQuaternions(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2,3] is are the rotation of the camera as a quaternion.
+ //
+ // We use QuaternionRotatePoint as it does not assume that the
+ // quaternion is normalized, since one of the ways to run the
+ // bundle adjuster is to let Ceres optimize all 4 quaternion
+ // parameters without a local parameterization.
+ T p[3];
+ QuaternionRotatePoint(camera, point, p);
+
+ p[0] += camera[4];
+ p[1] += camera[5];
+ p[2] += camera[6];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ const T xp = - p[0] / p[2];
+ const T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[8];
+ const T& l2 = camera[9];
+
+ const T r2 = xp*xp + yp*yp;
+ const T distortion = 1.0 + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ const T& focal = camera[7];
+ const T predicted_x = focal * distortion * xp;
+ const T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - observed_x;
+ residuals[1] = predicted_y - observed_y;
+
+ return true;
+ }
+
+ // Factory to hide the construction of the CostFunction object from
+ // the client code.
+ static ceres::CostFunction* Create(const double observed_x,
+ const double observed_y) {
+ return (new ceres::AutoDiffCostFunction<
+ SnavelyReprojectionErrorWithQuaternions, 2, 10, 3>(
+ new SnavelyReprojectionErrorWithQuaternions(observed_x,
+ observed_y)));
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
--- /dev/null
+// 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)
+//
+// Create CostFunctions as needed by the least squares framework, with
+// Jacobians computed via automatic differentiation. For more
+// information on automatic differentation, see the wikipedia article
+// at http://en.wikipedia.org/wiki/Automatic_differentiation
+//
+// To get an auto differentiated cost function, you must define a class with a
+// templated operator() (a functor) that computes the cost function in terms of
+// the template parameter T. The autodiff framework substitutes appropriate
+// "jet" objects for T in order to compute the derivative when necessary, but
+// this is hidden, and you should write the function as if T were a scalar type
+// (e.g. a double-precision floating point number).
+//
+// The function must write the computed value in the last argument
+// (the only non-const one) and return true to indicate
+// success. Please see cost_function.h for details on how the return
+// value maybe used to impose simple constraints on the parameter
+// block.
+//
+// For example, consider a scalar error e = k - x'y, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and k is a constant. The form of this error, which is the
+// difference between a constant and an expression, is a common pattern in least
+// squares problems. For example, the value x'y might be the model expectation
+// for a series of measurements, where there is an instance of the cost function
+// for each measurement k.
+//
+// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// the squaring is implicitly done by the optimization framework.
+//
+// To write an auto-differentiable cost function for the above model, first
+// define the object
+//
+// class MyScalarCostFunctor {
+// MyScalarCostFunctor(double k): k_(k) {}
+//
+// template <typename T>
+// bool operator()(const T* const x , const T* const y, T* e) const {
+// e[0] = T(k_) - x[0] * y[0] + x[1] * y[1];
+// return true;
+// }
+//
+// private:
+// double k_;
+// };
+//
+// Note that in the declaration of operator() the input parameters x and y come
+// first, and are passed as const pointers to arrays of T. If there were three
+// input parameters, then the third input parameter would come after y. The
+// output is always the last parameter, and is also a pointer to an array. In
+// the example above, e is a scalar, so only e[0] is set.
+//
+// Then given this class definition, the auto differentiated cost function for
+// it can be constructed as follows.
+//
+// CostFunction* cost_function
+// = new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>(
+// new MyScalarCostFunctor(1.0)); ^ ^ ^
+// | | |
+// Dimension of residual -----+ | |
+// Dimension of x ---------------+ |
+// Dimension of y ------------------+
+//
+// In this example, there is usually an instance for each measumerent of k.
+//
+// In the instantiation above, the template parameters following
+// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a
+// 1-dimensional output from two arguments, both 2-dimensional.
+//
+// AutoDiffCostFunction also supports cost functions with a
+// runtime-determined number of residuals. For example:
+//
+// CostFunction* cost_function
+// = new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>(
+// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+// runtime_number_of_residuals); <----+ | | |
+// | | | |
+// | | | |
+// Actual number of residuals ------+ | | |
+// Indicate dynamic number of residuals --------+ | |
+// Dimension of x ------------------------------------+ |
+// Dimension of y ---------------------------------------+
+//
+// The framework can currently accommodate cost functions of up to 10
+// independent variables, and there is no limit on the dimensionality
+// of each of them.
+//
+// WARNING #1: Since the functor will get instantiated with different types for
+// T, you must to convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using k_ directly, k_ is wrapped with T(k_).
+//
+// WARNING #2: A common beginner's error when first using autodiff cost
+// functions is to get the sizing wrong. In particular, there is a tendency to
+// set the template parameters to (dimension of residual, number of parameters)
+// instead of passing a dimension parameter for *every parameter*. In the
+// example above, that would be <MyScalarCostFunctor, 1, 2>, which is missing
+// the last '2' argument. Please be careful when setting the size parameters.
+
+#ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// A cost function which computes the derivative of the cost with respect to
+// the parameters (a.k.a. the jacobian) using an autodifferentiation framework.
+// The first template argument is the functor object, described in the header
+// comment. The second argument is the dimension of the residual (or
+// ceres::DYNAMIC to indicate it will be set at runtime), and subsequent
+// arguments describe the size of the Nth parameter, one per parameter.
+//
+// The constructors take ownership of the cost functor.
+//
+// If the number of residuals (argument kNumResiduals below) is
+// ceres::DYNAMIC, then the two-argument constructor must be used. The
+// second constructor takes a number of residuals (in addition to the
+// templated number of residuals). This allows for varying the number
+// of residuals for a single autodiff cost function at runtime.
+template <typename CostFunctor,
+ int kNumResiduals, // Number of residuals, or ceres::DYNAMIC.
+ int N0, // Number of parameters in block 0.
+ int N1 = 0, // Number of parameters in block 1.
+ int N2 = 0, // Number of parameters in block 2.
+ int N3 = 0, // Number of parameters in block 3.
+ int N4 = 0, // Number of parameters in block 4.
+ int N5 = 0, // Number of parameters in block 5.
+ int N6 = 0, // Number of parameters in block 6.
+ int N7 = 0, // Number of parameters in block 7.
+ int N8 = 0, // Number of parameters in block 8.
+ int N9 = 0> // Number of parameters in block 9.
+class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9> {
+ public:
+ // Takes ownership of functor. Uses the template-provided value for the
+ // number of residuals ("kNumResiduals").
+ explicit AutoDiffCostFunction(CostFunctor* functor)
+ : functor_(functor) {
+ CHECK_NE(kNumResiduals, DYNAMIC)
+ << "Can't run the fixed-size constructor if the "
+ << "number of residuals is set to ceres::DYNAMIC.";
+ }
+
+ // Takes ownership of functor. Ignores the template-provided
+ // kNumResiduals in favor of the "num_residuals" argument provided.
+ //
+ // This allows for having autodiff cost functions which return varying
+ // numbers of residuals at runtime.
+ AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
+ : functor_(functor) {
+ CHECK_EQ(kNumResiduals, DYNAMIC)
+ << "Can't run the dynamic-size constructor if the "
+ << "number of residuals is not ceres::DYNAMIC.";
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>
+ ::set_num_residuals(num_residuals);
+ }
+
+ virtual ~AutoDiffCostFunction() {}
+
+ // Implementation details follow; clients of the autodiff cost function should
+ // not have to examine below here.
+ //
+ // To handle varardic cost functions, some template magic is needed. It's
+ // mostly hidden inside autodiff.h.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ return internal::VariadicEvaluate<
+ CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ ::Call(*functor_, parameters, residuals);
+ }
+ return internal::AutoDiff<CostFunctor, double,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
+ *functor_,
+ parameters,
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>::num_residuals(),
+ residuals,
+ jacobians);
+ }
+
+ private:
+ internal::scoped_ptr<CostFunctor> functor_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
--- /dev/null
+// 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: sergey.vfx@gmail.com (Sergey Sharybin)
+// mierle@gmail.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
+#define CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
+
+#include "ceres/local_parameterization.h"
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+// Create local parameterization with Jacobians computed via automatic
+// differentiation. For more information on local parameterizations,
+// see include/ceres/local_parameterization.h
+//
+// To get an auto differentiated local parameterization, you must define
+// a class with a templated operator() (a functor) that computes
+//
+// x_plus_delta = Plus(x, delta);
+//
+// the template parameter T. The autodiff framework substitutes appropriate
+// "Jet" objects for T in order to compute the derivative when necessary, but
+// this is hidden, and you should write the function as if T were a scalar type
+// (e.g. a double-precision floating point number).
+//
+// The function must write the computed value in the last argument (the only
+// non-const one) and return true to indicate success.
+//
+// For example, Quaternions have a three dimensional local
+// parameterization. It's plus operation can be implemented as (taken
+// from internal/ceres/auto_diff_local_parameterization_test.cc)
+//
+// struct QuaternionPlus {
+// template<typename T>
+// bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+// const T squared_norm_delta =
+// delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+//
+// T q_delta[4];
+// if (squared_norm_delta > T(0.0)) {
+// T norm_delta = sqrt(squared_norm_delta);
+// const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+// q_delta[0] = cos(norm_delta);
+// q_delta[1] = sin_delta_by_delta * delta[0];
+// q_delta[2] = sin_delta_by_delta * delta[1];
+// q_delta[3] = sin_delta_by_delta * delta[2];
+// } else {
+// // We do not just use q_delta = [1,0,0,0] here because that is a
+// // constant and when used for automatic differentiation will
+// // lead to a zero derivative. Instead we take a first order
+// // approximation and evaluate it at zero.
+// q_delta[0] = T(1.0);
+// q_delta[1] = delta[0];
+// q_delta[2] = delta[1];
+// q_delta[3] = delta[2];
+// }
+//
+// QuaternionProduct(q_delta, x, x_plus_delta);
+// return true;
+// }
+// };
+//
+// Then given this struct, the auto differentiated local
+// parameterization can now be constructed as
+//
+// LocalParameterization* local_parameterization =
+// new AutoDiffLocalParameterization<QuaternionPlus, 4, 3>;
+// | |
+// Global Size ---------------+ |
+// Local Size -------------------+
+//
+// WARNING: Since the functor will get instantiated with different types for
+// T, you must to convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using k_ directly, k_ is wrapped with T(k_).
+
+template <typename Functor, int kGlobalSize, int kLocalSize>
+class AutoDiffLocalParameterization : public LocalParameterization {
+ public:
+ AutoDiffLocalParameterization() :
+ functor_(new Functor()) {}
+
+ // Takes ownership of functor.
+ explicit AutoDiffLocalParameterization(Functor* functor) :
+ functor_(functor) {}
+
+ virtual ~AutoDiffLocalParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ return (*functor_)(x, delta, x_plus_delta);
+ }
+
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+ double zero_delta[kLocalSize];
+ for (int i = 0; i < kLocalSize; ++i) {
+ zero_delta[i] = 0.0;
+ }
+
+ double x_plus_delta[kGlobalSize];
+ for (int i = 0; i < kGlobalSize; ++i) {
+ x_plus_delta[i] = 0.0;
+ }
+
+ const double* parameter_ptrs[2] = {x, zero_delta};
+ double* jacobian_ptrs[2] = { NULL, jacobian };
+ return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize>
+ ::Differentiate(*functor_,
+ parameter_ptrs,
+ kGlobalSize,
+ x_plus_delta,
+ jacobian_ptrs);
+ }
+
+ virtual int GlobalSize() const { return kGlobalSize; }
+ virtual int LocalSize() const { return kLocalSize; }
+
+ private:
+ internal::scoped_ptr<Functor> functor_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
--- /dev/null
+/* 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: mierle@gmail.com (Keir Mierle)
+ *
+ * A minimal C API for Ceres. Not all functionality is included. This API is
+ * not intended for clients of Ceres, but is instead intended for easing the
+ * process of binding Ceres to other languages.
+ *
+ * Currently this is a work in progress.
+ */
+
+#ifndef CERES_PUBLIC_C_API_H_
+#define CERES_PUBLIC_C_API_H_
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Init the Ceres private data. Must be called before anything else. */
+CERES_EXPORT void ceres_init();
+
+/* Equivalent to CostFunction::Evaluate() in the C++ API.
+ *
+ * The user may keep private information inside the opaque user_data object.
+ * The pointer here is the same one passed in the ceres_add_residual_block().
+ */
+typedef int (*ceres_cost_function_t)(void* user_data,
+ double** parameters,
+ double* residuals,
+ double** jacobians);
+
+/* Equivalent to LossFunction::Evaluate() from the C++ API. */
+typedef void (*ceres_loss_function_t)(void* user_data,
+ double squared_norm,
+ double out[3]);
+
+/* Create callback data for Ceres' stock loss functions.
+ *
+ * Ceres has several loss functions available by default, and these functions
+ * expose those to the C API. To use the stock loss functions, call
+ * ceres_create_*_loss_data(), which internally creates an instance of one of
+ * the stock loss functions (for example ceres::CauchyLoss), and pass the
+ * returned "loss_function_data" along with the ceres_stock_loss_function to
+ * ceres_add_residual_block().
+ *
+ * For example:
+ *
+ * void* cauchy_loss_function_data =
+ * ceres_create_cauchy_loss_function_data(1.2, 0.0);
+ * ceres_problem_add_residual_block(
+ * problem,
+ * my_cost_function,
+ * my_cost_function_data,
+ * ceres_stock_loss_function,
+ * cauchy_loss_function_data,
+ * 1,
+ * 2,
+ * parameter_sizes,
+ * parameter_pointers);
+ * ...
+ * ceres_free_stock_loss_function_data(cauchy_loss_function_data);
+ *
+ * See loss_function.h for the details of each loss function.
+ */
+CERES_EXPORT void* ceres_create_huber_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_softl1_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_cauchy_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_arctan_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_tolerant_loss_function_data(double a, double b);
+
+/* Free the given stock loss function data. */
+CERES_EXPORT void ceres_free_stock_loss_function_data(void* loss_function_data);
+
+/* This is an implementation of ceres_loss_function_t contained within Ceres
+ * itself, intended as a way to access the various stock Ceres loss functions
+ * from the C API. This should be passed to ceres_add_residual() below, in
+ * combination with a user_data pointer generated by
+ * ceres_create_stock_loss_function() above. */
+CERES_EXPORT void ceres_stock_loss_function(void* user_data,
+ double squared_norm,
+ double out[3]);
+
+/* Equivalent to Problem from the C++ API. */
+struct ceres_problem_s;
+typedef struct ceres_problem_s ceres_problem_t;
+
+struct ceres_residual_block_id_s;
+typedef struct ceres_residual_block_id_s ceres_residual_block_id_t;
+
+/* Create and destroy a problem */
+/* TODO(keir): Add options for the problem. */
+CERES_EXPORT ceres_problem_t* ceres_create_problem();
+CERES_EXPORT void ceres_free_problem(ceres_problem_t* problem);
+
+/* Add a residual block. */
+CERES_EXPORT ceres_residual_block_id_t* ceres_problem_add_residual_block(
+ ceres_problem_t* problem,
+ ceres_cost_function_t cost_function,
+ void* cost_function_data,
+ ceres_loss_function_t loss_function,
+ void* loss_function_data,
+ int num_residuals,
+ int num_parameter_blocks,
+ int* parameter_block_sizes,
+ double** parameters);
+
+CERES_EXPORT void ceres_solve(ceres_problem_t* problem);
+
+/* TODO(keir): Figure out a way to pass a config in. */
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif /* CERES_PUBLIC_C_API_H_ */
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// This is a forwarding header containing the public symbols exported from
+// Ceres. Anything in the "ceres" namespace is available for use.
+
+#ifndef CERES_PUBLIC_CERES_H_
+#define CERES_PUBLIC_CERES_H_
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/cost_function.h"
+#include "ceres/cost_function_to_functor.h"
+#include "ceres/covariance.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_solver.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/jet.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/numeric_diff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+#include "ceres/version.h"
+
+#endif // CERES_PUBLIC_CERES_H_
--- /dev/null
+// 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: wjr@google.com (William Rucklidge)
+//
+// This file contains a cost function that can apply a transformation to
+// each residual value before they are square-summed.
+
+#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This class allows you to apply different conditioning to the residual
+// values of a wrapped cost function. An example where this is useful is
+// where you have an existing cost function that produces N values, but you
+// want the total cost to be something other than just the sum of these
+// squared values - maybe you want to apply a different scaling to some
+// values, to change their contribution to the cost.
+//
+// Usage:
+//
+// // my_cost_function produces N residuals
+// CostFunction* my_cost_function = ...
+// CHECK_EQ(N, my_cost_function->num_residuals());
+// vector<CostFunction*> conditioners;
+//
+// // Make N 1x1 cost functions (1 parameter, 1 residual)
+// CostFunction* f_1 = ...
+// conditioners.push_back(f_1);
+// ...
+// CostFunction* f_N = ...
+// conditioners.push_back(f_N);
+// ConditionedCostFunction* ccf =
+// new ConditionedCostFunction(my_cost_function, conditioners);
+//
+// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner.
+//
+// ccf_residual[i] = f_i(my_cost_function_residual[i])
+//
+// and the Jacobian will be affected appropriately.
+class CERES_EXPORT ConditionedCostFunction : public CostFunction {
+ public:
+ // Builds a cost function based on a wrapped cost function, and a
+ // per-residual conditioner. Takes ownership of all of the wrapped cost
+ // functions, or not, depending on the ownership parameter. Conditioners
+ // may be NULL, in which case the corresponding residual is not modified.
+ ConditionedCostFunction(CostFunction* wrapped_cost_function,
+ const std::vector<CostFunction*>& conditioners,
+ Ownership ownership);
+ virtual ~ConditionedCostFunction();
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+
+ private:
+ internal::scoped_ptr<CostFunction> wrapped_cost_function_;
+ std::vector<CostFunction*> conditioners_;
+ Ownership ownership_;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
--- /dev/null
+// 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)
+// keir@google.m (Keir Mierle)
+//
+// This is the interface through which the least squares solver accesses the
+// residual and Jacobian of the least squares problem. Users are expected to
+// subclass CostFunction to define their own terms in the least squares problem.
+//
+// It is recommended that users define templated residual functors for use as
+// arguments for AutoDiffCostFunction (see autodiff_cost_function.h), instead of
+// directly implementing the CostFunction interface. This often results in both
+// shorter code and faster execution than hand-coded derivatives. However,
+// specialized cases may demand direct implementation of the lower-level
+// CostFunction interface; for example, this is true when calling legacy code
+// which is not templated on numeric types.
+
+#ifndef CERES_PUBLIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_COST_FUNCTION_H_
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This class implements the computation of the cost (a.k.a. residual) terms as
+// a function of the input (control) variables, and is the interface for users
+// to describe their least squares problem to Ceres. In other words, this is the
+// modelling layer between users and the Ceres optimizer. The signature of the
+// function (number and sizes of input parameter blocks and number of outputs)
+// is stored in parameter_block_sizes_ and num_residuals_ respectively. User
+// code inheriting from this class is expected to set these two members with the
+// corresponding accessors. This information will be verified by the Problem
+// when added with AddResidualBlock().
+class CERES_EXPORT CostFunction {
+ public:
+ CostFunction() : num_residuals_(0) {}
+
+ virtual ~CostFunction() {}
+
+ // Inputs:
+ //
+ // parameters is an array of pointers to arrays containing the
+ // various parameter blocks. parameters has the same number of
+ // elements as parameter_block_sizes_. Parameter blocks are in the
+ // same order as parameter_block_sizes_.i.e.,
+ //
+ // parameters_[i] = double[parameter_block_sizes_[i]]
+ //
+ // Outputs:
+ //
+ // residuals is an array of size num_residuals_.
+ //
+ // jacobians is an array of size parameter_block_sizes_ containing
+ // pointers to storage for jacobian blocks corresponding to each
+ // parameter block. Jacobian blocks are in the same order as
+ // parameter_block_sizes, i.e. jacobians[i], is an
+ // array that contains num_residuals_* parameter_block_sizes_[i]
+ // elements. Each jacobian block is stored in row-major order, i.e.,
+ //
+ // jacobians[i][r*parameter_block_size_[i] + c] =
+ // d residual[r] / d parameters[i][c]
+ //
+ // If jacobians is NULL, then no derivatives are returned; this is
+ // the case when computing cost only. If jacobians[i] is NULL, then
+ // the jacobian block corresponding to the i'th parameter block must
+ // not to be returned.
+ //
+ // The return value indicates whether the computation of the
+ // residuals and/or jacobians was successful or not.
+ //
+ // This can be used to communicate numerical failures in jacobian
+ // computations for instance.
+ //
+ // A more interesting and common use is to impose constraints on the
+ // parameters. If the initial values of the parameter blocks satisfy
+ // the constraints, then returning false whenever the constraints
+ // are not satisfied will prevent the solver from moving into the
+ // infeasible region. This is not a very sophisticated mechanism for
+ // enforcing constraints, but is often good enough.
+ //
+ // Note that it is important that the initial values of the
+ // parameter block must be feasible, otherwise the solver will
+ // declare a numerical problem at iteration 0.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const = 0;
+
+ const std::vector<int32>& parameter_block_sizes() const {
+ return parameter_block_sizes_;
+ }
+
+ int num_residuals() const {
+ return num_residuals_;
+ }
+
+ protected:
+ std::vector<int32>* mutable_parameter_block_sizes() {
+ return ¶meter_block_sizes_;
+ }
+
+ void set_num_residuals(int num_residuals) {
+ num_residuals_ = num_residuals;
+ }
+
+ private:
+ // Cost function signature metadata: number of inputs & their sizes,
+ // number of outputs (residuals).
+ std::vector<int32> parameter_block_sizes_;
+ int num_residuals_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction);
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_COST_FUNCTION_H_
--- /dev/null
+// 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)
+//
+// CostFunctionToFunctor is an adapter class that allows users to use
+// SizedCostFunction objects in templated functors which are to be used for
+// automatic differentiation. This allows the user to seamlessly mix
+// analytic, numeric and automatic differentiation.
+//
+// For example, let us assume that
+//
+// class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
+// public:
+// IntrinsicProjection(const double* observation);
+// virtual bool Evaluate(double const* const* parameters,
+// double* residuals,
+// double** jacobians) const;
+// };
+//
+// is a cost function that implements the projection of a point in its
+// local coordinate system onto its image plane and subtracts it from
+// the observed point projection. It can compute its residual and
+// either via analytic or numerical differentiation can compute its
+// jacobians.
+//
+// Now we would like to compose the action of this CostFunction with
+// the action of camera extrinsics, i.e., rotation and
+// translation. Say we have a templated function
+//
+// template<typename T>
+// void RotateAndTranslatePoint(const T* rotation,
+// const T* translation,
+// const T* point,
+// T* result);
+//
+// Then we can now do the following,
+//
+// struct CameraProjection {
+// CameraProjection(const double* observation)
+// : intrinsic_projection_(new IntrinsicProjection(observation)) {
+// }
+// template <typename T>
+// bool operator()(const T* rotation,
+// const T* translation,
+// const T* intrinsics,
+// const T* point,
+// T* residual) const {
+// T transformed_point[3];
+// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+//
+// // Note that we call intrinsic_projection_, just like it was
+// // any other templated functor.
+//
+// return intrinsic_projection_(intrinsics, transformed_point, residual);
+// }
+//
+// private:
+// CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+// };
+
+#ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <numeric>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/dynamic_cost_function_to_functor.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+template <int kNumResiduals,
+ int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+class CostFunctionToFunctor {
+ public:
+ // Takes ownership of cost_function.
+ explicit CostFunctionToFunctor(CostFunction* cost_function)
+ : cost_functor_(cost_function) {
+ CHECK_NOTNULL(cost_function);
+ CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC);
+
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+
+ const std::vector<int32>& parameter_block_sizes =
+ cost_function->parameter_block_sizes();
+ const int num_parameter_blocks =
+ (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
+ (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+ CHECK_EQ(static_cast<int>(parameter_block_sizes.size()),
+ num_parameter_blocks);
+
+ CHECK_EQ(N0, parameter_block_sizes[0]);
+ if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT
+ if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT
+ if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT
+ if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT
+ if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT
+ if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT
+ if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT
+ if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT
+ if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT
+
+ CHECK_EQ(accumulate(parameter_block_sizes.begin(),
+ parameter_block_sizes.end(), 0),
+ N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
+ }
+
+ bool operator()(const double* x0, double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_EQ(N1, 0);
+ CHECK_EQ(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+
+ return cost_functor_(&x0, residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_EQ(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(2);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(3);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(4);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(5);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ const double* x5,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(6);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ parameter_blocks[5] = x5;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ const double* x5,
+ const double* x6,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(7);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ parameter_blocks[5] = x5;
+ parameter_blocks[6] = x6;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ const double* x5,
+ const double* x6,
+ const double* x7,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(8);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ parameter_blocks[5] = x5;
+ parameter_blocks[6] = x6;
+ parameter_blocks[7] = x7;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ const double* x5,
+ const double* x6,
+ const double* x7,
+ const double* x8,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_NE(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(9);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ parameter_blocks[5] = x5;
+ parameter_blocks[6] = x6;
+ parameter_blocks[7] = x7;
+ parameter_blocks[8] = x8;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ bool operator()(const double* x0,
+ const double* x1,
+ const double* x2,
+ const double* x3,
+ const double* x4,
+ const double* x5,
+ const double* x6,
+ const double* x7,
+ const double* x8,
+ const double* x9,
+ double* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_NE(N8, 0);
+ CHECK_NE(N9, 0);
+ internal::FixedArray<const double*> parameter_blocks(10);
+ parameter_blocks[0] = x0;
+ parameter_blocks[1] = x1;
+ parameter_blocks[2] = x2;
+ parameter_blocks[3] = x3;
+ parameter_blocks[4] = x4;
+ parameter_blocks[5] = x5;
+ parameter_blocks[6] = x6;
+ parameter_blocks[7] = x7;
+ parameter_blocks[8] = x8;
+ parameter_blocks[9] = x9;
+ return cost_functor_(parameter_blocks.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0, JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_EQ(N1, 0);
+ CHECK_EQ(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ return cost_functor_(&x0, residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_EQ(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(2);
+ jets[0] = x0;
+ jets[1] = x1;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_EQ(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(3);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_EQ(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(4);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_EQ(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(5);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ const JetT* x5,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_EQ(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(6);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ jets[5] = x5;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ const JetT* x5,
+ const JetT* x6,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_EQ(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(7);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ jets[5] = x5;
+ jets[6] = x6;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ const JetT* x5,
+ const JetT* x6,
+ const JetT* x7,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_EQ(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(8);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ jets[5] = x5;
+ jets[6] = x6;
+ jets[7] = x7;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ const JetT* x5,
+ const JetT* x6,
+ const JetT* x7,
+ const JetT* x8,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_NE(N8, 0);
+ CHECK_EQ(N9, 0);
+ internal::FixedArray<const JetT*> jets(9);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ jets[5] = x5;
+ jets[6] = x6;
+ jets[7] = x7;
+ jets[8] = x8;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ template <typename JetT>
+ bool operator()(const JetT* x0,
+ const JetT* x1,
+ const JetT* x2,
+ const JetT* x3,
+ const JetT* x4,
+ const JetT* x5,
+ const JetT* x6,
+ const JetT* x7,
+ const JetT* x8,
+ const JetT* x9,
+ JetT* residuals) const {
+ CHECK_NE(N0, 0);
+ CHECK_NE(N1, 0);
+ CHECK_NE(N2, 0);
+ CHECK_NE(N3, 0);
+ CHECK_NE(N4, 0);
+ CHECK_NE(N5, 0);
+ CHECK_NE(N6, 0);
+ CHECK_NE(N7, 0);
+ CHECK_NE(N8, 0);
+ CHECK_NE(N9, 0);
+ internal::FixedArray<const JetT*> jets(10);
+ jets[0] = x0;
+ jets[1] = x1;
+ jets[2] = x2;
+ jets[3] = x3;
+ jets[4] = x4;
+ jets[5] = x5;
+ jets[6] = x6;
+ jets[7] = x7;
+ jets[8] = x8;
+ jets[9] = x9;
+ return cost_functor_(jets.get(), residuals);
+ }
+
+ private:
+ DynamicCostFunctionToFunctor cost_functor_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_COVARIANCE_H_
+#define CERES_PUBLIC_COVARIANCE_H_
+
+#include <utility>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class Problem;
+
+namespace internal {
+class CovarianceImpl;
+} // namespace internal
+
+// WARNING
+// =======
+// It is very easy to use this class incorrectly without understanding
+// the underlying mathematics. Please read and understand the
+// documentation completely before attempting to use this class.
+//
+//
+// This class allows the user to evaluate the covariance for a
+// non-linear least squares problem and provides random access to its
+// blocks
+//
+// Background
+// ==========
+// One way to assess the quality of the solution returned by a
+// non-linear least squares solve is to analyze the covariance of the
+// solution.
+//
+// Let us consider the non-linear regression problem
+//
+// y = f(x) + N(0, I)
+//
+// i.e., the observation y is a random non-linear function of the
+// independent variable x with mean f(x) and identity covariance. Then
+// the maximum likelihood estimate of x given observations y is the
+// solution to the non-linear least squares problem:
+//
+// x* = arg min_x |f(x)|^2
+//
+// And the covariance of x* is given by
+//
+// C(x*) = inverse[J'(x*)J(x*)]
+//
+// Here J(x*) is the Jacobian of f at x*. The above formula assumes
+// that J(x*) has full column rank.
+//
+// If J(x*) is rank deficient, then the covariance matrix C(x*) is
+// also rank deficient and is given by
+//
+// C(x*) = pseudoinverse[J'(x*)J(x*)]
+//
+// Note that in the above, we assumed that the covariance
+// matrix for y was identity. This is an important assumption. If this
+// is not the case and we have
+//
+// y = f(x) + N(0, S)
+//
+// Where S is a positive semi-definite matrix denoting the covariance
+// of y, then the maximum likelihood problem to be solved is
+//
+// x* = arg min_x f'(x) inverse[S] f(x)
+//
+// and the corresponding covariance estimate of x* is given by
+//
+// C(x*) = inverse[J'(x*) inverse[S] J(x*)]
+//
+// So, if it is the case that the observations being fitted to have a
+// covariance matrix not equal to identity, then it is the user's
+// responsibility that the corresponding cost functions are correctly
+// scaled, e.g. in the above case the cost function for this problem
+// should evaluate S^{-1/2} f(x) instead of just f(x), where S^{-1/2}
+// is the inverse square root of the covariance matrix S.
+//
+// This class allows the user to evaluate the covariance for a
+// non-linear least squares problem and provides random access to its
+// blocks. The computation assumes that the CostFunctions compute
+// residuals such that their covariance is identity.
+//
+// Since the computation of the covariance matrix requires computing
+// the inverse of a potentially large matrix, this can involve a
+// rather large amount of time and memory. However, it is usually the
+// case that the user is only interested in a small part of the
+// covariance matrix. Quite often just the block diagonal. This class
+// allows the user to specify the parts of the covariance matrix that
+// she is interested in and then uses this information to only compute
+// and store those parts of the covariance matrix.
+//
+// Rank of the Jacobian
+// --------------------
+// As we noted above, if the jacobian is rank deficient, then the
+// inverse of J'J is not defined and instead a pseudo inverse needs to
+// be computed.
+//
+// The rank deficiency in J can be structural -- columns which are
+// always known to be zero or numerical -- depending on the exact
+// values in the Jacobian.
+//
+// Structural rank deficiency occurs when the problem contains
+// parameter blocks that are constant. This class correctly handles
+// structural rank deficiency like that.
+//
+// Numerical rank deficiency, where the rank of the matrix cannot be
+// predicted by its sparsity structure and requires looking at its
+// numerical values is more complicated. Here again there are two
+// cases.
+//
+// a. The rank deficiency arises from overparameterization. e.g., a
+// four dimensional quaternion used to parameterize SO(3), which is
+// a three dimensional manifold. In cases like this, the user should
+// use an appropriate LocalParameterization. Not only will this lead
+// to better numerical behaviour of the Solver, it will also expose
+// the rank deficiency to the Covariance object so that it can
+// handle it correctly.
+//
+// b. More general numerical rank deficiency in the Jacobian
+// requires the computation of the so called Singular Value
+// Decomposition (SVD) of J'J. We do not know how to do this for
+// large sparse matrices efficiently. For small and moderate sized
+// problems this is done using dense linear algebra.
+//
+// Gauge Invariance
+// ----------------
+// In structure from motion (3D reconstruction) problems, the
+// reconstruction is ambiguous upto a similarity transform. This is
+// known as a Gauge Ambiguity. Handling Gauges correctly requires the
+// use of SVD or custom inversion algorithms. For small problems the
+// user can use the dense algorithm. For more details see
+//
+// Ken-ichi Kanatani, Daniel D. Morris: Gauges and gauge
+// transformations for uncertainty description of geometric structure
+// with indeterminacy. IEEE Transactions on Information Theory 47(5):
+// 2017-2028 (2001)
+//
+// Example Usage
+// =============
+//
+// double x[3];
+// double y[2];
+//
+// Problem problem;
+// problem.AddParameterBlock(x, 3);
+// problem.AddParameterBlock(y, 2);
+// <Build Problem>
+// <Solve Problem>
+//
+// Covariance::Options options;
+// Covariance covariance(options);
+//
+// std::vector<std::pair<const double*, const double*> > covariance_blocks;
+// covariance_blocks.push_back(make_pair(x, x));
+// covariance_blocks.push_back(make_pair(y, y));
+// covariance_blocks.push_back(make_pair(x, y));
+//
+// CHECK(covariance.Compute(covariance_blocks, &problem));
+//
+// double covariance_xx[3 * 3];
+// double covariance_yy[2 * 2];
+// double covariance_xy[3 * 2];
+// covariance.GetCovarianceBlock(x, x, covariance_xx)
+// covariance.GetCovarianceBlock(y, y, covariance_yy)
+// covariance.GetCovarianceBlock(x, y, covariance_xy)
+//
+class CERES_EXPORT Covariance {
+ public:
+ struct CERES_EXPORT Options {
+ Options() {
+ algorithm_type = SPARSE_QR;
+
+ // Eigen's QR factorization is always available.
+ sparse_linear_algebra_library_type = EIGEN_SPARSE;
+#if !defined(CERES_NO_SUITESPARSE)
+ sparse_linear_algebra_library_type = SUITE_SPARSE;
+#endif
+
+ min_reciprocal_condition_number = 1e-14;
+ null_space_rank = 0;
+ num_threads = 1;
+ apply_loss_function = true;
+ }
+
+ // Sparse linear algebra library to use when a sparse matrix
+ // factorization is being used to compute the covariance matrix.
+ //
+ // Currently this only applies to SPARSE_QR.
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+ // Ceres supports two different algorithms for covariance
+ // estimation, which represent different tradeoffs in speed,
+ // accuracy and reliability.
+ //
+ // 1. DENSE_SVD uses Eigen's JacobiSVD to perform the
+ // computations. It computes the singular value decomposition
+ //
+ // U * S * V' = J
+ //
+ // and then uses it to compute the pseudo inverse of J'J as
+ //
+ // pseudoinverse[J'J]^ = V * pseudoinverse[S] * V'
+ //
+ // It is an accurate but slow method and should only be used
+ // for small to moderate sized problems. It can handle
+ // full-rank as well as rank deficient Jacobians.
+ //
+ // 2. SPARSE_QR uses the sparse QR factorization algorithm
+ // to compute the decomposition
+ //
+ // Q * R = J
+ //
+ // [J'J]^-1 = [R*R']^-1
+ //
+ // SPARSE_QR is not capable of computing the covariance if the
+ // Jacobian is rank deficient. Depending on the value of
+ // Covariance::Options::sparse_linear_algebra_library_type, either
+ // Eigen's Sparse QR factorization algorithm will be used or
+ // SuiteSparse's high performance SuiteSparseQR algorithm will be
+ // used.
+ CovarianceAlgorithmType algorithm_type;
+
+ // If the Jacobian matrix is near singular, then inverting J'J
+ // will result in unreliable results, e.g, if
+ //
+ // J = [1.0 1.0 ]
+ // [1.0 1.0000001 ]
+ //
+ // which is essentially a rank deficient matrix, we have
+ //
+ // inv(J'J) = [ 2.0471e+14 -2.0471e+14]
+ // [-2.0471e+14 2.0471e+14]
+ //
+ // This is not a useful result. Therefore, by default
+ // Covariance::Compute will return false if a rank deficient
+ // Jacobian is encountered. How rank deficiency is detected
+ // depends on the algorithm being used.
+ //
+ // 1. DENSE_SVD
+ //
+ // min_sigma / max_sigma < sqrt(min_reciprocal_condition_number)
+ //
+ // where min_sigma and max_sigma are the minimum and maxiumum
+ // singular values of J respectively.
+ //
+ // 2. SPARSE_QR
+ //
+ // rank(J) < num_col(J)
+ //
+ // Here rank(J) is the estimate of the rank of J returned by the
+ // sparse QR factorization algorithm. It is a fairly reliable
+ // indication of rank deficiency.
+ //
+ double min_reciprocal_condition_number;
+
+ // When using DENSE_SVD, the user has more control in dealing with
+ // singular and near singular covariance matrices.
+ //
+ // As mentioned above, when the covariance matrix is near
+ // singular, instead of computing the inverse of J'J, the
+ // Moore-Penrose pseudoinverse of J'J should be computed.
+ //
+ // If J'J has the eigen decomposition (lambda_i, e_i), where
+ // lambda_i is the i^th eigenvalue and e_i is the corresponding
+ // eigenvector, then the inverse of J'J is
+ //
+ // inverse[J'J] = sum_i e_i e_i' / lambda_i
+ //
+ // and computing the pseudo inverse involves dropping terms from
+ // this sum that correspond to small eigenvalues.
+ //
+ // How terms are dropped is controlled by
+ // min_reciprocal_condition_number and null_space_rank.
+ //
+ // If null_space_rank is non-negative, then the smallest
+ // null_space_rank eigenvalue/eigenvectors are dropped
+ // irrespective of the magnitude of lambda_i. If the ratio of the
+ // smallest non-zero eigenvalue to the largest eigenvalue in the
+ // truncated matrix is still below
+ // min_reciprocal_condition_number, then the Covariance::Compute()
+ // will fail and return false.
+ //
+ // Setting null_space_rank = -1 drops all terms for which
+ //
+ // lambda_i / lambda_max < min_reciprocal_condition_number.
+ //
+ // This option has no effect on the SUITE_SPARSE_QR and
+ // EIGEN_SPARSE_QR algorithms.
+ int null_space_rank;
+
+ int num_threads;
+
+ // Even though the residual blocks in the problem may contain loss
+ // functions, setting apply_loss_function to false will turn off
+ // the application of the loss function to the output of the cost
+ // function and in turn its effect on the covariance.
+ //
+ // TODO(sameergaarwal): Expand this based on Jim's experiments.
+ bool apply_loss_function;
+ };
+
+ explicit Covariance(const Options& options);
+ ~Covariance();
+
+ // Compute a part of the covariance matrix.
+ //
+ // The vector covariance_blocks, indexes into the covariance matrix
+ // block-wise using pairs of parameter blocks. This allows the
+ // covariance estimation algorithm to only compute and store these
+ // blocks.
+ //
+ // Since the covariance matrix is symmetric, if the user passes
+ // (block1, block2), then GetCovarianceBlock can be called with
+ // block1, block2 as well as block2, block1.
+ //
+ // covariance_blocks cannot contain duplicates. Bad things will
+ // happen if they do.
+ //
+ // Note that the list of covariance_blocks is only used to determine
+ // what parts of the covariance matrix are computed. The full
+ // Jacobian is used to do the computation, i.e. they do not have an
+ // impact on what part of the Jacobian is used for computation.
+ //
+ // The return value indicates the success or failure of the
+ // covariance computation. Please see the documentation for
+ // Covariance::Options for more on the conditions under which this
+ // function returns false.
+ bool Compute(
+ const std::vector<std::pair<const double*,
+ const double*> >& covariance_blocks,
+ Problem* problem);
+
+ // Compute a part of the covariance matrix.
+ //
+ // The vector parameter_blocks contains the parameter blocks that
+ // are used for computing the covariance matrix. From this vector
+ // all covariance pairs are generated. This allows the covariance
+ // estimation algorithm to only compute and store these blocks.
+ //
+ // parameter_blocks cannot contain duplicates. Bad things will
+ // happen if they do.
+ //
+ // Note that the list of covariance_blocks is only used to determine
+ // what parts of the covariance matrix are computed. The full
+ // Jacobian is used to do the computation, i.e. they do not have an
+ // impact on what part of the Jacobian is used for computation.
+ //
+ // The return value indicates the success or failure of the
+ // covariance computation. Please see the documentation for
+ // Covariance::Options for more on the conditions under which this
+ // function returns false.
+ bool Compute(const std::vector<const double*>& parameter_blocks,
+ Problem* problem);
+
+ // Return the block of the cross-covariance matrix corresponding to
+ // parameter_block1 and parameter_block2.
+ //
+ // Compute must be called before the first call to
+ // GetCovarianceBlock and the pair <parameter_block1,
+ // parameter_block2> OR the pair <parameter_block2,
+ // parameter_block1> must have been present in the vector
+ // covariance_blocks when Compute was called. Otherwise
+ // GetCovarianceBlock will return false.
+ //
+ // covariance_block must point to a memory location that can store a
+ // parameter_block1_size x parameter_block2_size matrix. The
+ // returned covariance will be a row-major matrix.
+ bool GetCovarianceBlock(const double* parameter_block1,
+ const double* parameter_block2,
+ double* covariance_block) const;
+
+ // Return the block of the cross-covariance matrix corresponding to
+ // parameter_block1 and parameter_block2.
+ // Returns cross-covariance in the tangent space if a local
+ // parameterization is associated with either parameter block;
+ // else returns cross-covariance in the ambient space.
+ //
+ // Compute must be called before the first call to
+ // GetCovarianceBlock and the pair <parameter_block1,
+ // parameter_block2> OR the pair <parameter_block2,
+ // parameter_block1> must have been present in the vector
+ // covariance_blocks when Compute was called. Otherwise
+ // GetCovarianceBlock will return false.
+ //
+ // covariance_block must point to a memory location that can store a
+ // parameter_block1_local_size x parameter_block2_local_size matrix. The
+ // returned covariance will be a row-major matrix.
+ bool GetCovarianceBlockInTangentSpace(const double* parameter_block1,
+ const double* parameter_block2,
+ double* covariance_block) const;
+
+ // Return the covariance matrix corresponding to all parameter_blocks.
+ //
+ // Compute must be called before calling GetCovarianceMatrix and all
+ // parameter_blocks must have been present in the vector
+ // parameter_blocks when Compute was called. Otherwise
+ // GetCovarianceMatrix returns false.
+ //
+ // covariance_matrix must point to a memory location that can store
+ // the size of the covariance matrix. The covariance matrix will be
+ // a square matrix whose row and column count is equal to the sum of
+ // the sizes of the individual parameter blocks. The covariance
+ // matrix will be a row-major matrix.
+ bool GetCovarianceMatrix(const std::vector<const double *> ¶meter_blocks,
+ double *covariance_matrix);
+
+ // Return the covariance matrix corresponding to parameter_blocks
+ // in the tangent space if a local parameterization is associated
+ // with one of the parameter blocks else returns the covariance
+ // matrix in the ambient space.
+ //
+ // Compute must be called before calling GetCovarianceMatrix and all
+ // parameter_blocks must have been present in the vector
+ // parameters_blocks when Compute was called. Otherwise
+ // GetCovarianceMatrix returns false.
+ //
+ // covariance_matrix must point to a memory location that can store
+ // the size of the covariance matrix. The covariance matrix will be
+ // a square matrix whose row and column count is equal to the sum of
+ // the sizes of the tangent spaces of the individual parameter
+ // blocks. The covariance matrix will be a row-major matrix.
+ bool GetCovarianceMatrixInTangentSpace(
+ const std::vector<const double*>& parameter_blocks,
+ double* covariance_matrix);
+
+ private:
+ internal::scoped_ptr<internal::CovarianceImpl> impl_;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_COVARIANCE_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_CRS_MATRIX_H_
+#define CERES_PUBLIC_CRS_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// A compressed row sparse matrix used primarily for communicating the
+// Jacobian matrix to the user.
+struct CERES_EXPORT CRSMatrix {
+ CRSMatrix() : num_rows(0), num_cols(0) {}
+
+ int num_rows;
+ int num_cols;
+
+ // A compressed row matrix stores its contents in three arrays,
+ // rows, cols and values.
+ //
+ // rows is a num_rows + 1 sized array that points into the cols and
+ // values array. For each row i:
+ //
+ // cols[rows[i]] ... cols[rows[i + 1] - 1] are the indices of the
+ // non-zero columns of row i.
+ //
+ // values[rows[i]] .. values[rows[i + 1] - 1] are the values of the
+ // corresponding entries.
+ //
+ // cols and values contain as many entries as there are non-zeros in
+ // the matrix.
+ //
+ // e.g, consider the 3x4 sparse matrix
+ //
+ // [ 0 10 0 4 ]
+ // [ 0 2 -3 2 ]
+ // [ 1 2 0 0 ]
+ //
+ // The three arrays will be:
+ //
+ //
+ // -row0- ---row1--- -row2-
+ // rows = [ 0, 2, 5, 7]
+ // cols = [ 1, 3, 1, 2, 3, 0, 1]
+ // values = [10, 4, 2, -3, 2, 1, 2]
+
+ std::vector<int> cols;
+ std::vector<int> rows;
+ std::vector<double> values;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_CRS_MATRIX_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+#define CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+
+#include "ceres/internal/port.h"
+#include "Eigen/Core"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Given samples from a function sampled at four equally spaced points,
+//
+// p0 = f(-1)
+// p1 = f(0)
+// p2 = f(1)
+// p3 = f(2)
+//
+// Evaluate the cubic Hermite spline (also known as the Catmull-Rom
+// spline) at a point x that lies in the interval [0, 1].
+//
+// This is also the interpolation kernel (for the case of a = 0.5) as
+// proposed by R. Keys, in:
+//
+// "Cubic convolution interpolation for digital image processing".
+// IEEE Transactions on Acoustics, Speech, and Signal Processing
+// 29 (6): 1153–1160.
+//
+// For more details see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// f if not NULL will contain the interpolated function values.
+// dfdx if not NULL will contain the interpolated derivative values.
+template <int kDataDimension>
+void CubicHermiteSpline(const Eigen::Matrix<double, kDataDimension, 1>& p0,
+ const Eigen::Matrix<double, kDataDimension, 1>& p1,
+ const Eigen::Matrix<double, kDataDimension, 1>& p2,
+ const Eigen::Matrix<double, kDataDimension, 1>& p3,
+ const double x,
+ double* f,
+ double* dfdx) {
+ typedef Eigen::Matrix<double, kDataDimension, 1> VType;
+ const VType a = 0.5 * (-p0 + 3.0 * p1 - 3.0 * p2 + p3);
+ const VType b = 0.5 * (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3);
+ const VType c = 0.5 * (-p0 + p2);
+ const VType d = p1;
+
+ // Use Horner's rule to evaluate the function value and its
+ // derivative.
+
+ // f = ax^3 + bx^2 + cx + d
+ if (f != NULL) {
+ Eigen::Map<VType>(f, kDataDimension) = d + x * (c + x * (b + x * a));
+ }
+
+ // dfdx = 3ax^2 + 2bx + c
+ if (dfdx != NULL) {
+ Eigen::Map<VType>(dfdx, kDataDimension) = c + x * (2.0 * b + 3.0 * a * x);
+ }
+}
+
+// Given as input an infinite one dimensional grid, which provides the
+// following interface.
+//
+// class Grid {
+// public:
+// enum { DATA_DIMENSION = 2; };
+// void GetValue(int n, double* f) const;
+// };
+//
+// Here, GetValue gives the value of a function f (possibly vector
+// valued) for any integer n.
+//
+// The enum DATA_DIMENSION indicates the dimensionality of the
+// function being interpolated. For example if you are interpolating
+// rotations in axis-angle format over time, then DATA_DIMENSION = 3.
+//
+// CubicInterpolator uses cubic Hermite splines to produce a smooth
+// approximation to it that can be used to evaluate the f(x) and f'(x)
+// at any point on the real number line.
+//
+// For more details on cubic interpolation see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+//
+// Example usage:
+//
+// const double data[] = {1.0, 2.0, 5.0, 6.0};
+// Grid1D<double, 1> grid(x, 0, 4);
+// CubicInterpolator<Grid1D<double, 1> > interpolator(grid);
+// double f, dfdx;
+// interpolator.Evaluator(1.5, &f, &dfdx);
+template<typename Grid>
+class CubicInterpolator {
+ public:
+ explicit CubicInterpolator(const Grid& grid)
+ : grid_(grid) {
+ // The + casts the enum into an int before doing the
+ // comparison. It is needed to prevent
+ // "-Wunnamed-type-template-args" related errors.
+ CHECK_GE(+Grid::DATA_DIMENSION, 1);
+ }
+
+ void Evaluate(double x, double* f, double* dfdx) const {
+ const int n = std::floor(x);
+ Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+ grid_.GetValue(n - 1, p0.data());
+ grid_.GetValue(n, p1.data());
+ grid_.GetValue(n + 1, p2.data());
+ grid_.GetValue(n + 2, p3.data());
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, x - n, f, dfdx);
+ }
+
+ // The following two Evaluate overloads are needed for interfacing
+ // with automatic differentiation. The first is for when a scalar
+ // evaluation is done, and the second one is for when Jets are used.
+ void Evaluate(const double& x, double* f) const {
+ Evaluate(x, f, NULL);
+ }
+
+ template<typename JetT> void Evaluate(const JetT& x, JetT* f) const {
+ double fx[Grid::DATA_DIMENSION], dfdx[Grid::DATA_DIMENSION];
+ Evaluate(x.a, fx, dfdx);
+ for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+ f[i].a = fx[i];
+ f[i].v = dfdx[i] * x.v;
+ }
+ }
+
+ private:
+ const Grid& grid_;
+};
+
+// An object that implements an infinite one dimensional grid needed
+// by the CubicInterpolator where the source of the function values is
+// an array of type T on the interval
+//
+// [begin, ..., end - 1]
+//
+// Since the input array is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid1D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, if kInterleaved = true, then it is stored as
+//
+// f01, f02, f11, f12 ....
+//
+// and if kInterleaved = false, then it is stored as
+//
+// f01, f11, .. fn1, f02, f12, .. , fn2
+//
+template <typename T,
+ int kDataDimension = 1,
+ bool kInterleaved = true>
+struct Grid1D {
+ public:
+ enum { DATA_DIMENSION = kDataDimension };
+
+ Grid1D(const T* data, const int begin, const int end)
+ : data_(data), begin_(begin), end_(end), num_values_(end - begin) {
+ CHECK_LT(begin, end);
+ }
+
+ EIGEN_STRONG_INLINE void GetValue(const int n, double* f) const {
+ const int idx = std::min(std::max(begin_, n), end_ - 1) - begin_;
+ if (kInterleaved) {
+ for (int i = 0; i < kDataDimension; ++i) {
+ f[i] = static_cast<double>(data_[kDataDimension * idx + i]);
+ }
+ } else {
+ for (int i = 0; i < kDataDimension; ++i) {
+ f[i] = static_cast<double>(data_[i * num_values_ + idx]);
+ }
+ }
+ }
+
+ private:
+ const T* data_;
+ const int begin_;
+ const int end_;
+ const int num_values_;
+};
+
+// Given as input an infinite two dimensional grid like object, which
+// provides the following interface:
+//
+// struct Grid {
+// enum { DATA_DIMENSION = 1 };
+// void GetValue(int row, int col, double* f) const;
+// };
+//
+// Where, GetValue gives us the value of a function f (possibly vector
+// valued) for any pairs of integers (row, col), and the enum
+// DATA_DIMENSION indicates the dimensionality of the function being
+// interpolated. For example if you are interpolating a color image
+// with three channels (Red, Green & Blue), then DATA_DIMENSION = 3.
+//
+// BiCubicInterpolator uses the cubic convolution interpolation
+// algorithm of R. Keys, to produce a smooth approximation to it that
+// can be used to evaluate the f(r,c), df(r, c)/dr and df(r,c)/dc at
+// any point in the real plane.
+//
+// For more details on the algorithm used here see:
+//
+// "Cubic convolution interpolation for digital image processing".
+// Robert G. Keys, IEEE Trans. on Acoustics, Speech, and Signal
+// Processing 29 (6): 1153–1160, 1981.
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// Example usage:
+//
+// const double data[] = {1.0, 3.0, -1.0, 4.0,
+// 3.6, 2.1, 4.2, 2.0,
+// 2.0, 1.0, 3.1, 5.2};
+// Grid2D<double, 1> grid(data, 3, 4);
+// BiCubicInterpolator<Grid2D<double, 1> > interpolator(grid);
+// double f, dfdr, dfdc;
+// interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
+
+template<typename Grid>
+class BiCubicInterpolator {
+ public:
+ explicit BiCubicInterpolator(const Grid& grid)
+ : grid_(grid) {
+ // The + casts the enum into an int before doing the
+ // comparison. It is needed to prevent
+ // "-Wunnamed-type-template-args" related errors.
+ CHECK_GE(+Grid::DATA_DIMENSION, 1);
+ }
+
+ // Evaluate the interpolated function value and/or its
+ // derivative. Returns false if r or c is out of bounds.
+ void Evaluate(double r, double c,
+ double* f, double* dfdr, double* dfdc) const {
+ // BiCubic interpolation requires 16 values around the point being
+ // evaluated. We will use pij, to indicate the elements of the
+ // 4x4 grid of values.
+ //
+ // col
+ // p00 p01 p02 p03
+ // row p10 p11 p12 p13
+ // p20 p21 p22 p23
+ // p30 p31 p32 p33
+ //
+ // The point (r,c) being evaluated is assumed to lie in the square
+ // defined by p11, p12, p22 and p21.
+
+ const int row = std::floor(r);
+ const int col = std::floor(c);
+
+ Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+
+ // Interpolate along each of the four rows, evaluating the function
+ // value and the horizontal derivative in each row.
+ Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> f0, f1, f2, f3;
+ Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> df0dc, df1dc, df2dc, df3dc;
+
+ grid_.GetValue(row - 1, col - 1, p0.data());
+ grid_.GetValue(row - 1, col , p1.data());
+ grid_.GetValue(row - 1, col + 1, p2.data());
+ grid_.GetValue(row - 1, col + 2, p3.data());
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+ f0.data(), df0dc.data());
+
+ grid_.GetValue(row, col - 1, p0.data());
+ grid_.GetValue(row, col , p1.data());
+ grid_.GetValue(row, col + 1, p2.data());
+ grid_.GetValue(row, col + 2, p3.data());
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+ f1.data(), df1dc.data());
+
+ grid_.GetValue(row + 1, col - 1, p0.data());
+ grid_.GetValue(row + 1, col , p1.data());
+ grid_.GetValue(row + 1, col + 1, p2.data());
+ grid_.GetValue(row + 1, col + 2, p3.data());
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+ f2.data(), df2dc.data());
+
+ grid_.GetValue(row + 2, col - 1, p0.data());
+ grid_.GetValue(row + 2, col , p1.data());
+ grid_.GetValue(row + 2, col + 1, p2.data());
+ grid_.GetValue(row + 2, col + 2, p3.data());
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+ f3.data(), df3dc.data());
+
+ // Interpolate vertically the interpolated value from each row and
+ // compute the derivative along the columns.
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(f0, f1, f2, f3, r - row, f, dfdr);
+ if (dfdc != NULL) {
+ // Interpolate vertically the derivative along the columns.
+ CubicHermiteSpline<Grid::DATA_DIMENSION>(df0dc, df1dc, df2dc, df3dc,
+ r - row, dfdc, NULL);
+ }
+ }
+
+ // The following two Evaluate overloads are needed for interfacing
+ // with automatic differentiation. The first is for when a scalar
+ // evaluation is done, and the second one is for when Jets are used.
+ void Evaluate(const double& r, const double& c, double* f) const {
+ Evaluate(r, c, f, NULL, NULL);
+ }
+
+ template<typename JetT> void Evaluate(const JetT& r,
+ const JetT& c,
+ JetT* f) const {
+ double frc[Grid::DATA_DIMENSION];
+ double dfdr[Grid::DATA_DIMENSION];
+ double dfdc[Grid::DATA_DIMENSION];
+ Evaluate(r.a, c.a, frc, dfdr, dfdc);
+ for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+ f[i].a = frc[i];
+ f[i].v = dfdr[i] * r.v + dfdc[i] * c.v;
+ }
+ }
+
+ private:
+ const Grid& grid_;
+};
+
+// An object that implements an infinite two dimensional grid needed
+// by the BiCubicInterpolator where the source of the function values
+// is an grid of type T on the grid
+//
+// [(row_start, col_start), ..., (row_start, col_end - 1)]
+// [ ... ]
+// [(row_end - 1, col_start), ..., (row_end - 1, col_end - 1)]
+//
+// Since the input grid is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid2D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The data maybe stored in row or column major
+// format and the various dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, is stored in row-major format and if
+// kInterleaved = true, then it is stored as
+//
+// f001, f002, f011, f012, ...
+//
+// A commonly occuring example are color images (RGB) where the three
+// channels are stored interleaved.
+//
+// If kInterleaved = false, then it is stored as
+//
+// f001, f011, ..., fnm1, f002, f012, ...
+template <typename T,
+ int kDataDimension = 1,
+ bool kRowMajor = true,
+ bool kInterleaved = true>
+struct Grid2D {
+ public:
+ enum { DATA_DIMENSION = kDataDimension };
+
+ Grid2D(const T* data,
+ const int row_begin, const int row_end,
+ const int col_begin, const int col_end)
+ : data_(data),
+ row_begin_(row_begin), row_end_(row_end),
+ col_begin_(col_begin), col_end_(col_end),
+ num_rows_(row_end - row_begin), num_cols_(col_end - col_begin),
+ num_values_(num_rows_ * num_cols_) {
+ CHECK_GE(kDataDimension, 1);
+ CHECK_LT(row_begin, row_end);
+ CHECK_LT(col_begin, col_end);
+ }
+
+ EIGEN_STRONG_INLINE void GetValue(const int r, const int c, double* f) const {
+ const int row_idx =
+ std::min(std::max(row_begin_, r), row_end_ - 1) - row_begin_;
+ const int col_idx =
+ std::min(std::max(col_begin_, c), col_end_ - 1) - col_begin_;
+
+ const int n =
+ (kRowMajor)
+ ? num_cols_ * row_idx + col_idx
+ : num_rows_ * col_idx + row_idx;
+
+
+ if (kInterleaved) {
+ for (int i = 0; i < kDataDimension; ++i) {
+ f[i] = static_cast<double>(data_[kDataDimension * n + i]);
+ }
+ } else {
+ for (int i = 0; i < kDataDimension; ++i) {
+ f[i] = static_cast<double>(data_[i * num_values_ + n]);
+ }
+ }
+ }
+
+ private:
+ const T* data_;
+ const int row_begin_;
+ const int row_end_;
+ const int col_begin_;
+ const int col_end_;
+ const int num_rows_;
+ const int num_cols_;
+ const int num_values_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_CUBIC_INTERPOLATOR_H_
--- /dev/null
+// 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)
+// mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/jet.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This autodiff implementation differs from the one found in
+// autodiff_cost_function.h by supporting autodiff on cost functions
+// with variable numbers of parameters with variable sizes. With the
+// other implementation, all the sizes (both the number of parameter
+// blocks and the size of each block) must be fixed at compile time.
+//
+// The functor API differs slightly from the API for fixed size
+// autodiff; the expected interface for the cost functors is:
+//
+// struct MyCostFunctor {
+// template<typename T>
+// bool operator()(T const* const* parameters, T* residuals) const {
+// // Use parameters[i] to access the i'th parameter block.
+// }
+// }
+//
+// Since the sizing of the parameters is done at runtime, you must
+// also specify the sizes after creating the dynamic autodiff cost
+// function. For example:
+//
+// DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+// new MyCostFunctor());
+// cost_function.AddParameterBlock(5);
+// cost_function.AddParameterBlock(10);
+// cost_function.SetNumResiduals(21);
+//
+// Under the hood, the implementation evaluates the cost function
+// multiple times, computing a small set of the derivatives (four by
+// default, controlled by the Stride template parameter) with each
+// pass. There is a tradeoff with the size of the passes; you may want
+// to experiment with the stride.
+template <typename CostFunctor, int Stride = 4>
+class DynamicAutoDiffCostFunction : public DynamicCostFunction {
+ public:
+ explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
+ : functor_(functor) {}
+
+ virtual ~DynamicAutoDiffCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ CHECK_GT(num_residuals(), 0)
+ << "You must call DynamicAutoDiffCostFunction::SetNumResiduals() "
+ << "before DynamicAutoDiffCostFunction::Evaluate().";
+
+ if (jacobians == NULL) {
+ return (*functor_)(parameters, residuals);
+ }
+
+ // The difficulty with Jets, as implemented in Ceres, is that they were
+ // originally designed for strictly compile-sized use. At this point, there
+ // is a large body of code that assumes inside a cost functor it is
+ // acceptable to do e.g. T(1.5) and get an appropriately sized jet back.
+ //
+ // Unfortunately, it is impossible to communicate the expected size of a
+ // dynamically sized jet to the static instantiations that existing code
+ // depends on.
+ //
+ // To work around this issue, the solution here is to evaluate the
+ // jacobians in a series of passes, each one computing Stripe *
+ // num_residuals() derivatives. This is done with small, fixed-size jets.
+ const int num_parameter_blocks = parameter_block_sizes().size();
+ const int num_parameters = std::accumulate(parameter_block_sizes().begin(),
+ parameter_block_sizes().end(),
+ 0);
+
+ // Allocate scratch space for the strided evaluation.
+ std::vector<Jet<double, Stride> > input_jets(num_parameters);
+ std::vector<Jet<double, Stride> > output_jets(num_residuals());
+
+ // Make the parameter pack that is sent to the functor (reused).
+ std::vector<Jet<double, Stride>* > jet_parameters(num_parameter_blocks,
+ static_cast<Jet<double, Stride>* >(NULL));
+ int num_active_parameters = 0;
+
+ // To handle constant parameters between non-constant parameter blocks, the
+ // start position --- a raw parameter index --- of each contiguous block of
+ // non-constant parameters is recorded in start_derivative_section.
+ std::vector<int> start_derivative_section;
+ bool in_derivative_section = false;
+ int parameter_cursor = 0;
+
+ // Discover the derivative sections and set the parameter values.
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ jet_parameters[i] = &input_jets[parameter_cursor];
+
+ const int parameter_block_size = parameter_block_sizes()[i];
+ if (jacobians[i] != NULL) {
+ if (!in_derivative_section) {
+ start_derivative_section.push_back(parameter_cursor);
+ in_derivative_section = true;
+ }
+
+ num_active_parameters += parameter_block_size;
+ } else {
+ in_derivative_section = false;
+ }
+
+ for (int j = 0; j < parameter_block_size; ++j, parameter_cursor++) {
+ input_jets[parameter_cursor].a = parameters[i][j];
+ }
+ }
+
+ // When `num_active_parameters % Stride != 0` then it can be the case
+ // that `active_parameter_count < Stride` while parameter_cursor is less
+ // than the total number of parameters and with no remaining non-constant
+ // parameter blocks. Pushing parameter_cursor (the total number of
+ // parameters) as a final entry to start_derivative_section is required
+ // because if a constant parameter block is encountered after the
+ // last non-constant block then current_derivative_section is incremented
+ // and would otherwise index an invalid position in
+ // start_derivative_section. Setting the final element to the total number
+ // of parameters means that this can only happen at most once in the loop
+ // below.
+ start_derivative_section.push_back(parameter_cursor);
+
+ // Evaluate all of the strides. Each stride is a chunk of the derivative to
+ // evaluate, typically some size proportional to the size of the SIMD
+ // registers of the CPU.
+ int num_strides = static_cast<int>(ceil(num_active_parameters /
+ static_cast<float>(Stride)));
+
+ int current_derivative_section = 0;
+ int current_derivative_section_cursor = 0;
+
+ for (int pass = 0; pass < num_strides; ++pass) {
+ // Set most of the jet components to zero, except for
+ // non-constant #Stride parameters.
+ const int initial_derivative_section = current_derivative_section;
+ const int initial_derivative_section_cursor =
+ current_derivative_section_cursor;
+
+ int active_parameter_count = 0;
+ parameter_cursor = 0;
+
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ for (int j = 0; j < parameter_block_sizes()[i];
+ ++j, parameter_cursor++) {
+ input_jets[parameter_cursor].v.setZero();
+ if (active_parameter_count < Stride &&
+ parameter_cursor >= (
+ start_derivative_section[current_derivative_section] +
+ current_derivative_section_cursor)) {
+ if (jacobians[i] != NULL) {
+ input_jets[parameter_cursor].v[active_parameter_count] = 1.0;
+ ++active_parameter_count;
+ ++current_derivative_section_cursor;
+ } else {
+ ++current_derivative_section;
+ current_derivative_section_cursor = 0;
+ }
+ }
+ }
+ }
+
+ if (!(*functor_)(&jet_parameters[0], &output_jets[0])) {
+ return false;
+ }
+
+ // Copy the pieces of the jacobians into their final place.
+ active_parameter_count = 0;
+
+ current_derivative_section = initial_derivative_section;
+ current_derivative_section_cursor = initial_derivative_section_cursor;
+
+ for (int i = 0, parameter_cursor = 0; i < num_parameter_blocks; ++i) {
+ for (int j = 0; j < parameter_block_sizes()[i];
+ ++j, parameter_cursor++) {
+ if (active_parameter_count < Stride &&
+ parameter_cursor >= (
+ start_derivative_section[current_derivative_section] +
+ current_derivative_section_cursor)) {
+ if (jacobians[i] != NULL) {
+ for (int k = 0; k < num_residuals(); ++k) {
+ jacobians[i][k * parameter_block_sizes()[i] + j] =
+ output_jets[k].v[active_parameter_count];
+ }
+ ++active_parameter_count;
+ ++current_derivative_section_cursor;
+ } else {
+ ++current_derivative_section;
+ current_derivative_section_cursor = 0;
+ }
+ }
+ }
+ }
+
+ // Only copy the residuals over once (even though we compute them on
+ // every loop).
+ if (pass == num_strides - 1) {
+ for (int k = 0; k < num_residuals(); ++k) {
+ residuals[k] = output_jets[k].a;
+ }
+ }
+ }
+ return true;
+ }
+
+ private:
+ internal::scoped_ptr<CostFunctor> functor_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+
+// A common base class for DynamicAutoDiffCostFunction and
+// DynamicNumericDiffCostFunction which depend on methods that can add
+// parameter blocks and set the number of residuals at run time.
+class CERES_EXPORT DynamicCostFunction : public CostFunction {
+ public:
+ ~DynamicCostFunction() {}
+
+ virtual void AddParameterBlock(int size) {
+ mutable_parameter_block_sizes()->push_back(size);
+ }
+
+ virtual void SetNumResiduals(int num_residuals) {
+ set_num_residuals(num_residuals);
+ }
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
--- /dev/null
+// 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)
+// dgossow@google.com (David Gossow)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+// DynamicCostFunctionToFunctor allows users to use CostFunction
+// objects in templated functors which are to be used for automatic
+// differentiation. It works similar to CostFunctionToFunctor, with the
+// difference that it allows you to wrap a cost function with dynamic numbers
+// of parameters and residuals.
+//
+// For example, let us assume that
+//
+// class IntrinsicProjection : public CostFunction {
+// public:
+// IntrinsicProjection(const double* observation);
+// virtual bool Evaluate(double const* const* parameters,
+// double* residuals,
+// double** jacobians) const;
+// };
+//
+// is a cost function that implements the projection of a point in its
+// local coordinate system onto its image plane and subtracts it from
+// the observed point projection. It can compute its residual and
+// either via analytic or numerical differentiation can compute its
+// jacobians. The intrinsics are passed in as parameters[0] and the point as
+// parameters[1].
+//
+// Now we would like to compose the action of this CostFunction with
+// the action of camera extrinsics, i.e., rotation and
+// translation. Say we have a templated function
+//
+// template<typename T>
+// void RotateAndTranslatePoint(double const* const* parameters,
+// double* residuals);
+//
+// Then we can now do the following,
+//
+// struct CameraProjection {
+// CameraProjection(const double* observation)
+// : intrinsic_projection_.(new IntrinsicProjection(observation)) {
+// }
+// template <typename T>
+// bool operator()(T const* const* parameters,
+// T* residual) const {
+// const T* rotation = parameters[0];
+// const T* translation = parameters[1];
+// const T* intrinsics = parameters[2];
+// const T* point = parameters[3];
+// T transformed_point[3];
+// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+//
+// // Note that we call intrinsic_projection_, just like it was
+// // any other templated functor.
+// const T* projection_parameters[2];
+// projection_parameters[0] = intrinsics;
+// projection_parameters[1] = transformed_point;
+// return intrinsic_projection_(projection_parameters, residual);
+// }
+//
+// private:
+// DynamicCostFunctionToFunctor intrinsic_projection_;
+// };
+class DynamicCostFunctionToFunctor {
+ public:
+ // Takes ownership of cost_function.
+ explicit DynamicCostFunctionToFunctor(CostFunction* cost_function)
+ : cost_function_(cost_function) {
+ CHECK_NOTNULL(cost_function);
+ }
+
+ bool operator()(double const* const* parameters, double* residuals) const {
+ return cost_function_->Evaluate(parameters, residuals, NULL);
+ }
+
+ template <typename JetT>
+ bool operator()(JetT const* const* inputs, JetT* output) const {
+ const std::vector<int32>& parameter_block_sizes =
+ cost_function_->parameter_block_sizes();
+ const int num_parameter_blocks =
+ static_cast<int>(parameter_block_sizes.size());
+ const int num_residuals = cost_function_->num_residuals();
+ const int num_parameters = std::accumulate(parameter_block_sizes.begin(),
+ parameter_block_sizes.end(), 0);
+
+ internal::FixedArray<double> parameters(num_parameters);
+ internal::FixedArray<double*> parameter_blocks(num_parameter_blocks);
+ internal::FixedArray<double> jacobians(num_residuals * num_parameters);
+ internal::FixedArray<double*> jacobian_blocks(num_parameter_blocks);
+ internal::FixedArray<double> residuals(num_residuals);
+
+ // Build a set of arrays to get the residuals and jacobians from
+ // the CostFunction wrapped by this functor.
+ double* parameter_ptr = parameters.get();
+ double* jacobian_ptr = jacobians.get();
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ parameter_blocks[i] = parameter_ptr;
+ jacobian_blocks[i] = jacobian_ptr;
+ for (int j = 0; j < parameter_block_sizes[i]; ++j) {
+ *parameter_ptr++ = inputs[i][j].a;
+ }
+ jacobian_ptr += num_residuals * parameter_block_sizes[i];
+ }
+
+ if (!cost_function_->Evaluate(parameter_blocks.get(),
+ residuals.get(),
+ jacobian_blocks.get())) {
+ return false;
+ }
+
+ // Now that we have the incoming Jets, which are carrying the
+ // partial derivatives of each of the inputs w.r.t to some other
+ // underlying parameters. The derivative of the outputs of the
+ // cost function w.r.t to the same underlying parameters can now
+ // be computed by applying the chain rule.
+ //
+ // d output[i] d output[i] d input[j]
+ // -------------- = sum_j ----------- * ------------
+ // d parameter[k] d input[j] d parameter[k]
+ //
+ // d input[j]
+ // -------------- = inputs[j], so
+ // d parameter[k]
+ //
+ // outputJet[i] = sum_k jacobian[i][k] * inputJet[k]
+ //
+ // The following loop, iterates over the residuals, computing one
+ // output jet at a time.
+ for (int i = 0; i < num_residuals; ++i) {
+ output[i].a = residuals[i];
+ output[i].v.setZero();
+
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const int32 block_size = parameter_block_sizes[j];
+ for (int k = 0; k < parameter_block_sizes[j]; ++k) {
+ output[i].v +=
+ jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ internal::scoped_ptr<CostFunction> cost_function_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
--- /dev/null
+// 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: mierle@gmail.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+// thadh@gmail.com (Thad Hughes)
+// tbennun@gmail.com (Tal Ben-Nun)
+
+#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/numeric_diff_options.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This numeric diff implementation differs from the one found in
+// numeric_diff_cost_function.h by supporting numericdiff on cost
+// functions with variable numbers of parameters with variable
+// sizes. With the other implementation, all the sizes (both the
+// number of parameter blocks and the size of each block) must be
+// fixed at compile time.
+//
+// The functor API differs slightly from the API for fixed size
+// numeric diff; the expected interface for the cost functors is:
+//
+// struct MyCostFunctor {
+// bool operator()(double const* const* parameters, double* residuals) const {
+// // Use parameters[i] to access the i'th parameter block.
+// }
+// }
+//
+// Since the sizing of the parameters is done at runtime, you must
+// also specify the sizes after creating the
+// DynamicNumericDiffCostFunction. For example:
+//
+// DynamicAutoDiffCostFunction<MyCostFunctor, CENTRAL> cost_function(
+// new MyCostFunctor());
+// cost_function.AddParameterBlock(5);
+// cost_function.AddParameterBlock(10);
+// cost_function.SetNumResiduals(21);
+template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
+class DynamicNumericDiffCostFunction : public DynamicCostFunction {
+ public:
+ explicit DynamicNumericDiffCostFunction(
+ const CostFunctor* functor,
+ Ownership ownership = TAKE_OWNERSHIP,
+ const NumericDiffOptions& options = NumericDiffOptions())
+ : functor_(functor),
+ ownership_(ownership),
+ options_(options) {
+ }
+
+ virtual ~DynamicNumericDiffCostFunction() {
+ if (ownership_ != TAKE_OWNERSHIP) {
+ functor_.release();
+ }
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ using internal::NumericDiff;
+ CHECK_GT(num_residuals(), 0)
+ << "You must call DynamicNumericDiffCostFunction::SetNumResiduals() "
+ << "before DynamicNumericDiffCostFunction::Evaluate().";
+
+ const std::vector<int32>& block_sizes = parameter_block_sizes();
+ CHECK(!block_sizes.empty())
+ << "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
+ << "before DynamicNumericDiffCostFunction::Evaluate().";
+
+ const bool status = EvaluateCostFunctor(parameters, residuals);
+ if (jacobians == NULL || !status) {
+ return status;
+ }
+
+ // Create local space for a copy of the parameters which will get mutated.
+ int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0);
+ std::vector<double> parameters_copy(parameters_size);
+ std::vector<double*> parameters_references_copy(block_sizes.size());
+ parameters_references_copy[0] = ¶meters_copy[0];
+ for (size_t block = 1; block < block_sizes.size(); ++block) {
+ parameters_references_copy[block] = parameters_references_copy[block - 1]
+ + block_sizes[block - 1];
+ }
+
+ // Copy the parameters into the local temp space.
+ for (size_t block = 0; block < block_sizes.size(); ++block) {
+ memcpy(parameters_references_copy[block],
+ parameters[block],
+ block_sizes[block] * sizeof(*parameters[block]));
+ }
+
+ for (size_t block = 0; block < block_sizes.size(); ++block) {
+ if (jacobians[block] != NULL &&
+ !NumericDiff<CostFunctor, method, DYNAMIC,
+ DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
+ DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
+ DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock(
+ functor_.get(),
+ residuals,
+ options_,
+ this->num_residuals(),
+ block,
+ block_sizes[block],
+ ¶meters_references_copy[0],
+ jacobians[block])) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private:
+ bool EvaluateCostFunctor(double const* const* parameters,
+ double* residuals) const {
+ return EvaluateCostFunctorImpl(functor_.get(),
+ parameters,
+ residuals,
+ functor_.get());
+ }
+
+ // Helper templates to allow evaluation of a functor or a
+ // CostFunction.
+ bool EvaluateCostFunctorImpl(const CostFunctor* functor,
+ double const* const* parameters,
+ double* residuals,
+ const void* /* NOT USED */) const {
+ return (*functor)(parameters, residuals);
+ }
+
+ bool EvaluateCostFunctorImpl(const CostFunctor* functor,
+ double const* const* parameters,
+ double* residuals,
+ const CostFunction* /* NOT USED */) const {
+ return functor->Evaluate(parameters, residuals, NULL);
+ }
+
+ internal::scoped_ptr<const CostFunctor> functor_;
+ Ownership ownership_;
+ NumericDiffOptions options_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Portable floating point classification. The names are picked such that they
+// do not collide with macros. For example, "isnan" in C99 is a macro and hence
+// does not respect namespaces.
+//
+// TODO(keir): Finish porting!
+
+#ifndef CERES_PUBLIC_FPCLASSIFY_H_
+#define CERES_PUBLIC_FPCLASSIFY_H_
+
+#if defined(_MSC_VER)
+#include <float.h>
+#endif
+
+#include <limits>
+
+namespace ceres {
+
+#if defined(_MSC_VER)
+
+inline bool IsFinite (double x) { return _finite(x) != 0; }
+inline bool IsInfinite(double x) { return _finite(x) == 0 && _isnan(x) == 0; }
+inline bool IsNaN (double x) { return _isnan(x) != 0; }
+inline bool IsNormal (double x) { // NOLINT
+ const int classification = _fpclass(x);
+ return (classification == _FPCLASS_NN || classification == _FPCLASS_PN);
+}
+
+# else
+
+// These definitions are for the normal Unix suspects.
+inline bool IsFinite (double x) { return std::isfinite(x); }
+inline bool IsInfinite(double x) { return std::isinf(x); }
+inline bool IsNaN (double x) { return std::isnan(x); }
+inline bool IsNormal (double x) { return std::isnormal(x); }
+
+#endif
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_FPCLASSIFY_H_
--- /dev/null
+// 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.
+// Copyright 2007 Google Inc. All Rights Reserved.
+//
+// Authors: wjr@google.com (William Rucklidge),
+// keir@google.com (Keir Mierle),
+// dgossow@google.com (David Gossow)
+
+#ifndef CERES_PUBLIC_GRADIENT_CHECKER_H_
+#define CERES_PUBLIC_GRADIENT_CHECKER_H_
+
+#include <vector>
+#include <string>
+
+#include "ceres/cost_function.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// GradientChecker compares the Jacobians returned by a cost function against
+// derivatives estimated using finite differencing.
+//
+// The condition enforced is that
+//
+// (J_actual(i, j) - J_numeric(i, j))
+// ------------------------------------ < relative_precision
+// max(J_actual(i, j), J_numeric(i, j))
+//
+// where J_actual(i, j) is the jacobian as computed by the supplied cost
+// function (by the user) multiplied by the local parameterization Jacobian
+// and J_numeric is the jacobian as computed by finite differences, multiplied
+// by the local parameterization Jacobian as well.
+//
+// How to use: Fill in an array of pointers to parameter blocks for your
+// CostFunction, and then call Probe(). Check that the return value is 'true'.
+class CERES_EXPORT GradientChecker {
+ public:
+ // This will not take ownership of the cost function or local
+ // parameterizations.
+ //
+ // function: The cost function to probe.
+ // local_parameterization: A vector of local parameterizations for each
+ // parameter. May be NULL or contain NULL pointers to indicate that the
+ // respective parameter does not have a local parameterization.
+ // options: Options to use for numerical differentiation.
+ GradientChecker(
+ const CostFunction* function,
+ const std::vector<const LocalParameterization*>* local_parameterizations,
+ const NumericDiffOptions& options);
+
+ // Contains results from a call to Probe for later inspection.
+ struct CERES_EXPORT ProbeResults {
+ // The return value of the cost function.
+ bool return_value;
+
+ // Computed residual vector.
+ Vector residuals;
+
+ // The sizes of the Jacobians below are dictated by the cost function's
+ // parameter block size and residual block sizes. If a parameter block
+ // has a local parameterization associated with it, the size of the "local"
+ // Jacobian will be determined by the local parameterization dimension and
+ // residual block size, otherwise it will be identical to the regular
+ // Jacobian.
+
+ // Derivatives as computed by the cost function.
+ std::vector<Matrix> jacobians;
+
+ // Derivatives as computed by the cost function in local space.
+ std::vector<Matrix> local_jacobians;
+
+ // Derivatives as computed by nuerical differentiation in local space.
+ std::vector<Matrix> numeric_jacobians;
+
+ // Derivatives as computed by nuerical differentiation in local space.
+ std::vector<Matrix> local_numeric_jacobians;
+
+ // Contains the maximum relative error found in the local Jacobians.
+ double maximum_relative_error;
+
+ // If an error was detected, this will contain a detailed description of
+ // that error.
+ std::string error_log;
+ };
+
+ // Call the cost function, compute alternative Jacobians using finite
+ // differencing and compare results. If local parameterizations are given,
+ // the Jacobians will be multiplied by the local parameterization Jacobians
+ // before performing the check, which effectively means that all errors along
+ // the null space of the local parameterization will be ignored.
+ // Returns false if the Jacobians don't match, the cost function return false,
+ // or if the cost function returns different residual when called with a
+ // Jacobian output argument vs. calling it without. Otherwise returns true.
+ //
+ // parameters: The parameter values at which to probe.
+ // relative_precision: A threshold for the relative difference between the
+ // Jacobians. If the Jacobians differ by more than this amount, then the
+ // probe fails.
+ // results: On return, the Jacobians (and other information) will be stored
+ // here. May be NULL.
+ //
+ // Returns true if no problems are detected and the difference between the
+ // Jacobians is less than error_tolerance.
+ bool Probe(double const* const* parameters,
+ double relative_precision,
+ ProbeResults* results) const;
+
+ private:
+ CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(GradientChecker);
+
+ std::vector<const LocalParameterization*> local_parameterizations_;
+ const CostFunction* function_;
+ internal::scoped_ptr<CostFunction> finite_diff_cost_function_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_GRADIENT_CHECKER_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_GRADIENT_PROBLEM_H_
+#define CERES_PUBLIC_GRADIENT_PROBLEM_H_
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+
+namespace ceres {
+
+class FirstOrderFunction;
+
+// Instances of GradientProblem represent general non-linear
+// optimization problems that must be solved using just the value of
+// the objective function and its gradient. Unlike the Problem class,
+// which can only be used to model non-linear least squares problems,
+// instances of GradientProblem not restricted in the form of the
+// objective function.
+//
+// Structurally GradientProblem is a composition of a
+// FirstOrderFunction and optionally a LocalParameterization.
+//
+// The FirstOrderFunction is responsible for evaluating the cost and
+// gradient of the objective function.
+//
+// The LocalParameterization is responsible for going back and forth
+// between the ambient space and the local tangent space. (See
+// local_parameterization.h for more details). When a
+// LocalParameterization is not provided, then the tangent space is
+// assumed to coincide with the ambient Euclidean space that the
+// gradient vector lives in.
+//
+// Example usage:
+//
+// The following demonstrate the problem construction for Rosenbrock's function
+//
+// f(x,y) = (1-x)^2 + 100(y - x^2)^2;
+//
+// class Rosenbrock : public ceres::FirstOrderFunction {
+// public:
+// virtual ~Rosenbrock() {}
+//
+// virtual bool Evaluate(const double* parameters,
+// double* cost,
+// double* gradient) const {
+// const double x = parameters[0];
+// const double y = parameters[1];
+//
+// cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+// if (gradient != NULL) {
+// gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+// gradient[1] = 200.0 * (y - x * x);
+// }
+// return true;
+// };
+//
+// virtual int NumParameters() const { return 2; };
+// };
+//
+// ceres::GradientProblem problem(new Rosenbrock());
+class CERES_EXPORT GradientProblem {
+ public:
+ // Takes ownership of the function.
+ explicit GradientProblem(FirstOrderFunction* function);
+
+ // Takes ownership of the function and the parameterization.
+ GradientProblem(FirstOrderFunction* function,
+ LocalParameterization* parameterization);
+
+ int NumParameters() const;
+ int NumLocalParameters() const;
+
+ // This call is not thread safe.
+ bool Evaluate(const double* parameters, double* cost, double* gradient) const;
+ bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
+
+ private:
+ internal::scoped_ptr<FirstOrderFunction> function_;
+ internal::scoped_ptr<LocalParameterization> parameterization_;
+ internal::scoped_array<double> scratch_;
+};
+
+// A FirstOrderFunction object implements the evaluation of a function
+// and its gradient.
+class CERES_EXPORT FirstOrderFunction {
+ public:
+ virtual ~FirstOrderFunction() {}
+ // cost is never NULL. gradient may be null.
+ virtual bool Evaluate(const double* const parameters,
+ double* cost,
+ double* gradient) const = 0;
+ virtual int NumParameters() const = 0;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_GRADIENT_PROBLEM_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
+#define CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
+
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class GradientProblem;
+
+class CERES_EXPORT GradientProblemSolver {
+ public:
+ virtual ~GradientProblemSolver();
+
+ // The options structure contains, not surprisingly, options that control how
+ // the solver operates. The defaults should be suitable for a wide range of
+ // problems; however, better performance is often obtainable with tweaking.
+ //
+ // The constants are defined inside types.h
+ struct CERES_EXPORT Options {
+ // Default constructor that sets up a generic sparse problem.
+ Options() {
+ line_search_direction_type = LBFGS;
+ line_search_type = WOLFE;
+ nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
+ max_lbfgs_rank = 20;
+ use_approximate_eigenvalue_bfgs_scaling = false;
+ line_search_interpolation_type = CUBIC;
+ min_line_search_step_size = 1e-9;
+ line_search_sufficient_function_decrease = 1e-4;
+ max_line_search_step_contraction = 1e-3;
+ min_line_search_step_contraction = 0.6;
+ max_num_line_search_step_size_iterations = 20;
+ max_num_line_search_direction_restarts = 5;
+ line_search_sufficient_curvature_decrease = 0.9;
+ max_line_search_step_expansion = 10.0;
+ max_num_iterations = 50;
+ max_solver_time_in_seconds = 1e9;
+ function_tolerance = 1e-6;
+ gradient_tolerance = 1e-10;
+ parameter_tolerance = 1e-8;
+ logging_type = PER_MINIMIZER_ITERATION;
+ minimizer_progress_to_stdout = false;
+ }
+
+ // Returns true if the options struct has a valid
+ // configuration. Returns false otherwise, and fills in *error
+ // with a message describing the problem.
+ bool IsValid(std::string* error) const;
+
+ // Minimizer options ----------------------------------------
+ LineSearchDirectionType line_search_direction_type;
+ LineSearchType line_search_type;
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+ // The LBFGS hessian approximation is a low rank approximation to
+ // the inverse of the Hessian matrix. The rank of the
+ // approximation determines (linearly) the space and time
+ // complexity of using the approximation. Higher the rank, the
+ // better is the quality of the approximation. The increase in
+ // quality is however is bounded for a number of reasons.
+ //
+ // 1. The method only uses secant information and not actual
+ // derivatives.
+ //
+ // 2. The Hessian approximation is constrained to be positive
+ // definite.
+ //
+ // So increasing this rank to a large number will cost time and
+ // space complexity without the corresponding increase in solution
+ // quality. There are no hard and fast rules for choosing the
+ // maximum rank. The best choice usually requires some problem
+ // specific experimentation.
+ //
+ // For more theoretical and implementation details of the LBFGS
+ // method, please see:
+ //
+ // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with
+ // Limited Storage". Mathematics of Computation 35 (151): 773–782.
+ int max_lbfgs_rank;
+
+ // As part of the (L)BFGS update step (BFGS) / right-multiply step (L-BFGS),
+ // the initial inverse Hessian approximation is taken to be the Identity.
+ // However, Oren showed that using instead I * \gamma, where \gamma is
+ // chosen to approximate an eigenvalue of the true inverse Hessian can
+ // result in improved convergence in a wide variety of cases. Setting
+ // use_approximate_eigenvalue_bfgs_scaling to true enables this scaling.
+ //
+ // It is important to note that approximate eigenvalue scaling does not
+ // always improve convergence, and that it can in fact significantly degrade
+ // performance for certain classes of problem, which is why it is disabled
+ // by default. In particular it can degrade performance when the
+ // sensitivity of the problem to different parameters varies significantly,
+ // as in this case a single scalar factor fails to capture this variation
+ // and detrimentally downscales parts of the jacobian approximation which
+ // correspond to low-sensitivity parameters. It can also reduce the
+ // robustness of the solution to errors in the jacobians.
+ //
+ // Oren S.S., Self-scaling variable metric (SSVM) algorithms
+ // Part II: Implementation and experiments, Management Science,
+ // 20(5), 863-874, 1974.
+ bool use_approximate_eigenvalue_bfgs_scaling;
+
+ // Degree of the polynomial used to approximate the objective
+ // function. Valid values are BISECTION, QUADRATIC and CUBIC.
+ //
+ // BISECTION corresponds to pure backtracking search with no
+ // interpolation.
+ LineSearchInterpolationType line_search_interpolation_type;
+
+ // If during the line search, the step_size falls below this
+ // value, it is truncated to zero.
+ double min_line_search_step_size;
+
+ // Line search parameters.
+
+ // Solving the line search problem exactly is computationally
+ // prohibitive. Fortunately, line search based optimization
+ // algorithms can still guarantee convergence if instead of an
+ // exact solution, the line search algorithm returns a solution
+ // which decreases the value of the objective function
+ // sufficiently. More precisely, we are looking for a step_size
+ // s.t.
+ //
+ // f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+ //
+ double line_search_sufficient_function_decrease;
+
+ // In each iteration of the line search,
+ //
+ // new_step_size >= max_line_search_step_contraction * step_size
+ //
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double max_line_search_step_contraction;
+
+ // In each iteration of the line search,
+ //
+ // new_step_size <= min_line_search_step_contraction * step_size
+ //
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double min_line_search_step_contraction;
+
+ // Maximum number of trial step size iterations during each line search,
+ // if a step size satisfying the search conditions cannot be found within
+ // this number of trials, the line search will terminate.
+ int max_num_line_search_step_size_iterations;
+
+ // Maximum number of restarts of the line search direction algorithm before
+ // terminating the optimization. Restarts of the line search direction
+ // algorithm occur when the current algorithm fails to produce a new descent
+ // direction. This typically indicates a numerical failure, or a breakdown
+ // in the validity of the approximations used.
+ int max_num_line_search_direction_restarts;
+
+ // The strong Wolfe conditions consist of the Armijo sufficient
+ // decrease condition, and an additional requirement that the
+ // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+ // conditions) of the gradient along the search direction
+ // decreases sufficiently. Precisely, this second condition
+ // is that we seek a step_size s.t.
+ //
+ // |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+ //
+ // Where f() is the line search objective and f'() is the derivative
+ // of f w.r.t step_size (d f / d step_size).
+ double line_search_sufficient_curvature_decrease;
+
+ // During the bracketing phase of the Wolfe search, the step size is
+ // increased until either a point satisfying the Wolfe conditions is
+ // found, or an upper bound for a bracket containing a point satisfying
+ // the conditions is found. Precisely, at each iteration of the
+ // expansion:
+ //
+ // new_step_size <= max_step_expansion * step_size.
+ //
+ // By definition for expansion, max_step_expansion > 1.0.
+ double max_line_search_step_expansion;
+
+ // Maximum number of iterations for the minimizer to run for.
+ int max_num_iterations;
+
+ // Maximum time for which the minimizer should run for.
+ double max_solver_time_in_seconds;
+
+ // Minimizer terminates when
+ //
+ // (new_cost - old_cost) < function_tolerance * old_cost;
+ //
+ double function_tolerance;
+
+ // Minimizer terminates when
+ //
+ // max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
+ //
+ // This value should typically be 1e-4 * function_tolerance.
+ double gradient_tolerance;
+
+ // Minimizer terminates when
+ //
+ // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ //
+ double parameter_tolerance;
+
+ // Logging options ---------------------------------------------------------
+
+ LoggingType logging_type;
+
+ // By default the Minimizer progress is logged to VLOG(1), which
+ // is sent to STDERR depending on the vlog level. If this flag is
+ // set to true, and logging_type is not SILENT, the logging output
+ // is sent to STDOUT.
+ bool minimizer_progress_to_stdout;
+
+ // Callbacks that are executed at the end of each iteration of the
+ // Minimizer. An iteration may terminate midway, either due to
+ // numerical failures or because one of the convergence tests has
+ // been satisfied. In this case none of the callbacks are
+ // executed.
+
+ // Callbacks are executed in the order that they are specified in
+ // this vector. By default, parameter blocks are updated only at
+ // the end of the optimization, i.e when the Minimizer
+ // terminates. This behaviour is controlled by
+ // update_state_every_variable. If the user wishes to have access
+ // to the update parameter blocks when his/her callbacks are
+ // executed, then set update_state_every_iteration to true.
+ //
+ // The solver does NOT take ownership of these pointers.
+ std::vector<IterationCallback*> callbacks;
+ };
+
+ struct CERES_EXPORT Summary {
+ Summary();
+
+ // A brief one line description of the state of the solver after
+ // termination.
+ std::string BriefReport() const;
+
+ // A full multiline description of the state of the solver after
+ // termination.
+ std::string FullReport() const;
+
+ bool IsSolutionUsable() const;
+
+ // Minimizer summary -------------------------------------------------
+ TerminationType termination_type;
+
+ // Reason why the solver terminated.
+ std::string message;
+
+ // Cost of the problem (value of the objective function) before
+ // the optimization.
+ double initial_cost;
+
+ // Cost of the problem (value of the objective function) after the
+ // optimization.
+ double final_cost;
+
+ // IterationSummary for each minimizer iteration in order.
+ std::vector<IterationSummary> iterations;
+
+ // Number of times the cost (and not the gradient) was evaluated.
+ int num_cost_evaluations;
+
+ // Number of times the gradient (and the cost) were evaluated.
+ int num_gradient_evaluations;
+
+ // Sum total of all time spent inside Ceres when Solve is called.
+ double total_time_in_seconds;
+
+ // Time (in seconds) spent evaluating the cost.
+ double cost_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent evaluating the gradient.
+ double gradient_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent minimizing the interpolating polynomial
+ // to compute the next candidate step size as part of a line search.
+ double line_search_polynomial_minimization_time_in_seconds;
+
+ // Number of parameters in the probem.
+ int num_parameters;
+
+ // Dimension of the tangent space of the problem.
+ int num_local_parameters;
+
+ // Type of line search direction used.
+ LineSearchDirectionType line_search_direction_type;
+
+ // Type of the line search algorithm used.
+ LineSearchType line_search_type;
+
+ // When performing line search, the degree of the polynomial used
+ // to approximate the objective function.
+ LineSearchInterpolationType line_search_interpolation_type;
+
+ // If the line search direction is NONLINEAR_CONJUGATE_GRADIENT,
+ // then this indicates the particular variant of non-linear
+ // conjugate gradient used.
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+ // If the type of the line search direction is LBFGS, then this
+ // indicates the rank of the Hessian approximation.
+ int max_lbfgs_rank;
+ };
+
+ // Once a least squares problem has been built, this function takes
+ // the problem and optimizes it based on the values of the options
+ // parameters. Upon return, a detailed summary of the work performed
+ // by the preprocessor, the non-linear minmizer and the linear
+ // solver are reported in the summary object.
+ virtual void Solve(const GradientProblemSolver::Options& options,
+ const GradientProblem& problem,
+ double* parameters,
+ GradientProblemSolver::Summary* summary);
+};
+
+// Helper function which avoids going through the interface.
+CERES_EXPORT void Solve(const GradientProblemSolver::Options& options,
+ const GradientProblem& problem,
+ double* parameters,
+ GradientProblemSolver::Summary* summary);
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Computation of the Jacobian matrix for vector-valued functions of multiple
+// variables, using automatic differentiation based on the implementation of
+// dual numbers in jet.h. Before reading the rest of this file, it is adivsable
+// to read jet.h's header comment in detail.
+//
+// The helper wrapper AutoDiff::Differentiate() computes the jacobian of
+// functors with templated operator() taking this form:
+//
+// struct F {
+// template<typename T>
+// bool operator()(const T *x, const T *y, ..., T *z) {
+// // Compute z[] based on x[], y[], ...
+// // return true if computation succeeded, false otherwise.
+// }
+// };
+//
+// All inputs and outputs may be vector-valued.
+//
+// To understand how jets are used to compute the jacobian, a
+// picture may help. Consider a vector-valued function, F, returning 3
+// dimensions and taking a vector-valued parameter of 4 dimensions:
+//
+// y x
+// [ * ] F [ * ]
+// [ * ] <--- [ * ]
+// [ * ] [ * ]
+// [ * ]
+//
+// Similar to the 2-parameter example for f described in jet.h, computing the
+// jacobian dy/dx is done by substutiting a suitable jet object for x and all
+// intermediate steps of the computation of F. Since x is has 4 dimensions, use
+// a Jet<double, 4>.
+//
+// Before substituting a jet object for x, the dual components are set
+// appropriately for each dimension of x:
+//
+// y x
+// [ * | * * * * ] f [ * | 1 0 0 0 ] x0
+// [ * | * * * * ] <--- [ * | 0 1 0 0 ] x1
+// [ * | * * * * ] [ * | 0 0 1 0 ] x2
+// ---+--- [ * | 0 0 0 1 ] x3
+// | ^ ^ ^ ^
+// dy/dx | | | +----- infinitesimal for x3
+// | | +------- infinitesimal for x2
+// | +--------- infinitesimal for x1
+// +----------- infinitesimal for x0
+//
+// The reason to set the internal 4x4 submatrix to the identity is that we wish
+// to take the derivative of y separately with respect to each dimension of x.
+// Each column of the 4x4 identity is therefore for a single component of the
+// independent variable x.
+//
+// Then the jacobian of the mapping, dy/dx, is the 3x4 sub-matrix of the
+// extended y vector, indicated in the above diagram.
+//
+// Functors with multiple parameters
+// ---------------------------------
+// In practice, it is often convenient to use a function f of two or more
+// vector-valued parameters, for example, x[3] and z[6]. Unfortunately, the jet
+// framework is designed for a single-parameter vector-valued input. The wrapper
+// in this file addresses this issue adding support for functions with one or
+// more parameter vectors.
+//
+// To support multiple parameters, all the parameter vectors are concatenated
+// into one and treated as a single parameter vector, except that since the
+// functor expects different inputs, we need to construct the jets as if they
+// were part of a single parameter vector. The extended jets are passed
+// separately for each parameter.
+//
+// For example, consider a functor F taking two vector parameters, p[2] and
+// q[3], and producing an output y[4]:
+//
+// struct F {
+// template<typename T>
+// bool operator()(const T *p, const T *q, T *z) {
+// // ...
+// }
+// };
+//
+// In this case, the necessary jet type is Jet<double, 5>. Here is a
+// visualization of the jet objects in this case:
+//
+// Dual components for p ----+
+// |
+// -+-
+// y [ * | 1 0 | 0 0 0 ] --- p[0]
+// [ * | 0 1 | 0 0 0 ] --- p[1]
+// [ * | . . | + + + ] |
+// [ * | . . | + + + ] v
+// [ * | . . | + + + ] <--- F(p, q)
+// [ * | . . | + + + ] ^
+// ^^^ ^^^^^ |
+// dy/dp dy/dq [ * | 0 0 | 1 0 0 ] --- q[0]
+// [ * | 0 0 | 0 1 0 ] --- q[1]
+// [ * | 0 0 | 0 0 1 ] --- q[2]
+// --+--
+// |
+// Dual components for q --------------+
+//
+// where the 4x2 submatrix (marked with ".") and 4x3 submatrix (marked with "+"
+// of y in the above diagram are the derivatives of y with respect to p and q
+// respectively. This is how autodiff works for functors taking multiple vector
+// valued arguments (up to 6).
+//
+// Jacobian NULL pointers
+// ----------------------
+// In general, the functions below will accept NULL pointers for all or some of
+// the Jacobian parameters, meaning that those Jacobians will not be computed.
+
+#ifndef CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+#define CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+
+#include <stddef.h>
+
+#include "ceres/jet.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/variadic_evaluate.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Extends src by a 1st order pertubation for every dimension and puts it in
+// dst. The size of src is N. Since this is also used for perturbations in
+// blocked arrays, offset is used to shift which part of the jet the
+// perturbation occurs. This is used to set up the extended x augmented by an
+// identity matrix. The JetT type should be a Jet type, and T should be a
+// numeric type (e.g. double). For example,
+//
+// 0 1 2 3 4 5 6 7 8
+// dst[0] [ * | . . | 1 0 0 | . . . ]
+// dst[1] [ * | . . | 0 1 0 | . . . ]
+// dst[2] [ * | . . | 0 0 1 | . . . ]
+//
+// is what would get put in dst if N was 3, offset was 3, and the jet type JetT
+// was 8-dimensional.
+template <typename JetT, typename T, int N>
+inline void Make1stOrderPerturbation(int offset, const T* src, JetT* dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ for (int j = 0; j < N; ++j) {
+ dst[j].a = src[j];
+ dst[j].v.setZero();
+ dst[j].v[offset + j] = T(1.0);
+ }
+}
+
+// Takes the 0th order part of src, assumed to be a Jet type, and puts it in
+// dst. This is used to pick out the "vector" part of the extended y.
+template <typename JetT, typename T>
+inline void Take0thOrderPart(int M, const JetT *src, T dst) {
+ DCHECK(src);
+ for (int i = 0; i < M; ++i) {
+ dst[i] = src[i].a;
+ }
+}
+
+// Takes N 1st order parts, starting at index N0, and puts them in the M x N
+// matrix 'dst'. This is used to pick out the "matrix" parts of the extended y.
+template <typename JetT, typename T, int N0, int N>
+inline void Take1stOrderPart(const int M, const JetT *src, T *dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ for (int i = 0; i < M; ++i) {
+ Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) =
+ src[i].v.template segment<N>(N0);
+ }
+}
+
+// This is in a struct because default template parameters on a
+// function are not supported in C++03 (though it is available in
+// C++0x). N0 through N5 are the dimension of the input arguments to
+// the user supplied functor.
+template <typename Functor, typename T,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+struct AutoDiff {
+ static bool Differentiate(const Functor& functor,
+ T const *const *parameters,
+ int num_outputs,
+ T *function_value,
+ T **jacobians) {
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ DCHECK_GT(num_outputs, 0);
+ DCHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+
+ typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9> JetT;
+ FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
+ N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9 + num_outputs);
+
+ // These are the positions of the respective jets in the fixed array x.
+ const int jet0 = 0;
+ const int jet1 = N0;
+ const int jet2 = N0 + N1;
+ const int jet3 = N0 + N1 + N2;
+ const int jet4 = N0 + N1 + N2 + N3;
+ const int jet5 = N0 + N1 + N2 + N3 + N4;
+ const int jet6 = N0 + N1 + N2 + N3 + N4 + N5;
+ const int jet7 = N0 + N1 + N2 + N3 + N4 + N5 + N6;
+ const int jet8 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7;
+ const int jet9 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8;
+
+ const JetT *unpacked_parameters[10] = {
+ x.get() + jet0,
+ x.get() + jet1,
+ x.get() + jet2,
+ x.get() + jet3,
+ x.get() + jet4,
+ x.get() + jet5,
+ x.get() + jet6,
+ x.get() + jet7,
+ x.get() + jet8,
+ x.get() + jet9,
+ };
+
+ JetT* output = x.get() + N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
+
+ // Invalidate the output Jets, so that we can detect if the user
+ // did not assign values to all of them.
+ for (int i = 0; i < num_outputs; ++i) {
+ output[i].a = kImpossibleValue;
+ output[i].v.setConstant(kImpossibleValue);
+ }
+
+#define CERES_MAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ internal::Make1stOrderPerturbation<JetT, T, N ## i>( \
+ jet ## i, \
+ parameters[i], \
+ x.get() + jet ## i); \
+ }
+ CERES_MAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_MAKE_1ST_ORDER_PERTURBATION
+
+ if (!VariadicEvaluate<Functor, JetT,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
+ functor, unpacked_parameters, output)) {
+ return false;
+ }
+
+ internal::Take0thOrderPart(num_outputs, output, function_value);
+
+#define CERES_TAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ if (jacobians[i]) { \
+ internal::Take1stOrderPart<JetT, T, \
+ jet ## i, \
+ N ## i>(num_outputs, \
+ output, \
+ jacobians[i]); \
+ } \
+ }
+ CERES_TAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_TAKE_1ST_ORDER_PERTURBATION
+ return true;
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_AUTODIFF_H_
--- /dev/null
+// 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.
+//
+// This file has the sole purpose to silence warnings when including Ceres.
+
+// This is not your usual header guard. The macro CERES_WARNINGS_DISABLED
+// shows up again in reenable_warnings.h.
+#ifndef CERES_WARNINGS_DISABLED
+#define CERES_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+#pragma warning( push )
+// Disable the warning C4251 which is trigerred by stl classes in
+// Ceres' public interface. To quote MSDN: "C4251 can be ignored "
+// "if you are deriving from a type in the Standard C++ Library"
+#pragma warning( disable : 4251 )
+#endif
+
+#endif // CERES_WARNINGS_DISABLED
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_EIGEN_H_
+#define CERES_INTERNAL_EIGEN_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+ Eigen::Dynamic,
+ Eigen::Dynamic,
+ Eigen::RowMajor> Matrix;
+typedef Eigen::Map<Vector> VectorRef;
+typedef Eigen::Map<Matrix> MatrixRef;
+typedef Eigen::Map<const Vector> ConstVectorRef;
+typedef Eigen::Map<const Matrix> ConstMatrixRef;
+
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+ Eigen::Dynamic,
+ Eigen::Dynamic,
+ Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+ Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+ 0,
+ Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
+// C++ does not support templated typdefs, thus the need for this
+// struct so that we can support statically sized Matrix and Maps.
+template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+struct EigenTypes {
+ typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
+ Matrix;
+
+ typedef Eigen::Map<
+ Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
+ MatrixRef;
+
+ typedef Eigen::Matrix <double, num_rows, 1>
+ Vector;
+
+ typedef Eigen::Map <
+ Eigen::Matrix<double, num_rows, 1> >
+ VectorRef;
+
+
+ typedef Eigen::Map<
+ const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
+ ConstMatrixRef;
+
+ typedef Eigen::Map <
+ const Eigen::Matrix<double, num_rows, 1> >
+ ConstVectorRef;
+};
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EIGEN_H_
--- /dev/null
+// 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: rennie@google.com (Jeffrey Rennie)
+// Author: sanjay@google.com (Sanjay Ghemawat) -- renamed to FixedArray
+
+#ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+#define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+
+#include <cstddef>
+#include "Eigen/Core"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/manual_constructor.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// A FixedArray<T> represents a non-resizable array of T where the
+// length of the array does not need to be a compile time constant.
+//
+// FixedArray allocates small arrays inline, and large arrays on
+// the heap. It is a good replacement for non-standard and deprecated
+// uses of alloca() and variable length arrays (a GCC extension).
+//
+// FixedArray keeps performance fast for small arrays, because it
+// avoids heap operations. It also helps reduce the chances of
+// accidentally overflowing your stack if large input is passed to
+// your function.
+//
+// Also, FixedArray is useful for writing portable code. Not all
+// compilers support arrays of dynamic size.
+
+// Most users should not specify an inline_elements argument and let
+// FixedArray<> automatically determine the number of elements
+// to store inline based on sizeof(T).
+//
+// If inline_elements is specified, the FixedArray<> implementation
+// will store arrays of length <= inline_elements inline.
+//
+// Finally note that unlike vector<T> FixedArray<T> will not zero-initialize
+// simple types like int, double, bool, etc.
+//
+// Non-POD types will be default-initialized just like regular vectors or
+// arrays.
+
+#if defined(_WIN64)
+ typedef __int64 ssize_t;
+#elif defined(_WIN32)
+ typedef __int32 ssize_t;
+#endif
+
+template <typename T, ssize_t inline_elements = -1>
+class FixedArray {
+ public:
+ // For playing nicely with stl:
+ typedef T value_type;
+ typedef T* iterator;
+ typedef T const* const_iterator;
+ typedef T& reference;
+ typedef T const& const_reference;
+ typedef T* pointer;
+ typedef std::ptrdiff_t difference_type;
+ typedef size_t size_type;
+
+ // REQUIRES: n >= 0
+ // Creates an array object that can store "n" elements.
+ //
+ // FixedArray<T> will not zero-initialiaze POD (simple) types like int,
+ // double, bool, etc.
+ // Non-POD types will be default-initialized just like regular vectors or
+ // arrays.
+ explicit FixedArray(size_type n);
+
+ // Releases any resources.
+ ~FixedArray();
+
+ // Returns the length of the array.
+ inline size_type size() const { return size_; }
+
+ // Returns the memory size of the array in bytes.
+ inline size_t memsize() const { return size_ * sizeof(T); }
+
+ // Returns a pointer to the underlying element array.
+ inline const T* get() const { return &array_[0].element; }
+ inline T* get() { return &array_[0].element; }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline T& operator[](size_type i) {
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline const T& operator[](size_type i) const {
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ inline iterator begin() { return &array_[0].element; }
+ inline iterator end() { return &array_[size_].element; }
+
+ inline const_iterator begin() const { return &array_[0].element; }
+ inline const_iterator end() const { return &array_[size_].element; }
+
+ private:
+ // Container to hold elements of type T. This is necessary to handle
+ // the case where T is a a (C-style) array. The size of InnerContainer
+ // and T must be the same, otherwise callers' assumptions about use
+ // of this code will be broken.
+ struct InnerContainer {
+ T element;
+ };
+
+ // How many elements should we store inline?
+ // a. If not specified, use a default of 256 bytes (256 bytes
+ // seems small enough to not cause stack overflow or unnecessary
+ // stack pollution, while still allowing stack allocation for
+ // reasonably long character arrays.
+ // b. Never use 0 length arrays (not ISO C++)
+ static const size_type S1 = ((inline_elements < 0)
+ ? (256/sizeof(T)) : inline_elements);
+ static const size_type S2 = (S1 <= 0) ? 1 : S1;
+ static const size_type kInlineElements = S2;
+
+ size_type const size_;
+ InnerContainer* const array_;
+
+ // Allocate some space, not an array of elements of type T, so that we can
+ // skip calling the T constructors and destructors for space we never use.
+ ManualConstructor<InnerContainer> inline_space_[kInlineElements];
+};
+
+// Implementation details follow
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::FixedArray(typename FixedArray<T, S>::size_type n)
+ : size_(n),
+ array_((n <= kInlineElements
+ ? reinterpret_cast<InnerContainer*>(inline_space_)
+ : new InnerContainer[n])) {
+ // Construct only the elements actually used.
+ if (array_ == reinterpret_cast<InnerContainer*>(inline_space_)) {
+ for (size_t i = 0; i != size_; ++i) {
+ inline_space_[i].Init();
+ }
+ }
+}
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::~FixedArray() {
+ if (array_ != reinterpret_cast<InnerContainer*>(inline_space_)) {
+ delete[] array_;
+ } else {
+ for (size_t i = 0; i != size_; ++i) {
+ inline_space_[i].Destroy();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
--- /dev/null
+// 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.
+//
+//
+// Various Google-specific macros.
+//
+// This code is compiled directly on many platforms, including client
+// platforms like Windows, Mac, and embedded systems. Before making
+// any changes here, make sure that you're not breaking any platforms.
+
+#ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
+#define CERES_PUBLIC_INTERNAL_MACROS_H_
+
+#include <cstddef> // For size_t.
+
+// A macro to disallow the copy constructor and operator= functions
+// This should be used in the private: declarations for a class
+//
+// For disallowing only assign or copy, write the code directly, but declare
+// the intend in a comment, for example:
+//
+// void operator=(const TypeName&); // _DISALLOW_ASSIGN
+
+// Note, that most uses of CERES_DISALLOW_ASSIGN and CERES_DISALLOW_COPY
+// are broken semantically, one should either use disallow both or
+// neither. Try to avoid these in new code.
+#define CERES_DISALLOW_COPY_AND_ASSIGN(TypeName) \
+ TypeName(const TypeName&); \
+ void operator=(const TypeName&)
+
+// A macro to disallow all the implicit constructors, namely the
+// default constructor, copy constructor and operator= functions.
+//
+// This should be used in the private: declarations for a class
+// that wants to prevent anyone from instantiating it. This is
+// especially useful for classes containing only static methods.
+#define CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
+ TypeName(); \
+ CERES_DISALLOW_COPY_AND_ASSIGN(TypeName)
+
+// The arraysize(arr) macro returns the # of elements in an array arr.
+// The expression is a compile-time constant, and therefore can be
+// used in defining new arrays, for example. If you use arraysize on
+// a pointer by mistake, you will get a compile-time error.
+//
+// One caveat is that arraysize() doesn't accept any array of an
+// anonymous type or a type defined inside a function. In these rare
+// cases, you have to use the unsafe ARRAYSIZE() macro below. This is
+// due to a limitation in C++'s template system. The limitation might
+// eventually be removed, but it hasn't happened yet.
+
+// This template function declaration is used in defining arraysize.
+// Note that the function doesn't need an implementation, as we only
+// use its type.
+template <typename T, size_t N>
+char (&ArraySizeHelper(T (&array)[N]))[N];
+
+// That gcc wants both of these prototypes seems mysterious. VC, for
+// its part, can't decide which to use (another mystery). Matching of
+// template overloads: the final frontier.
+#ifndef _WIN32
+template <typename T, size_t N>
+char (&ArraySizeHelper(const T (&array)[N]))[N];
+#endif
+
+#define arraysize(array) (sizeof(ArraySizeHelper(array)))
+
+// ARRAYSIZE performs essentially the same calculation as arraysize,
+// but can be used on anonymous types or types defined inside
+// functions. It's less safe than arraysize as it accepts some
+// (although not all) pointers. Therefore, you should use arraysize
+// whenever possible.
+//
+// The expression ARRAYSIZE(a) is a compile-time constant of type
+// size_t.
+//
+// ARRAYSIZE catches a few type errors. If you see a compiler error
+//
+// "warning: division by zero in ..."
+//
+// when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
+// You should only use ARRAYSIZE on statically allocated arrays.
+//
+// The following comments are on the implementation details, and can
+// be ignored by the users.
+//
+// ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
+// the array) and sizeof(*(arr)) (the # of bytes in one array
+// element). If the former is divisible by the latter, perhaps arr is
+// indeed an array, in which case the division result is the # of
+// elements in the array. Otherwise, arr cannot possibly be an array,
+// and we generate a compiler error to prevent the code from
+// compiling.
+//
+// Since the size of bool is implementation-defined, we need to cast
+// !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
+// result has type size_t.
+//
+// This macro is not perfect as it wrongfully accepts certain
+// pointers, namely where the pointer size is divisible by the pointee
+// size. Since all our code has to go through a 32-bit compiler,
+// where a pointer is 4 bytes, this means all pointers to a type whose
+// size is 3 or greater than 4 will be (righteously) rejected.
+//
+// Kudos to Jorg Brown for this simple and elegant implementation.
+//
+// - wan 2005-11-16
+//
+// Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE. However,
+// the definition comes from the over-broad windows.h header that
+// introduces a macro, ERROR, that conflicts with the logging framework
+// that Ceres uses. Instead, rename ARRAYSIZE to CERES_ARRAYSIZE.
+#define CERES_ARRAYSIZE(a) \
+ ((sizeof(a) / sizeof(*(a))) / \
+ static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
+
+// Tell the compiler to warn about unused return values for functions
+// declared with this macro. The macro should be used on function
+// declarations following the argument list:
+//
+// Sprocket* AllocateSprocket() MUST_USE_RESULT;
+//
+#if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
+ && !defined(COMPILER_ICC)
+#define CERES_MUST_USE_RESULT __attribute__ ((warn_unused_result))
+#else
+#define CERES_MUST_USE_RESULT
+#endif
+
+// Platform independent macros to get aligned memory allocations.
+// For example
+//
+// MyFoo my_foo CERES_ALIGN_ATTRIBUTE(16);
+//
+// Gives us an instance of MyFoo which is aligned at a 16 byte
+// boundary.
+#if defined(_MSC_VER)
+#define CERES_ALIGN_ATTRIBUTE(n) __declspec(align(n))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#elif defined(__GNUC__)
+#define CERES_ALIGN_ATTRIBUTE(n) __attribute__((aligned(n)))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#endif
+
+#endif // CERES_PUBLIC_INTERNAL_MACROS_H_
--- /dev/null
+// 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: kenton@google.com (Kenton Varda)
+//
+// ManualConstructor statically-allocates space in which to store some
+// object, but does not initialize it. You can then call the constructor
+// and destructor for the object yourself as you see fit. This is useful
+// for memory management optimizations, where you want to initialize and
+// destroy an object multiple times but only allocate it once.
+//
+// (When I say ManualConstructor statically allocates space, I mean that
+// the ManualConstructor object itself is forced to be the right size.)
+
+#ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+#define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+
+#include <new>
+
+namespace ceres {
+namespace internal {
+
+// ------- Define CERES_ALIGNED_CHAR_ARRAY --------------------------------
+
+#ifndef CERES_ALIGNED_CHAR_ARRAY
+
+// Because MSVC and older GCCs require that the argument to their alignment
+// construct to be a literal constant integer, we use a template instantiated
+// at all the possible powers of two.
+template<int alignment, int size> struct AlignType { };
+template<int size> struct AlignType<0, size> { typedef char result[size]; };
+
+#if !defined(CERES_ALIGN_ATTRIBUTE)
+#define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler
+#else // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#define CERES_ALIGN_TYPE_TEMPLATE(X) \
+ template<int size> struct AlignType<X, size> { \
+ typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \
+ }
+
+CERES_ALIGN_TYPE_TEMPLATE(1);
+CERES_ALIGN_TYPE_TEMPLATE(2);
+CERES_ALIGN_TYPE_TEMPLATE(4);
+CERES_ALIGN_TYPE_TEMPLATE(8);
+CERES_ALIGN_TYPE_TEMPLATE(16);
+CERES_ALIGN_TYPE_TEMPLATE(32);
+CERES_ALIGN_TYPE_TEMPLATE(64);
+CERES_ALIGN_TYPE_TEMPLATE(128);
+CERES_ALIGN_TYPE_TEMPLATE(256);
+CERES_ALIGN_TYPE_TEMPLATE(512);
+CERES_ALIGN_TYPE_TEMPLATE(1024);
+CERES_ALIGN_TYPE_TEMPLATE(2048);
+CERES_ALIGN_TYPE_TEMPLATE(4096);
+CERES_ALIGN_TYPE_TEMPLATE(8192);
+// Any larger and MSVC++ will complain.
+
+#undef CERES_ALIGN_TYPE_TEMPLATE
+
+#define CERES_ALIGNED_CHAR_ARRAY(T, Size) \
+ typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result
+
+#endif // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#endif // CERES_ALIGNED_CHAR_ARRAY
+
+template <typename Type>
+class ManualConstructor {
+ public:
+ // No constructor or destructor because one of the most useful uses of
+ // this class is as part of a union, and members of a union cannot have
+ // constructors or destructors. And, anyway, the whole point of this
+ // class is to bypass these.
+
+ inline Type* get() {
+ return reinterpret_cast<Type*>(space_);
+ }
+ inline const Type* get() const {
+ return reinterpret_cast<const Type*>(space_);
+ }
+
+ inline Type* operator->() { return get(); }
+ inline const Type* operator->() const { return get(); }
+
+ inline Type& operator*() { return *get(); }
+ inline const Type& operator*() const { return *get(); }
+
+ // This is needed to get around the strict aliasing warning GCC generates.
+ inline void* space() {
+ return reinterpret_cast<void*>(space_);
+ }
+
+ // You can pass up to four constructor arguments as arguments of Init().
+ inline void Init() {
+ new(space()) Type;
+ }
+
+ template <typename T1>
+ inline void Init(const T1& p1) {
+ new(space()) Type(p1);
+ }
+
+ template <typename T1, typename T2>
+ inline void Init(const T1& p1, const T2& p2) {
+ new(space()) Type(p1, p2);
+ }
+
+ template <typename T1, typename T2, typename T3>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3) {
+ new(space()) Type(p1, p2, p3);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
+ new(space()) Type(p1, p2, p3, p4);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5) {
+ new(space()) Type(p1, p2, p3, p4, p5);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10, const T11& p11) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
+ }
+
+ inline void Destroy() {
+ get()->~Type();
+ }
+
+ private:
+ CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_;
+};
+
+#undef CERES_ALIGNED_CHAR_ARRAY
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
--- /dev/null
+// 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)
+// mierle@gmail.com (Keir Mierle)
+// tbennun@gmail.com (Tal Ben-Nun)
+//
+// Finite differencing routines used by NumericDiffCostFunction.
+
+#ifndef CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
+#define CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
+
+#include <cstring>
+
+#include "Eigen/Dense"
+#include "Eigen/StdVector"
+#include "ceres/cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/variadic_evaluate.h"
+#include "ceres/numeric_diff_options.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+
+namespace ceres {
+namespace internal {
+
+// Helper templates that allow evaluation of a variadic functor or a
+// CostFunction object.
+template <typename CostFunctor,
+ int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9 >
+bool EvaluateImpl(const CostFunctor* functor,
+ double const* const* parameters,
+ double* residuals,
+ const void* /* NOT USED */) {
+ return VariadicEvaluate<CostFunctor,
+ double,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
+ *functor,
+ parameters,
+ residuals);
+}
+
+template <typename CostFunctor,
+ int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9 >
+bool EvaluateImpl(const CostFunctor* functor,
+ double const* const* parameters,
+ double* residuals,
+ const CostFunction* /* NOT USED */) {
+ return functor->Evaluate(parameters, residuals, NULL);
+}
+
+// This is split from the main class because C++ doesn't allow partial template
+// specializations for member functions. The alternative is to repeat the main
+// class for differing numbers of parameters, which is also unfortunate.
+template <typename CostFunctor,
+ NumericDiffMethodType kMethod,
+ int kNumResiduals,
+ int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9,
+ int kParameterBlock,
+ int kParameterBlockSize>
+struct NumericDiff {
+ // Mutates parameters but must restore them before return.
+ static bool EvaluateJacobianForParameterBlock(
+ const CostFunctor* functor,
+ const double* residuals_at_eval_point,
+ const NumericDiffOptions& options,
+ int num_residuals,
+ int parameter_block_index,
+ int parameter_block_size,
+ double **parameters,
+ double *jacobian) {
+ using Eigen::Map;
+ using Eigen::Matrix;
+ using Eigen::RowMajor;
+ using Eigen::ColMajor;
+
+ const int num_residuals_internal =
+ (kNumResiduals != ceres::DYNAMIC ? kNumResiduals : num_residuals);
+ const int parameter_block_index_internal =
+ (kParameterBlock != ceres::DYNAMIC ? kParameterBlock :
+ parameter_block_index);
+ const int parameter_block_size_internal =
+ (kParameterBlockSize != ceres::DYNAMIC ? kParameterBlockSize :
+ parameter_block_size);
+
+ typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+ typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+ // The convoluted reasoning for choosing the Row/Column major
+ // ordering of the matrix is an artifact of the restrictions in
+ // Eigen that prevent it from creating RowMajor matrices with a
+ // single column. In these cases, we ask for a ColMajor matrix.
+ typedef Matrix<double,
+ kNumResiduals,
+ kParameterBlockSize,
+ (kParameterBlockSize == 1) ? ColMajor : RowMajor>
+ JacobianMatrix;
+
+ Map<JacobianMatrix> parameter_jacobian(jacobian,
+ num_residuals_internal,
+ parameter_block_size_internal);
+
+ Map<ParameterVector> x_plus_delta(
+ parameters[parameter_block_index_internal],
+ parameter_block_size_internal);
+ ParameterVector x(x_plus_delta);
+ ParameterVector step_size = x.array().abs() *
+ ((kMethod == RIDDERS) ? options.ridders_relative_initial_step_size :
+ options.relative_step_size);
+
+ // It is not a good idea to make the step size arbitrarily
+ // small. This will lead to problems with round off and numerical
+ // instability when dividing by the step size. The general
+ // recommendation is to not go down below sqrt(epsilon).
+ double min_step_size = std::sqrt(std::numeric_limits<double>::epsilon());
+
+ // For Ridders' method, the initial step size is required to be large,
+ // thus ridders_relative_initial_step_size is used.
+ if (kMethod == RIDDERS) {
+ min_step_size = std::max(min_step_size,
+ options.ridders_relative_initial_step_size);
+ }
+
+ // For each parameter in the parameter block, use finite differences to
+ // compute the derivative for that parameter.
+ FixedArray<double> temp_residual_array(num_residuals_internal);
+ FixedArray<double> residual_array(num_residuals_internal);
+ Map<ResidualVector> residuals(residual_array.get(),
+ num_residuals_internal);
+
+ for (int j = 0; j < parameter_block_size_internal; ++j) {
+ const double delta = std::max(min_step_size, step_size(j));
+
+ if (kMethod == RIDDERS) {
+ if (!EvaluateRiddersJacobianColumn(functor, j, delta,
+ options,
+ num_residuals_internal,
+ parameter_block_size_internal,
+ x.data(),
+ residuals_at_eval_point,
+ parameters,
+ x_plus_delta.data(),
+ temp_residual_array.get(),
+ residual_array.get())) {
+ return false;
+ }
+ } else {
+ if (!EvaluateJacobianColumn(functor, j, delta,
+ num_residuals_internal,
+ parameter_block_size_internal,
+ x.data(),
+ residuals_at_eval_point,
+ parameters,
+ x_plus_delta.data(),
+ temp_residual_array.get(),
+ residual_array.get())) {
+ return false;
+ }
+ }
+
+ parameter_jacobian.col(j).matrix() = residuals;
+ }
+ return true;
+ }
+
+ static bool EvaluateJacobianColumn(const CostFunctor* functor,
+ int parameter_index,
+ double delta,
+ int num_residuals,
+ int parameter_block_size,
+ const double* x_ptr,
+ const double* residuals_at_eval_point,
+ double** parameters,
+ double* x_plus_delta_ptr,
+ double* temp_residuals_ptr,
+ double* residuals_ptr) {
+ using Eigen::Map;
+ using Eigen::Matrix;
+
+ typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+ typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+ Map<const ParameterVector> x(x_ptr, parameter_block_size);
+ Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
+ parameter_block_size);
+
+ Map<ResidualVector> residuals(residuals_ptr, num_residuals);
+ Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
+
+ // Mutate 1 element at a time and then restore.
+ x_plus_delta(parameter_index) = x(parameter_index) + delta;
+
+ if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+ functor, parameters, residuals.data(), functor)) {
+ return false;
+ }
+
+ // Compute this column of the jacobian in 3 steps:
+ // 1. Store residuals for the forward part.
+ // 2. Subtract residuals for the backward (or 0) part.
+ // 3. Divide out the run.
+ double one_over_delta = 1.0 / delta;
+ if (kMethod == CENTRAL || kMethod == RIDDERS) {
+ // Compute the function on the other side of x(parameter_index).
+ x_plus_delta(parameter_index) = x(parameter_index) - delta;
+
+ if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+ functor, parameters, temp_residuals.data(), functor)) {
+ return false;
+ }
+
+ residuals -= temp_residuals;
+ one_over_delta /= 2;
+ } else {
+ // Forward difference only; reuse existing residuals evaluation.
+ residuals -=
+ Map<const ResidualVector>(residuals_at_eval_point,
+ num_residuals);
+ }
+
+ // Restore x_plus_delta.
+ x_plus_delta(parameter_index) = x(parameter_index);
+
+ // Divide out the run to get slope.
+ residuals *= one_over_delta;
+
+ return true;
+ }
+
+ // This numeric difference implementation uses adaptive differentiation
+ // on the parameters to obtain the Jacobian matrix. The adaptive algorithm
+ // is based on Ridders' method for adaptive differentiation, which creates
+ // a Romberg tableau from varying step sizes and extrapolates the
+ // intermediate results to obtain the current computational error.
+ //
+ // References:
+ // C.J.F. Ridders, Accurate computation of F'(x) and F'(x) F"(x), Advances
+ // in Engineering Software (1978), Volume 4, Issue 2, April 1982,
+ // Pages 75-76, ISSN 0141-1195,
+ // http://dx.doi.org/10.1016/S0141-1195(82)80057-0.
+ static bool EvaluateRiddersJacobianColumn(
+ const CostFunctor* functor,
+ int parameter_index,
+ double delta,
+ const NumericDiffOptions& options,
+ int num_residuals,
+ int parameter_block_size,
+ const double* x_ptr,
+ const double* residuals_at_eval_point,
+ double** parameters,
+ double* x_plus_delta_ptr,
+ double* temp_residuals_ptr,
+ double* residuals_ptr) {
+ using Eigen::Map;
+ using Eigen::Matrix;
+ using Eigen::aligned_allocator;
+
+ typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+ typedef Matrix<double, kNumResiduals, Eigen::Dynamic> ResidualCandidateMatrix;
+ typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+ Map<const ParameterVector> x(x_ptr, parameter_block_size);
+ Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
+ parameter_block_size);
+
+ Map<ResidualVector> residuals(residuals_ptr, num_residuals);
+ Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
+
+ // In order for the algorithm to converge, the step size should be
+ // initialized to a value that is large enough to produce a significant
+ // change in the function.
+ // As the derivative is estimated, the step size decreases.
+ // By default, the step sizes are chosen so that the middle column
+ // of the Romberg tableau uses the input delta.
+ double current_step_size = delta *
+ pow(options.ridders_step_shrink_factor,
+ options.max_num_ridders_extrapolations / 2);
+
+ // Double-buffering temporary differential candidate vectors
+ // from previous step size.
+ ResidualCandidateMatrix stepsize_candidates_a(
+ num_residuals,
+ options.max_num_ridders_extrapolations);
+ ResidualCandidateMatrix stepsize_candidates_b(
+ num_residuals,
+ options.max_num_ridders_extrapolations);
+ ResidualCandidateMatrix* current_candidates = &stepsize_candidates_a;
+ ResidualCandidateMatrix* previous_candidates = &stepsize_candidates_b;
+
+ // Represents the computational error of the derivative. This variable is
+ // initially set to a large value, and is set to the difference between
+ // current and previous finite difference extrapolations.
+ // norm_error is supposed to decrease as the finite difference tableau
+ // generation progresses, serving both as an estimate for differentiation
+ // error and as a measure of differentiation numerical stability.
+ double norm_error = std::numeric_limits<double>::max();
+
+ // Loop over decreasing step sizes until:
+ // 1. Error is smaller than a given value (ridders_epsilon),
+ // 2. Maximal order of extrapolation reached, or
+ // 3. Extrapolation becomes numerically unstable.
+ for (int i = 0; i < options.max_num_ridders_extrapolations; ++i) {
+ // Compute the numerical derivative at this step size.
+ if (!EvaluateJacobianColumn(functor, parameter_index, current_step_size,
+ num_residuals,
+ parameter_block_size,
+ x.data(),
+ residuals_at_eval_point,
+ parameters,
+ x_plus_delta.data(),
+ temp_residuals.data(),
+ current_candidates->col(0).data())) {
+ // Something went wrong; bail.
+ return false;
+ }
+
+ // Store initial results.
+ if (i == 0) {
+ residuals = current_candidates->col(0);
+ }
+
+ // Shrink differentiation step size.
+ current_step_size /= options.ridders_step_shrink_factor;
+
+ // Extrapolation factor for Richardson acceleration method (see below).
+ double richardson_factor = options.ridders_step_shrink_factor *
+ options.ridders_step_shrink_factor;
+ for (int k = 1; k <= i; ++k) {
+ // Extrapolate the various orders of finite differences using
+ // the Richardson acceleration method.
+ current_candidates->col(k) =
+ (richardson_factor * current_candidates->col(k - 1) -
+ previous_candidates->col(k - 1)) / (richardson_factor - 1.0);
+
+ richardson_factor *= options.ridders_step_shrink_factor *
+ options.ridders_step_shrink_factor;
+
+ // Compute the difference between the previous value and the current.
+ double candidate_error = std::max(
+ (current_candidates->col(k) -
+ current_candidates->col(k - 1)).norm(),
+ (current_candidates->col(k) -
+ previous_candidates->col(k - 1)).norm());
+
+ // If the error has decreased, update results.
+ if (candidate_error <= norm_error) {
+ norm_error = candidate_error;
+ residuals = current_candidates->col(k);
+
+ // If the error is small enough, stop.
+ if (norm_error < options.ridders_epsilon) {
+ break;
+ }
+ }
+ }
+
+ // After breaking out of the inner loop, declare convergence.
+ if (norm_error < options.ridders_epsilon) {
+ break;
+ }
+
+ // Check to see if the current gradient estimate is numerically unstable.
+ // If so, bail out and return the last stable result.
+ if (i > 0) {
+ double tableau_error = (current_candidates->col(i) -
+ previous_candidates->col(i - 1)).norm();
+
+ // Compare current error to the chosen candidate's error.
+ if (tableau_error >= 2 * norm_error) {
+ break;
+ }
+ }
+
+ std::swap(current_candidates, previous_candidates);
+ }
+ return true;
+ }
+};
+
+template <typename CostFunctor,
+ NumericDiffMethodType kMethod,
+ int kNumResiduals,
+ int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9,
+ int kParameterBlock>
+struct NumericDiff<CostFunctor, kMethod, kNumResiduals,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9,
+ kParameterBlock, 0> {
+ // Mutates parameters but must restore them before return.
+ static bool EvaluateJacobianForParameterBlock(
+ const CostFunctor* functor,
+ const double* residuals_at_eval_point,
+ const NumericDiffOptions& options,
+ const int num_residuals,
+ const int parameter_block_index,
+ const int parameter_block_size,
+ double **parameters,
+ double *jacobian) {
+ // Silence unused parameter compiler warnings.
+ (void)functor;
+ (void)residuals_at_eval_point;
+ (void)options;
+ (void)num_residuals;
+ (void)parameter_block_index;
+ (void)parameter_block_size;
+ (void)parameters;
+ (void)jacobian;
+ LOG(FATAL) << "Control should never reach here.";
+ return true;
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_PORT_H_
+#define CERES_PUBLIC_INTERNAL_PORT_H_
+
+// This file needs to compile as c code.
+#ifdef __cplusplus
+#include <cstddef>
+#include "ceres/internal/config.h"
+#if defined(CERES_TR1_MEMORY_HEADER)
+#include <tr1/memory>
+#else
+#include <memory>
+#endif
+
+namespace ceres {
+
+#if defined(CERES_TR1_SHARED_PTR)
+using std::tr1::shared_ptr;
+#else
+using std::shared_ptr;
+#endif
+
+// We allocate some Eigen objects on the stack and other places they
+// might not be aligned to X(=16 [SSE], 32 [AVX] etc)-byte boundaries. If we
+// have C++11, we can specify their alignment (which is desirable, as it means
+// we can safely enable vectorisation on matrices). However, the standard gives
+// wide lattitude as to what alignments are legal. It must be the case that
+// alignments up to alignof(std::max_align_t) are valid, but this might be < 16
+// on some platforms, in which case even if using C++11, on these platforms
+// we should not attempt to align to X-byte boundaries. If using < C++11,
+// we cannot specify the alignment.
+#ifdef CERES_USE_CXX11
+namespace port_constants {
+static constexpr size_t kMaxAlignBytes =
+ // Work around a GCC 4.8 bug
+ // (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=56019) where
+ // std::max_align_t is misplaced.
+#if defined (__GNUC__) && __GNUC__ == 4 && __GNUC_MINOR__ == 8
+ alignof(::max_align_t);
+#else
+ alignof(std::max_align_t);
+#endif
+} // namespace port_constants
+#endif
+
+} // namespace ceres
+
+#endif // __cplusplus
+
+// A macro to signal which functions and classes are exported when
+// building a DLL with MSVC.
+//
+// Note that the ordering here is important, CERES_BUILDING_SHARED_LIBRARY
+// is only defined locally when Ceres is compiled, it is never exported to
+// users. However, in order that we do not have to configure config.h
+// separately for building vs installing, if we are using MSVC and building
+// a shared library, then both CERES_BUILDING_SHARED_LIBRARY and
+// CERES_USING_SHARED_LIBRARY will be defined when Ceres is compiled.
+// Hence it is important that the check for CERES_BUILDING_SHARED_LIBRARY
+// happens first.
+#if defined(_MSC_VER) && defined(CERES_BUILDING_SHARED_LIBRARY)
+# define CERES_EXPORT __declspec(dllexport)
+#elif defined(_MSC_VER) && defined(CERES_USING_SHARED_LIBRARY)
+# define CERES_EXPORT __declspec(dllimport)
+#else
+# define CERES_EXPORT
+#endif
+
+#endif // CERES_PUBLIC_INTERNAL_PORT_H_
--- /dev/null
+// 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.
+//
+
+// This is not your usual header guard. See disable_warnings.h
+#ifdef CERES_WARNINGS_DISABLED
+#undef CERES_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+#pragma warning( pop )
+#endif
+
+#endif // CERES_WARNINGS_DISABLED
--- /dev/null
+// 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: jorg@google.com (Jorg Brown)
+//
+// This is an implementation designed to match the anticipated future TR2
+// implementation of the scoped_ptr class, and its closely-related brethren,
+// scoped_array, scoped_ptr_malloc, and make_scoped_ptr.
+
+#ifndef CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+#define CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <cstddef>
+#include <algorithm>
+
+namespace ceres {
+namespace internal {
+
+template <class C> class scoped_ptr;
+template <class C, class Free> class scoped_ptr_malloc;
+template <class C> class scoped_array;
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *);
+
+// A scoped_ptr<T> is like a T*, except that the destructor of
+// scoped_ptr<T> automatically deletes the pointer it holds (if
+// any). That is, scoped_ptr<T> owns the T object that it points
+// to. Like a T*, a scoped_ptr<T> may hold either NULL or a pointer to
+// a T object. Also like T*, scoped_ptr<T> is thread-compatible, and
+// once you dereference it, you get the threadsafety guarantees of T.
+//
+// The size of a scoped_ptr is small: sizeof(scoped_ptr<C>) == sizeof(C*)
+template <class C>
+class scoped_ptr {
+ public:
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_ptr.
+ // The input parameter must be allocated with new.
+ explicit scoped_ptr(C* p = NULL) : ptr_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_ptr() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != ptr_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ ptr_ = p;
+ }
+ }
+
+ // Accessors to get the owned object.
+ // operator* and operator-> will assert() if there is no current object.
+ C& operator*() const {
+ assert(ptr_ != NULL);
+ return *ptr_;
+ }
+ C* operator->() const {
+ assert(ptr_ != NULL);
+ return ptr_;
+ }
+ C* get() const { return ptr_; }
+
+ // Comparison operators.
+ // These return whether a scoped_ptr and a raw pointer refer to
+ // the same object, not just to two different but equal objects.
+ bool operator==(const C* p) const { return ptr_ == p; }
+ bool operator!=(const C* p) const { return ptr_ != p; }
+
+ // Swap two scoped pointers.
+ void swap(scoped_ptr& p2) {
+ C* tmp = ptr_;
+ ptr_ = p2.ptr_;
+ p2.ptr_ = tmp;
+ }
+
+ // Release a pointer.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = ptr_;
+ ptr_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* ptr_;
+
+ // google3 friend class that can access copy ctor (although if it actually
+ // calls a copy ctor, there will be a problem) see below
+ friend scoped_ptr<C> make_scoped_ptr<C>(C *p);
+
+ // Forbid comparison of scoped_ptr types. If C2 != C, it totally doesn't
+ // make sense, and if C2 == C, it still doesn't make sense because you should
+ // never have the same object owned by two different scoped_ptrs.
+ template <class C2> bool operator==(scoped_ptr<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_ptr<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_ptr(const scoped_ptr&);
+ void operator=(const scoped_ptr&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_ptr<C>& p1, scoped_ptr<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *p) {
+ // This does nothing but to return a scoped_ptr of the type that the passed
+ // pointer is of. (This eliminates the need to specify the name of T when
+ // making a scoped_ptr that is used anonymously/temporarily.) From an
+ // access control point of view, we construct an unnamed scoped_ptr here
+ // which we return and thus copy-construct. Hence, we need to have access
+ // to scoped_ptr::scoped_ptr(scoped_ptr const &). However, it is guaranteed
+ // that we never actually call the copy constructor, which is a good thing
+ // as we would call the temporary's object destructor (and thus delete p)
+ // if we actually did copy some object, here.
+ return scoped_ptr<C>(p);
+}
+
+// scoped_array<C> is like scoped_ptr<C>, except that the caller must allocate
+// with new [] and the destructor deletes objects with delete [].
+//
+// As with scoped_ptr<C>, a scoped_array<C> either points to an object
+// or is NULL. A scoped_array<C> owns the object that it points to.
+// scoped_array<T> is thread-compatible, and once you index into it,
+// the returned objects have only the threadsafety guarantees of T.
+//
+// Size: sizeof(scoped_array<C>) == sizeof(C*)
+template <class C>
+class scoped_array {
+ public:
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_array.
+ // The input parameter must be allocated with new [].
+ explicit scoped_array(C* p = NULL) : array_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_array() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != array_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ array_ = p;
+ }
+ }
+
+ // Get one element of the current object.
+ // Will assert() if there is no current object, or index i is negative.
+ C& operator[](std::ptrdiff_t i) const {
+ assert(i >= 0);
+ assert(array_ != NULL);
+ return array_[i];
+ }
+
+ // Get a pointer to the zeroth element of the current object.
+ // If there is no current object, return NULL.
+ C* get() const {
+ return array_;
+ }
+
+ // Comparison operators.
+ // These return whether a scoped_array and a raw pointer refer to
+ // the same array, not just to two different but equal arrays.
+ bool operator==(const C* p) const { return array_ == p; }
+ bool operator!=(const C* p) const { return array_ != p; }
+
+ // Swap two scoped arrays.
+ void swap(scoped_array& p2) {
+ C* tmp = array_;
+ array_ = p2.array_;
+ p2.array_ = tmp;
+ }
+
+ // Release an array.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = array_;
+ array_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* array_;
+
+ // Forbid comparison of different scoped_array types.
+ template <class C2> bool operator==(scoped_array<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_array<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_array(const scoped_array&);
+ void operator=(const scoped_array&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_array<C>& p1, scoped_array<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<const C>& p2) {
+ return p1 != p2.get();
+}
+
+// This class wraps the c library function free() in a class that can be
+// passed as a template argument to scoped_ptr_malloc below.
+class ScopedPtrMallocFree {
+ public:
+ inline void operator()(void* x) const {
+ free(x);
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
--- /dev/null
+// 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)
+// mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
+#define CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
+
+#include <stddef.h>
+
+#include "ceres/jet.h"
+#include "ceres/types.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// This block of quasi-repeated code calls the user-supplied functor, which may
+// take a variable number of arguments. This is accomplished by specializing the
+// struct based on the size of the trailing parameters; parameters with 0 size
+// are assumed missing.
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9>
+struct VariadicEvaluate {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ input[8],
+ input[9],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ input[8],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1>
+struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0>
+struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ output);
+ }
+};
+
+// Template instantiation for dynamically-sized functors.
+template<typename Functor, typename T>
+struct VariadicEvaluate<Functor, T, ceres::DYNAMIC, ceres::DYNAMIC,
+ ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
+ ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
+ ceres::DYNAMIC, ceres::DYNAMIC> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input, output);
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
--- /dev/null
+// 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)
+//
+// When an iteration callback is specified, Ceres calls the callback
+// after each minimizer step (if the minimizer has not converged) and
+// passes it an IterationSummary object, defined below.
+
+#ifndef CERES_PUBLIC_ITERATION_CALLBACK_H_
+#define CERES_PUBLIC_ITERATION_CALLBACK_H_
+
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This struct describes the state of the optimizer after each
+// iteration of the minimization.
+struct CERES_EXPORT IterationSummary {
+ IterationSummary()
+ : iteration(0),
+ step_is_valid(false),
+ step_is_nonmonotonic(false),
+ step_is_successful(false),
+ cost(0.0),
+ cost_change(0.0),
+ gradient_max_norm(0.0),
+ gradient_norm(0.0),
+ step_norm(0.0),
+ eta(0.0),
+ step_size(0.0),
+ line_search_function_evaluations(0),
+ line_search_gradient_evaluations(0),
+ line_search_iterations(0),
+ linear_solver_iterations(0),
+ iteration_time_in_seconds(0.0),
+ step_solver_time_in_seconds(0.0),
+ cumulative_time_in_seconds(0.0) {}
+
+ // Current iteration number.
+ int32 iteration;
+
+ // Step was numerically valid, i.e., all values are finite and the
+ // step reduces the value of the linearized model.
+ //
+ // Note: step_is_valid is always true when iteration = 0.
+ bool step_is_valid;
+
+ // Step did not reduce the value of the objective function
+ // sufficiently, but it was accepted because of the relaxed
+ // acceptance criterion used by the non-monotonic trust region
+ // algorithm.
+ //
+ // Note: step_is_nonmonotonic is always false when iteration = 0;
+ bool step_is_nonmonotonic;
+
+ // Whether or not the minimizer accepted this step or not. If the
+ // ordinary trust region algorithm is used, this means that the
+ // relative reduction in the objective function value was greater
+ // than Solver::Options::min_relative_decrease. However, if the
+ // non-monotonic trust region algorithm is used
+ // (Solver::Options:use_nonmonotonic_steps = true), then even if the
+ // relative decrease is not sufficient, the algorithm may accept the
+ // step and the step is declared successful.
+ //
+ // Note: step_is_successful is always true when iteration = 0.
+ bool step_is_successful;
+
+ // Value of the objective function.
+ double cost;
+
+ // Change in the value of the objective function in this
+ // iteration. This can be positive or negative.
+ double cost_change;
+
+ // Infinity norm of the gradient vector.
+ double gradient_max_norm;
+
+ // 2-norm of the gradient vector.
+ double gradient_norm;
+
+ // 2-norm of the size of the step computed by the optimization
+ // algorithm.
+ double step_norm;
+
+ // For trust region algorithms, the ratio of the actual change in
+ // cost and the change in the cost of the linearized approximation.
+ double relative_decrease;
+
+ // Size of the trust region at the end of the current iteration. For
+ // the Levenberg-Marquardt algorithm, the regularization parameter
+ // mu = 1.0 / trust_region_radius.
+ double trust_region_radius;
+
+ // For the inexact step Levenberg-Marquardt algorithm, this is the
+ // relative accuracy with which the Newton(LM) step is solved. This
+ // number affects only the iterative solvers capable of solving
+ // linear systems inexactly. Factorization-based exact solvers
+ // ignore it.
+ double eta;
+
+ // Step sized computed by the line search algorithm.
+ double step_size;
+
+ // Number of function value evaluations used by the line search algorithm.
+ int line_search_function_evaluations;
+
+ // Number of function gradient evaluations used by the line search algorithm.
+ int line_search_gradient_evaluations;
+
+ // Number of iterations taken by the line search algorithm.
+ int line_search_iterations;
+
+ // Number of iterations taken by the linear solver to solve for the
+ // Newton step.
+ int linear_solver_iterations;
+
+ // All times reported below are wall times.
+
+ // Time (in seconds) spent inside the minimizer loop in the current
+ // iteration.
+ double iteration_time_in_seconds;
+
+ // Time (in seconds) spent inside the trust region step solver.
+ double step_solver_time_in_seconds;
+
+ // Time (in seconds) since the user called Solve().
+ double cumulative_time_in_seconds;
+};
+
+// Interface for specifying callbacks that are executed at the end of
+// each iteration of the Minimizer. The solver uses the return value
+// of operator() to decide whether to continue solving or to
+// terminate. The user can return three values.
+//
+// SOLVER_ABORT indicates that the callback detected an abnormal
+// situation. The solver returns without updating the parameter blocks
+// (unless Solver::Options::update_state_every_iteration is set
+// true). Solver returns with Solver::Summary::termination_type set to
+// USER_ABORT.
+//
+// SOLVER_TERMINATE_SUCCESSFULLY indicates that there is no need to
+// optimize anymore (some user specified termination criterion has
+// been met). Solver returns with Solver::Summary::termination_type
+// set to USER_SUCCESS.
+//
+// SOLVER_CONTINUE indicates that the solver should continue
+// optimizing.
+//
+// For example, the following Callback is used internally by Ceres to
+// log the progress of the optimization.
+//
+// Callback for logging the state of the minimizer to STDERR or STDOUT
+// depending on the user's preferences and logging level.
+//
+// class LoggingCallback : public IterationCallback {
+// public:
+// explicit LoggingCallback(bool log_to_stdout)
+// : log_to_stdout_(log_to_stdout) {}
+//
+// ~LoggingCallback() {}
+//
+// CallbackReturnType operator()(const IterationSummary& summary) {
+// const char* kReportRowFormat =
+// "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+// "rho:% 3.2e mu:% 3.2e eta:% 3.2e li:% 3d";
+// string output = StringPrintf(kReportRowFormat,
+// summary.iteration,
+// summary.cost,
+// summary.cost_change,
+// summary.gradient_max_norm,
+// summary.step_norm,
+// summary.relative_decrease,
+// summary.trust_region_radius,
+// summary.eta,
+// summary.linear_solver_iterations);
+// if (log_to_stdout_) {
+// cout << output << endl;
+// } else {
+// VLOG(1) << output;
+// }
+// return SOLVER_CONTINUE;
+// }
+//
+// private:
+// const bool log_to_stdout_;
+// };
+//
+class CERES_EXPORT IterationCallback {
+ public:
+ virtual ~IterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) = 0;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_ITERATION_CALLBACK_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A simple implementation of N-dimensional dual numbers, for automatically
+// computing exact derivatives of functions.
+//
+// While a complete treatment of the mechanics of automatic differentation is
+// beyond the scope of this header (see
+// http://en.wikipedia.org/wiki/Automatic_differentiation for details), the
+// basic idea is to extend normal arithmetic with an extra element, "e," often
+// denoted with the greek symbol epsilon, such that e != 0 but e^2 = 0. Dual
+// numbers are extensions of the real numbers analogous to complex numbers:
+// whereas complex numbers augment the reals by introducing an imaginary unit i
+// such that i^2 = -1, dual numbers introduce an "infinitesimal" unit e such
+// that e^2 = 0. Dual numbers have two components: the "real" component and the
+// "infinitesimal" component, generally written as x + y*e. Surprisingly, this
+// leads to a convenient method for computing exact derivatives without needing
+// to manipulate complicated symbolic expressions.
+//
+// For example, consider the function
+//
+// f(x) = x^2 ,
+//
+// evaluated at 10. Using normal arithmetic, f(10) = 100, and df/dx(10) = 20.
+// Next, augument 10 with an infinitesimal to get:
+//
+// f(10 + e) = (10 + e)^2
+// = 100 + 2 * 10 * e + e^2
+// = 100 + 20 * e -+-
+// -- |
+// | +--- This is zero, since e^2 = 0
+// |
+// +----------------- This is df/dx!
+//
+// Note that the derivative of f with respect to x is simply the infinitesimal
+// component of the value of f(x + e). So, in order to take the derivative of
+// any function, it is only necessary to replace the numeric "object" used in
+// the function with one extended with infinitesimals. The class Jet, defined in
+// this header, is one such example of this, where substitution is done with
+// templates.
+//
+// To handle derivatives of functions taking multiple arguments, different
+// infinitesimals are used, one for each variable to take the derivative of. For
+// example, consider a scalar function of two scalar parameters x and y:
+//
+// f(x, y) = x^2 + x * y
+//
+// Following the technique above, to compute the derivatives df/dx and df/dy for
+// f(1, 3) involves doing two evaluations of f, the first time replacing x with
+// x + e, the second time replacing y with y + e.
+//
+// For df/dx:
+//
+// f(1 + e, y) = (1 + e)^2 + (1 + e) * 3
+// = 1 + 2 * e + 3 + 3 * e
+// = 4 + 5 * e
+//
+// --> df/dx = 5
+//
+// For df/dy:
+//
+// f(1, 3 + e) = 1^2 + 1 * (3 + e)
+// = 1 + 3 + e
+// = 4 + e
+//
+// --> df/dy = 1
+//
+// To take the gradient of f with the implementation of dual numbers ("jets") in
+// this file, it is necessary to create a single jet type which has components
+// for the derivative in x and y, and passing them to a templated version of f:
+//
+// template<typename T>
+// T f(const T &x, const T &y) {
+// return x * x + x * y;
+// }
+//
+// // The "2" means there should be 2 dual number components.
+// Jet<double, 2> x(0); // Pick the 0th dual number for x.
+// Jet<double, 2> y(1); // Pick the 1st dual number for y.
+// Jet<double, 2> z = f(x, y);
+//
+// LOG(INFO) << "df/dx = " << z.v[0]
+// << "df/dy = " << z.v[1];
+//
+// Most users should not use Jet objects directly; a wrapper around Jet objects,
+// which makes computing the derivative, gradient, or jacobian of templated
+// functors simple, is in autodiff.h. Even autodiff.h should not be used
+// directly; instead autodiff_cost_function.h is typically the file of interest.
+//
+// For the more mathematically inclined, this file implements first-order
+// "jets". A 1st order jet is an element of the ring
+//
+// T[N] = T[t_1, ..., t_N] / (t_1, ..., t_N)^2
+//
+// which essentially means that each jet consists of a "scalar" value 'a' from T
+// and a 1st order perturbation vector 'v' of length N:
+//
+// x = a + \sum_i v[i] t_i
+//
+// A shorthand is to write an element as x = a + u, where u is the pertubation.
+// Then, the main point about the arithmetic of jets is that the product of
+// perturbations is zero:
+//
+// (a + u) * (b + v) = ab + av + bu + uv
+// = ab + (av + bu) + 0
+//
+// which is what operator* implements below. Addition is simpler:
+//
+// (a + u) + (b + v) = (a + b) + (u + v).
+//
+// The only remaining question is how to evaluate the function of a jet, for
+// which we use the chain rule:
+//
+// f(a + u) = f(a) + f'(a) u
+//
+// where f'(a) is the (scalar) derivative of f at a.
+//
+// By pushing these things through sufficiently and suitably templated
+// functions, we can do automatic differentiation. Just be sure to turn on
+// function inlining and common-subexpression elimination, or it will be very
+// slow!
+//
+// WARNING: Most Ceres users should not directly include this file or know the
+// details of how jets work. Instead the suggested method for automatic
+// derivatives is to use autodiff_cost_function.h, which is a wrapper around
+// both jets.h and autodiff.h to make taking derivatives of cost functions for
+// use in Ceres easier.
+
+#ifndef CERES_PUBLIC_JET_H_
+#define CERES_PUBLIC_JET_H_
+
+#include <cmath>
+#include <iosfwd>
+#include <iostream> // NOLINT
+#include <limits>
+#include <string>
+
+#include "Eigen/Core"
+#include "ceres/fpclassify.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+template <typename T, int N>
+struct Jet {
+ enum { DIMENSION = N };
+
+ // Default-construct "a" because otherwise this can lead to false errors about
+ // uninitialized uses when other classes relying on default constructed T
+ // (where T is a Jet<T, N>). This usually only happens in opt mode. Note that
+ // the C++ standard mandates that e.g. default constructed doubles are
+ // initialized to 0.0; see sections 8.5 of the C++03 standard.
+ Jet() : a() {
+ v.setZero();
+ }
+
+ // Constructor from scalar: a + 0.
+ explicit Jet(const T& value) {
+ a = value;
+ v.setZero();
+ }
+
+ // Constructor from scalar plus variable: a + t_i.
+ Jet(const T& value, int k) {
+ a = value;
+ v.setZero();
+ v[k] = T(1.0);
+ }
+
+ // Constructor from scalar and vector part
+ // The use of Eigen::DenseBase allows Eigen expressions
+ // to be passed in without being fully evaluated until
+ // they are assigned to v
+ template<typename Derived>
+ EIGEN_STRONG_INLINE Jet(const T& a, const Eigen::DenseBase<Derived> &v)
+ : a(a), v(v) {
+ }
+
+ // Compound operators
+ Jet<T, N>& operator+=(const Jet<T, N> &y) {
+ *this = *this + y;
+ return *this;
+ }
+
+ Jet<T, N>& operator-=(const Jet<T, N> &y) {
+ *this = *this - y;
+ return *this;
+ }
+
+ Jet<T, N>& operator*=(const Jet<T, N> &y) {
+ *this = *this * y;
+ return *this;
+ }
+
+ Jet<T, N>& operator/=(const Jet<T, N> &y) {
+ *this = *this / y;
+ return *this;
+ }
+
+ // Compound with scalar operators.
+ Jet<T, N>& operator+=(const T& s) {
+ *this = *this + s;
+ return *this;
+ }
+
+ Jet<T, N>& operator-=(const T& s) {
+ *this = *this - s;
+ return *this;
+ }
+
+ Jet<T, N>& operator*=(const T& s) {
+ *this = *this * s;
+ return *this;
+ }
+
+ Jet<T, N>& operator/=(const T& s) {
+ *this = *this / s;
+ return *this;
+ }
+
+ // The scalar part.
+ T a;
+
+ // The infinitesimal part.
+ //
+ // We allocate Jets on the stack and other places they might not be aligned
+ // to X(=16 [SSE], 32 [AVX] etc)-byte boundaries, which would prevent the safe
+ // use of vectorisation. If we have C++11, we can specify the alignment.
+ // However, the standard gives wide lattitude as to what alignments are valid,
+ // and it might be that the maximum supported alignment *guaranteed* to be
+ // supported is < 16, in which case we do not specify an alignment, as this
+ // implies the host is not a modern x86 machine. If using < C++11, we cannot
+ // specify alignment.
+#ifndef CERES_USE_CXX11
+ // Without >= C++11, we cannot specify the alignment so fall back to safe,
+ // unvectorised version.
+ Eigen::Matrix<T, N, 1, Eigen::DontAlign> v;
+#else
+ // Enable vectorisation iff the maximum supported scalar alignment is >=
+ // 16 bytes, as this is the minimum required by Eigen for any vectorisation.
+ //
+ // NOTE: It might be the case that we could get >= 16-byte alignment even if
+ // kMaxAlignBytes < 16. However we can't guarantee that this
+ // would happen (and it should not for any modern x86 machine) and if it
+ // didn't, we could get misaligned Jets.
+ static constexpr int kAlignOrNot =
+ 16 <= ::ceres::port_constants::kMaxAlignBytes
+ ? Eigen::AutoAlign : Eigen::DontAlign;
+#if defined(EIGEN_MAX_ALIGN_BYTES)
+ // Eigen >= 3.3 supports AVX & FMA instructions that require 32-byte alignment
+ // (greater for AVX512). Rather than duplicating the detection logic, use
+ // Eigen's macro for the alignment size.
+ //
+ // NOTE: EIGEN_MAX_ALIGN_BYTES can be > 16 (e.g. 32 for AVX), even though
+ // kMaxAlignBytes will max out at 16. We are therefore relying on
+ // Eigen's detection logic to ensure that this does not result in
+ // misaligned Jets.
+#define CERES_JET_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#else
+ // Eigen < 3.3 only supported 16-byte alignment.
+#define CERES_JET_ALIGN_BYTES 16
+#endif
+ // Default to the native alignment if 16-byte alignment is not guaranteed to
+ // be supported. We cannot use alignof(T) as if we do, GCC 4.8 complains that
+ // the alignment 'is not an integer constant', although Clang accepts it.
+ static constexpr size_t kAlignment = kAlignOrNot == Eigen::AutoAlign
+ ? CERES_JET_ALIGN_BYTES : alignof(double);
+#undef CERES_JET_ALIGN_BYTES
+ alignas(kAlignment) Eigen::Matrix<T, N, 1, kAlignOrNot> v;
+#endif
+};
+
+// Unary +
+template<typename T, int N> inline
+Jet<T, N> const& operator+(const Jet<T, N>& f) {
+ return f;
+}
+
+// TODO(keir): Try adding __attribute__((always_inline)) to these functions to
+// see if it causes a performance increase.
+
+// Unary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>&f) {
+ return Jet<T, N>(-f.a, -f.v);
+}
+
+// Binary +
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ return Jet<T, N>(f.a + g.a, f.v + g.v);
+}
+
+// Binary + with a scalar: x + s
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f, T s) {
+ return Jet<T, N>(f.a + s, f.v);
+}
+
+// Binary + with a scalar: s + x
+template<typename T, int N> inline
+Jet<T, N> operator+(T s, const Jet<T, N>& f) {
+ return Jet<T, N>(f.a + s, f.v);
+}
+
+// Binary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ return Jet<T, N>(f.a - g.a, f.v - g.v);
+}
+
+// Binary - with a scalar: x - s
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f, T s) {
+ return Jet<T, N>(f.a - s, f.v);
+}
+
+// Binary - with a scalar: s - x
+template<typename T, int N> inline
+Jet<T, N> operator-(T s, const Jet<T, N>& f) {
+ return Jet<T, N>(s - f.a, -f.v);
+}
+
+// Binary *
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ return Jet<T, N>(f.a * g.a, f.a * g.v + f.v * g.a);
+}
+
+// Binary * with a scalar: x * s
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f, T s) {
+ return Jet<T, N>(f.a * s, f.v * s);
+}
+
+// Binary * with a scalar: s * x
+template<typename T, int N> inline
+Jet<T, N> operator*(T s, const Jet<T, N>& f) {
+ return Jet<T, N>(f.a * s, f.v * s);
+}
+
+// Binary /
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ // This uses:
+ //
+ // a + u (a + u)(b - v) (a + u)(b - v)
+ // ----- = -------------- = --------------
+ // b + v (b + v)(b - v) b^2
+ //
+ // which holds because v*v = 0.
+ const T g_a_inverse = T(1.0) / g.a;
+ const T f_a_by_g_a = f.a * g_a_inverse;
+ return Jet<T, N>(f.a * g_a_inverse, (f.v - f_a_by_g_a * g.v) * g_a_inverse);
+}
+
+// Binary / with a scalar: s / x
+template<typename T, int N> inline
+Jet<T, N> operator/(T s, const Jet<T, N>& g) {
+ const T minus_s_g_a_inverse2 = -s / (g.a * g.a);
+ return Jet<T, N>(s / g.a, g.v * minus_s_g_a_inverse2);
+}
+
+// Binary / with a scalar: x / s
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f, T s) {
+ const T s_inverse = T(1.0) / s;
+ return Jet<T, N>(f.a * s_inverse, f.v * s_inverse);
+}
+
+// Binary comparison operators for both scalars and jets.
+#define CERES_DEFINE_JET_COMPARISON_OPERATOR(op) \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const Jet<T, N>& g) { \
+ return f.a op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const T& s, const Jet<T, N>& g) { \
+ return s op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const T& s) { \
+ return f.a op s; \
+}
+CERES_DEFINE_JET_COMPARISON_OPERATOR( < ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( <= ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( > ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( >= ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( == ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( != ) // NOLINT
+#undef CERES_DEFINE_JET_COMPARISON_OPERATOR
+
+// Pull some functions from namespace std.
+//
+// This is necessary because we want to use the same name (e.g. 'sqrt') for
+// double-valued and Jet-valued functions, but we are not allowed to put
+// Jet-valued functions inside namespace std.
+//
+// TODO(keir): Switch to "using".
+inline double abs (double x) { return std::abs(x); }
+inline double log (double x) { return std::log(x); }
+inline double exp (double x) { return std::exp(x); }
+inline double sqrt (double x) { return std::sqrt(x); }
+inline double cos (double x) { return std::cos(x); }
+inline double acos (double x) { return std::acos(x); }
+inline double sin (double x) { return std::sin(x); }
+inline double asin (double x) { return std::asin(x); }
+inline double tan (double x) { return std::tan(x); }
+inline double atan (double x) { return std::atan(x); }
+inline double sinh (double x) { return std::sinh(x); }
+inline double cosh (double x) { return std::cosh(x); }
+inline double tanh (double x) { return std::tanh(x); }
+inline double floor (double x) { return std::floor(x); }
+inline double ceil (double x) { return std::ceil(x); }
+inline double pow (double x, double y) { return std::pow(x, y); }
+inline double atan2(double y, double x) { return std::atan2(y, x); }
+
+// In general, f(a + h) ~= f(a) + f'(a) h, via the chain rule.
+
+// abs(x + h) ~= x + h or -(x + h)
+template <typename T, int N> inline
+Jet<T, N> abs(const Jet<T, N>& f) {
+ return f.a < T(0.0) ? -f : f;
+}
+
+// log(a + h) ~= log(a) + h / a
+template <typename T, int N> inline
+Jet<T, N> log(const Jet<T, N>& f) {
+ const T a_inverse = T(1.0) / f.a;
+ return Jet<T, N>(log(f.a), f.v * a_inverse);
+}
+
+// exp(a + h) ~= exp(a) + exp(a) h
+template <typename T, int N> inline
+Jet<T, N> exp(const Jet<T, N>& f) {
+ const T tmp = exp(f.a);
+ return Jet<T, N>(tmp, tmp * f.v);
+}
+
+// sqrt(a + h) ~= sqrt(a) + h / (2 sqrt(a))
+template <typename T, int N> inline
+Jet<T, N> sqrt(const Jet<T, N>& f) {
+ const T tmp = sqrt(f.a);
+ const T two_a_inverse = T(1.0) / (T(2.0) * tmp);
+ return Jet<T, N>(tmp, f.v * two_a_inverse);
+}
+
+// cos(a + h) ~= cos(a) - sin(a) h
+template <typename T, int N> inline
+Jet<T, N> cos(const Jet<T, N>& f) {
+ return Jet<T, N>(cos(f.a), - sin(f.a) * f.v);
+}
+
+// acos(a + h) ~= acos(a) - 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> acos(const Jet<T, N>& f) {
+ const T tmp = - T(1.0) / sqrt(T(1.0) - f.a * f.a);
+ return Jet<T, N>(acos(f.a), tmp * f.v);
+}
+
+// sin(a + h) ~= sin(a) + cos(a) h
+template <typename T, int N> inline
+Jet<T, N> sin(const Jet<T, N>& f) {
+ return Jet<T, N>(sin(f.a), cos(f.a) * f.v);
+}
+
+// asin(a + h) ~= asin(a) + 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> asin(const Jet<T, N>& f) {
+ const T tmp = T(1.0) / sqrt(T(1.0) - f.a * f.a);
+ return Jet<T, N>(asin(f.a), tmp * f.v);
+}
+
+// tan(a + h) ~= tan(a) + (1 + tan(a)^2) h
+template <typename T, int N> inline
+Jet<T, N> tan(const Jet<T, N>& f) {
+ const T tan_a = tan(f.a);
+ const T tmp = T(1.0) + tan_a * tan_a;
+ return Jet<T, N>(tan_a, tmp * f.v);
+}
+
+// atan(a + h) ~= atan(a) + 1 / (1 + a^2) h
+template <typename T, int N> inline
+Jet<T, N> atan(const Jet<T, N>& f) {
+ const T tmp = T(1.0) / (T(1.0) + f.a * f.a);
+ return Jet<T, N>(atan(f.a), tmp * f.v);
+}
+
+// sinh(a + h) ~= sinh(a) + cosh(a) h
+template <typename T, int N> inline
+Jet<T, N> sinh(const Jet<T, N>& f) {
+ return Jet<T, N>(sinh(f.a), cosh(f.a) * f.v);
+}
+
+// cosh(a + h) ~= cosh(a) + sinh(a) h
+template <typename T, int N> inline
+Jet<T, N> cosh(const Jet<T, N>& f) {
+ return Jet<T, N>(cosh(f.a), sinh(f.a) * f.v);
+}
+
+// tanh(a + h) ~= tanh(a) + (1 - tanh(a)^2) h
+template <typename T, int N> inline
+Jet<T, N> tanh(const Jet<T, N>& f) {
+ const T tanh_a = tanh(f.a);
+ const T tmp = T(1.0) - tanh_a * tanh_a;
+ return Jet<T, N>(tanh_a, tmp * f.v);
+}
+
+// The floor function should be used with extreme care as this operation will
+// result in a zero derivative which provides no information to the solver.
+//
+// floor(a + h) ~= floor(a) + 0
+template <typename T, int N> inline
+Jet<T, N> floor(const Jet<T, N>& f) {
+ return Jet<T, N>(floor(f.a));
+}
+
+// The ceil function should be used with extreme care as this operation will
+// result in a zero derivative which provides no information to the solver.
+//
+// ceil(a + h) ~= ceil(a) + 0
+template <typename T, int N> inline
+Jet<T, N> ceil(const Jet<T, N>& f) {
+ return Jet<T, N>(ceil(f.a));
+}
+
+// Bessel functions of the first kind with integer order equal to 0, 1, n.
+//
+// Microsoft has deprecated the j[0,1,n]() POSIX Bessel functions in favour of
+// _j[0,1,n](). Where available on MSVC, use _j[0,1,n]() to avoid deprecated
+// function errors in client code (the specific warning is suppressed when
+// Ceres itself is built).
+inline double BesselJ0(double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ return _j0(x);
+#else
+ return j0(x);
+#endif
+}
+inline double BesselJ1(double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ return _j1(x);
+#else
+ return j1(x);
+#endif
+}
+inline double BesselJn(int n, double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+ return _jn(n, x);
+#else
+ return jn(n, x);
+#endif
+}
+
+// For the formulae of the derivatives of the Bessel functions see the book:
+// Olver, Lozier, Boisvert, Clark, NIST Handbook of Mathematical Functions,
+// Cambridge University Press 2010.
+//
+// Formulae are also available at http://dlmf.nist.gov
+
+// See formula http://dlmf.nist.gov/10.6#E3
+// j0(a + h) ~= j0(a) - j1(a) h
+template <typename T, int N> inline
+Jet<T, N> BesselJ0(const Jet<T, N>& f) {
+ return Jet<T, N>(BesselJ0(f.a),
+ -BesselJ1(f.a) * f.v);
+}
+
+// See formula http://dlmf.nist.gov/10.6#E1
+// j1(a + h) ~= j1(a) + 0.5 ( j0(a) - j2(a) ) h
+template <typename T, int N> inline
+Jet<T, N> BesselJ1(const Jet<T, N>& f) {
+ return Jet<T, N>(BesselJ1(f.a),
+ T(0.5) * (BesselJ0(f.a) - BesselJn(2, f.a)) * f.v);
+}
+
+// See formula http://dlmf.nist.gov/10.6#E1
+// j_n(a + h) ~= j_n(a) + 0.5 ( j_{n-1}(a) - j_{n+1}(a) ) h
+template <typename T, int N> inline
+Jet<T, N> BesselJn(int n, const Jet<T, N>& f) {
+ return Jet<T, N>(BesselJn(n, f.a),
+ T(0.5) * (BesselJn(n - 1, f.a) - BesselJn(n + 1, f.a)) * f.v);
+}
+
+// Jet Classification. It is not clear what the appropriate semantics are for
+// these classifications. This picks that IsFinite and isnormal are "all"
+// operations, i.e. all elements of the jet must be finite for the jet itself
+// to be finite (or normal). For IsNaN and IsInfinite, the answer is less
+// clear. This takes a "any" approach for IsNaN and IsInfinite such that if any
+// part of a jet is nan or inf, then the entire jet is nan or inf. This leads
+// to strange situations like a jet can be both IsInfinite and IsNaN, but in
+// practice the "any" semantics are the most useful for e.g. checking that
+// derivatives are sane.
+
+// The jet is finite if all parts of the jet are finite.
+template <typename T, int N> inline
+bool IsFinite(const Jet<T, N>& f) {
+ if (!IsFinite(f.a)) {
+ return false;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (!IsFinite(f.v[i])) {
+ return false;
+ }
+ }
+ return true;
+}
+
+// The jet is infinite if any part of the jet is infinite.
+template <typename T, int N> inline
+bool IsInfinite(const Jet<T, N>& f) {
+ if (IsInfinite(f.a)) {
+ return true;
+ }
+ for (int i = 0; i < N; i++) {
+ if (IsInfinite(f.v[i])) {
+ return true;
+ }
+ }
+ return false;
+}
+
+// The jet is NaN if any part of the jet is NaN.
+template <typename T, int N> inline
+bool IsNaN(const Jet<T, N>& f) {
+ if (IsNaN(f.a)) {
+ return true;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (IsNaN(f.v[i])) {
+ return true;
+ }
+ }
+ return false;
+}
+
+// The jet is normal if all parts of the jet are normal.
+template <typename T, int N> inline
+bool IsNormal(const Jet<T, N>& f) {
+ if (!IsNormal(f.a)) {
+ return false;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (!IsNormal(f.v[i])) {
+ return false;
+ }
+ }
+ return true;
+}
+
+// atan2(b + db, a + da) ~= atan2(b, a) + (- b da + a db) / (a^2 + b^2)
+//
+// In words: the rate of change of theta is 1/r times the rate of
+// change of (x, y) in the positive angular direction.
+template <typename T, int N> inline
+Jet<T, N> atan2(const Jet<T, N>& g, const Jet<T, N>& f) {
+ // Note order of arguments:
+ //
+ // f = a + da
+ // g = b + db
+
+ T const tmp = T(1.0) / (f.a * f.a + g.a * g.a);
+ return Jet<T, N>(atan2(g.a, f.a), tmp * (- g.a * f.v + f.a * g.v));
+}
+
+
+// pow -- base is a differentiable function, exponent is a constant.
+// (a+da)^p ~= a^p + p*a^(p-1) da
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, double g) {
+ T const tmp = g * pow(f.a, g - T(1.0));
+ return Jet<T, N>(pow(f.a, g), tmp * f.v);
+}
+
+// pow -- base is a constant, exponent is a differentiable function.
+// We have various special cases, see the comment for pow(Jet, Jet) for
+// analysis:
+//
+// 1. For f > 0 we have: (f)^(g + dg) ~= f^g + f^g log(f) dg
+//
+// 2. For f == 0 and g > 0 we have: (f)^(g + dg) ~= f^g
+//
+// 3. For f < 0 and integer g we have: (f)^(g + dg) ~= f^g but if dg
+// != 0, the derivatives are not defined and we return NaN.
+
+template <typename T, int N> inline
+Jet<T, N> pow(double f, const Jet<T, N>& g) {
+ if (f == 0 && g.a > 0) {
+ // Handle case 2.
+ return Jet<T, N>(T(0.0));
+ }
+ if (f < 0 && g.a == floor(g.a)) {
+ // Handle case 3.
+ Jet<T, N> ret(pow(f, g.a));
+ for (int i = 0; i < N; i++) {
+ if (g.v[i] != T(0.0)) {
+ // Return a NaN when g.v != 0.
+ ret.v[i] = std::numeric_limits<T>::quiet_NaN();
+ }
+ }
+ return ret;
+ }
+ // Handle case 1.
+ T const tmp = pow(f, g.a);
+ return Jet<T, N>(tmp, log(f) * tmp * g.v);
+}
+
+// pow -- both base and exponent are differentiable functions. This has a
+// variety of special cases that require careful handling.
+//
+// 1. For f > 0:
+// (f + df)^(g + dg) ~= f^g + f^(g - 1) * (g * df + f * log(f) * dg)
+// The numerical evaluation of f * log(f) for f > 0 is well behaved, even for
+// extremely small values (e.g. 1e-99).
+//
+// 2. For f == 0 and g > 1: (f + df)^(g + dg) ~= 0
+// This cases is needed because log(0) can not be evaluated in the f > 0
+// expression. However the function f*log(f) is well behaved around f == 0
+// and its limit as f-->0 is zero.
+//
+// 3. For f == 0 and g == 1: (f + df)^(g + dg) ~= 0 + df
+//
+// 4. For f == 0 and 0 < g < 1: The value is finite but the derivatives are not.
+//
+// 5. For f == 0 and g < 0: The value and derivatives of f^g are not finite.
+//
+// 6. For f == 0 and g == 0: The C standard incorrectly defines 0^0 to be 1
+// "because there are applications that can exploit this definition". We
+// (arbitrarily) decree that derivatives here will be nonfinite, since that
+// is consistent with the behavior for f == 0, g < 0 and 0 < g < 1.
+// Practically any definition could have been justified because mathematical
+// consistency has been lost at this point.
+//
+// 7. For f < 0, g integer, dg == 0: (f + df)^(g + dg) ~= f^g + g * f^(g - 1) df
+// This is equivalent to the case where f is a differentiable function and g
+// is a constant (to first order).
+//
+// 8. For f < 0, g integer, dg != 0: The value is finite but the derivatives are
+// not, because any change in the value of g moves us away from the point
+// with a real-valued answer into the region with complex-valued answers.
+//
+// 9. For f < 0, g noninteger: The value and derivatives of f^g are not finite.
+
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, const Jet<T, N>& g) {
+ if (f.a == 0 && g.a >= 1) {
+ // Handle cases 2 and 3.
+ if (g.a > 1) {
+ return Jet<T, N>(T(0.0));
+ }
+ return f;
+ }
+ if (f.a < 0 && g.a == floor(g.a)) {
+ // Handle cases 7 and 8.
+ T const tmp = g.a * pow(f.a, g.a - T(1.0));
+ Jet<T, N> ret(pow(f.a, g.a), tmp * f.v);
+ for (int i = 0; i < N; i++) {
+ if (g.v[i] != T(0.0)) {
+ // Return a NaN when g.v != 0.
+ ret.v[i] = std::numeric_limits<T>::quiet_NaN();
+ }
+ }
+ return ret;
+ }
+ // Handle the remaining cases. For cases 4,5,6,9 we allow the log() function
+ // to generate -HUGE_VAL or NaN, since those cases result in a nonfinite
+ // derivative.
+ T const tmp1 = pow(f.a, g.a);
+ T const tmp2 = g.a * pow(f.a, g.a - T(1.0));
+ T const tmp3 = tmp1 * log(f.a);
+ return Jet<T, N>(tmp1, tmp2 * f.v + tmp3 * g.v);
+}
+
+// Define the helper functions Eigen needs to embed Jet types.
+//
+// NOTE(keir): machine_epsilon() and precision() are missing, because they don't
+// work with nested template types (e.g. where the scalar is itself templated).
+// Among other things, this means that decompositions of Jet's does not work,
+// for example
+//
+// Matrix<Jet<T, N> ... > A, x, b;
+// ...
+// A.solve(b, &x)
+//
+// does not work and will fail with a strange compiler error.
+//
+// TODO(keir): This is an Eigen 2.0 limitation that is lifted in 3.0. When we
+// switch to 3.0, also add the rest of the specialization functionality.
+template<typename T, int N> inline const Jet<T, N>& ei_conj(const Jet<T, N>& x) { return x; } // NOLINT
+template<typename T, int N> inline const Jet<T, N>& ei_real(const Jet<T, N>& x) { return x; } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_imag(const Jet<T, N>& ) { return Jet<T, N>(0.0); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_abs (const Jet<T, N>& x) { return fabs(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_abs2(const Jet<T, N>& x) { return x * x; } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_sqrt(const Jet<T, N>& x) { return sqrt(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_exp (const Jet<T, N>& x) { return exp(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_log (const Jet<T, N>& x) { return log(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_sin (const Jet<T, N>& x) { return sin(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_cos (const Jet<T, N>& x) { return cos(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_tan (const Jet<T, N>& x) { return tan(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_atan(const Jet<T, N>& x) { return atan(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_sinh(const Jet<T, N>& x) { return sinh(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_cosh(const Jet<T, N>& x) { return cosh(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_tanh(const Jet<T, N>& x) { return tanh(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_pow (const Jet<T, N>& x, Jet<T, N> y) { return pow(x, y); } // NOLINT
+
+// Note: This has to be in the ceres namespace for argument dependent lookup to
+// function correctly. Otherwise statements like CHECK_LE(x, 2.0) fail with
+// strange compile errors.
+template <typename T, int N>
+inline std::ostream &operator<<(std::ostream &s, const Jet<T, N>& z) {
+ s << "[" << z.a << " ; ";
+ for (int i = 0; i < N; ++i) {
+ s << z.v[i];
+ if (i != N - 1) {
+ s << ", ";
+ }
+ }
+ s << "]";
+ return s;
+}
+
+} // namespace ceres
+
+namespace Eigen {
+
+// Creating a specialization of NumTraits enables placing Jet objects inside
+// Eigen arrays, getting all the goodness of Eigen combined with autodiff.
+template<typename T, int N>
+struct NumTraits<ceres::Jet<T, N> > {
+ typedef ceres::Jet<T, N> Real;
+ typedef ceres::Jet<T, N> NonInteger;
+ typedef ceres::Jet<T, N> Nested;
+ typedef ceres::Jet<T, N> Literal;
+
+ static typename ceres::Jet<T, N> dummy_precision() {
+ return ceres::Jet<T, N>(1e-12);
+ }
+
+ static inline Real epsilon() {
+ return Real(std::numeric_limits<T>::epsilon());
+ }
+
+ static inline int digits10() { return NumTraits<T>::digits10(); }
+
+ enum {
+ IsComplex = 0,
+ IsInteger = 0,
+ IsSigned,
+ ReadCost = 1,
+ AddCost = 1,
+ // For Jet types, multiplication is more expensive than addition.
+ MulCost = 3,
+ HasFloatingPoint = 1,
+ RequireInitialization = 1
+ };
+
+ template<bool Vectorized>
+ struct Div {
+ enum {
+#if defined(EIGEN_VECTORIZE_AVX)
+ AVX = true,
+#else
+ AVX = false,
+#endif
+
+ // Assuming that for Jets, division is as expensive as
+ // multiplication.
+ Cost = 3
+ };
+ };
+};
+
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+// Specifying the return type of binary operations between Jets and scalar types
+// allows you to perform matrix/array operations with Eigen matrices and arrays
+// such as addition, subtraction, multiplication, and division where one Eigen
+// matrix/array is of type Jet and the other is a scalar type. This improves
+// performance by using the optimized scalar-to-Jet binary operations but
+// is only available on Eigen versions >= 3.3
+template <typename BinaryOp, typename T, int N>
+struct ScalarBinaryOpTraits<ceres::Jet<T, N>, T, BinaryOp> {
+ typedef ceres::Jet<T, N> ReturnType;
+};
+template <typename BinaryOp, typename T, int N>
+struct ScalarBinaryOpTraits<T, ceres::Jet<T, N>, BinaryOp> {
+ typedef ceres::Jet<T, N> ReturnType;
+};
+#endif // EIGEN_VERSION_AT_LEAST(3, 3, 0)
+
+} // namespace Eigen
+
+#endif // CERES_PUBLIC_JET_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+#define CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Purpose: Sometimes parameter blocks x can overparameterize a problem
+//
+// min f(x)
+// x
+//
+// In that case it is desirable to choose a parameterization for the
+// block itself to remove the null directions of the cost. More
+// generally, if x lies on a manifold of a smaller dimension than the
+// ambient space that it is embedded in, then it is numerically and
+// computationally more effective to optimize it using a
+// parameterization that lives in the tangent space of that manifold
+// at each point.
+//
+// For example, a sphere in three dimensions is a 2 dimensional
+// manifold, embedded in a three dimensional space. At each point on
+// the sphere, the plane tangent to it defines a two dimensional
+// tangent space. For a cost function defined on this sphere, given a
+// point x, moving in the direction normal to the sphere at that point
+// is not useful. Thus a better way to do a local optimization is to
+// optimize over two dimensional vector delta in the tangent space at
+// that point and then "move" to the point x + delta, where the move
+// operation involves projecting back onto the sphere. Doing so
+// removes a redundent dimension from the optimization, making it
+// numerically more robust and efficient.
+//
+// More generally we can define a function
+//
+// x_plus_delta = Plus(x, delta),
+//
+// where x_plus_delta has the same size as x, and delta is of size
+// less than or equal to x. The function Plus, generalizes the
+// definition of vector addition. Thus it satisfies the identify
+//
+// Plus(x, 0) = x, for all x.
+//
+// A trivial version of Plus is when delta is of the same size as x
+// and
+//
+// Plus(x, delta) = x + delta
+//
+// A more interesting case if x is two dimensional vector, and the
+// user wishes to hold the first coordinate constant. Then, delta is a
+// scalar and Plus is defined as
+//
+// Plus(x, delta) = x + [0] * delta
+// [1]
+//
+// An example that occurs commonly in Structure from Motion problems
+// is when camera rotations are parameterized using Quaternion. There,
+// it is useful only make updates orthogonal to that 4-vector defining
+// the quaternion. One way to do this is to let delta be a 3
+// dimensional vector and define Plus to be
+//
+// Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+//
+// The multiplication between the two 4-vectors on the RHS is the
+// standard quaternion product.
+//
+// Given g and a point x, optimizing f can now be restated as
+//
+// min f(Plus(x, delta))
+// delta
+//
+// Given a solution delta to this problem, the optimal value is then
+// given by
+//
+// x* = Plus(x, delta)
+//
+// The class LocalParameterization defines the function Plus and its
+// Jacobian which is needed to compute the Jacobian of f w.r.t delta.
+class CERES_EXPORT LocalParameterization {
+ public:
+ virtual ~LocalParameterization();
+
+ // Generalization of the addition operation,
+ //
+ // x_plus_delta = Plus(x, delta)
+ //
+ // with the condition that Plus(x, 0) = x.
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const = 0;
+
+ // The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
+ //
+ // jacobian is a row-major GlobalSize() x LocalSize() matrix.
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+
+ // local_matrix = global_matrix * jacobian
+ //
+ // global_matrix is a num_rows x GlobalSize row major matrix.
+ // local_matrix is a num_rows x LocalSize row major matrix.
+ // jacobian(x) is the matrix returned by ComputeJacobian at x.
+ //
+ // This is only used by GradientProblem. For most normal uses, it is
+ // okay to use the default implementation.
+ virtual bool MultiplyByJacobian(const double* x,
+ const int num_rows,
+ const double* global_matrix,
+ double* local_matrix) const;
+
+ // Size of x.
+ virtual int GlobalSize() const = 0;
+
+ // Size of delta.
+ virtual int LocalSize() const = 0;
+};
+
+// Some basic parameterizations
+
+// Identity Parameterization: Plus(x, delta) = x + delta
+class CERES_EXPORT IdentityParameterization : public LocalParameterization {
+ public:
+ explicit IdentityParameterization(int size);
+ virtual ~IdentityParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual bool MultiplyByJacobian(const double* x,
+ const int num_cols,
+ const double* global_matrix,
+ double* local_matrix) const;
+ virtual int GlobalSize() const { return size_; }
+ virtual int LocalSize() const { return size_; }
+
+ private:
+ const int size_;
+};
+
+// Hold a subset of the parameters inside a parameter block constant.
+class CERES_EXPORT SubsetParameterization : public LocalParameterization {
+ public:
+ explicit SubsetParameterization(int size,
+ const std::vector<int>& constant_parameters);
+ virtual ~SubsetParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual bool MultiplyByJacobian(const double* x,
+ const int num_cols,
+ const double* global_matrix,
+ double* local_matrix) const;
+ virtual int GlobalSize() const {
+ return static_cast<int>(constancy_mask_.size());
+ }
+ virtual int LocalSize() const { return local_size_; }
+
+ private:
+ const int local_size_;
+ std::vector<char> constancy_mask_;
+};
+
+// Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+// with * being the quaternion multiplication operator. Here we assume
+// that the first element of the quaternion vector is the real (cos
+// theta) part.
+class CERES_EXPORT QuaternionParameterization : public LocalParameterization {
+ public:
+ virtual ~QuaternionParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return 4; }
+ virtual int LocalSize() const { return 3; }
+};
+
+// Implements the quaternion local parameterization for Eigen's representation
+// of the quaternion. Eigen uses a different internal memory layout for the
+// elements of the quaternion than what is commonly used. Specifically, Eigen
+// stores the elements in memory as [x, y, z, w] where the real part is last
+// whereas it is typically stored first. Note, when creating an Eigen quaternion
+// through the constructor the elements are accepted in w, x, y, z order. Since
+// Ceres operates on parameter blocks which are raw double pointers this
+// difference is important and requires a different parameterization.
+//
+// Plus(x, delta) = [sin(|delta|) delta / |delta|, cos(|delta|)] * x
+// with * being the quaternion multiplication operator.
+class CERES_EXPORT EigenQuaternionParameterization
+ : public ceres::LocalParameterization {
+ public:
+ virtual ~EigenQuaternionParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const;
+ virtual int GlobalSize() const { return 4; }
+ virtual int LocalSize() const { return 3; }
+};
+
+// This provides a parameterization for homogeneous vectors which are commonly
+// used in Structure for Motion problems. One example where they are used is
+// in representing points whose triangulation is ill-conditioned. Here
+// it is advantageous to use an over-parameterization since homogeneous vectors
+// can represent points at infinity.
+//
+// The plus operator is defined as
+// Plus(x, delta) =
+// [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
+// with * defined as an operator which applies the update orthogonal to x to
+// remain on the sphere. We assume that the last element of x is the scalar
+// component. The size of the homogeneous vector is required to be greater than
+// 1.
+class CERES_EXPORT HomogeneousVectorParameterization :
+ public LocalParameterization {
+ public:
+ explicit HomogeneousVectorParameterization(int size);
+ virtual ~HomogeneousVectorParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return size_; }
+ virtual int LocalSize() const { return size_ - 1; }
+
+ private:
+ const int size_;
+};
+
+// Construct a local parameterization by taking the Cartesian product
+// of a number of other local parameterizations. This is useful, when
+// a parameter block is the cartesian product of two or more
+// manifolds. For example the parameters of a camera consist of a
+// rotation and a translation, i.e., SO(3) x R^3.
+//
+// Currently this class supports taking the cartesian product of up to
+// four local parameterizations.
+//
+// Example usage:
+//
+// ProductParameterization product_param(new QuaterionionParameterization(),
+// new IdentityParameterization(3));
+//
+// is the local parameterization for a rigid transformation, where the
+// rotation is represented using a quaternion.
+class CERES_EXPORT ProductParameterization : public LocalParameterization {
+ public:
+ //
+ // NOTE: All the constructors take ownership of the input local
+ // parameterizations.
+ //
+ ProductParameterization(LocalParameterization* local_param1,
+ LocalParameterization* local_param2);
+
+ ProductParameterization(LocalParameterization* local_param1,
+ LocalParameterization* local_param2,
+ LocalParameterization* local_param3);
+
+ ProductParameterization(LocalParameterization* local_param1,
+ LocalParameterization* local_param2,
+ LocalParameterization* local_param3,
+ LocalParameterization* local_param4);
+
+ virtual ~ProductParameterization();
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return global_size_; }
+ virtual int LocalSize() const { return local_size_; }
+
+ private:
+ void Init();
+
+ std::vector<LocalParameterization*> local_params_;
+ int local_size_;
+ int global_size_;
+ int buffer_size_;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
--- /dev/null
+// 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)
+//
+// The LossFunction interface is the way users describe how residuals
+// are converted to cost terms for the overall problem cost function.
+// For the exact manner in which loss functions are converted to the
+// overall cost for a problem, see problem.h.
+//
+// For least squares problem where there are no outliers and standard
+// squared loss is expected, it is not necessary to create a loss
+// function; instead passing a NULL to the problem when adding
+// residuals implies a standard squared loss.
+//
+// For least squares problems where the minimization may encounter
+// input terms that contain outliers, that is, completely bogus
+// measurements, it is important to use a loss function that reduces
+// their associated penalty.
+//
+// Consider a structure from motion problem. The unknowns are 3D
+// points and camera parameters, and the measurements are image
+// coordinates describing the expected reprojected position for a
+// point in a camera. For example, we want to model the geometry of a
+// street scene with fire hydrants and cars, observed by a moving
+// camera with unknown parameters, and the only 3D points we care
+// about are the pointy tippy-tops of the fire hydrants. Our magic
+// image processing algorithm, which is responsible for producing the
+// measurements that are input to Ceres, has found and matched all
+// such tippy-tops in all image frames, except that in one of the
+// frame it mistook a car's headlight for a hydrant. If we didn't do
+// anything special (i.e. if we used a basic quadratic loss), the
+// residual for the erroneous measurement will result in extreme error
+// due to the quadratic nature of squared loss. This results in the
+// entire solution getting pulled away from the optimimum to reduce
+// the large error that would otherwise be attributed to the wrong
+// measurement.
+//
+// Using a robust loss function, the cost for large residuals is
+// reduced. In the example above, this leads to outlier terms getting
+// downweighted so they do not overly influence the final solution.
+//
+// What cost function is best?
+//
+// In general, there isn't a principled way to select a robust loss
+// function. The authors suggest starting with a non-robust cost, then
+// only experimenting with robust loss functions if standard squared
+// loss doesn't work.
+
+#ifndef CERES_PUBLIC_LOSS_FUNCTION_H_
+#define CERES_PUBLIC_LOSS_FUNCTION_H_
+
+#include "glog/logging.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class CERES_EXPORT LossFunction {
+ public:
+ virtual ~LossFunction() {}
+
+ // For a residual vector with squared 2-norm 'sq_norm', this method
+ // is required to fill in the value and derivatives of the loss
+ // function (rho in this example):
+ //
+ // out[0] = rho(sq_norm),
+ // out[1] = rho'(sq_norm),
+ // out[2] = rho''(sq_norm),
+ //
+ // Here the convention is that the contribution of a term to the
+ // cost function is given by 1/2 rho(s), where
+ //
+ // s = ||residuals||^2.
+ //
+ // Calling the method with a negative value of 's' is an error and
+ // the implementations are not required to handle that case.
+ //
+ // Most sane choices of rho() satisfy:
+ //
+ // rho(0) = 0,
+ // rho'(0) = 1,
+ // rho'(s) < 1 in outlier region,
+ // rho''(s) < 0 in outlier region,
+ //
+ // so that they mimic the least squares cost for small residuals.
+ virtual void Evaluate(double sq_norm, double out[3]) const = 0;
+};
+
+// Some common implementations follow below.
+//
+// Note: in the region of interest (i.e. s < 3) we have:
+// TrivialLoss >= HuberLoss >= SoftLOneLoss >= CauchyLoss
+
+
+// This corresponds to no robustification.
+//
+// rho(s) = s
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// It is not normally necessary to use this, as passing NULL for the
+// loss function when building the problem accomplishes the same
+// thing.
+class CERES_EXPORT TrivialLoss : public LossFunction {
+ public:
+ virtual void Evaluate(double, double*) const;
+};
+
+// Scaling
+// -------
+// Given one robustifier
+// s -> rho(s)
+// one can change the length scale at which robustification takes
+// place, by adding a scale factor 'a' as follows:
+//
+// s -> a^2 rho(s / a^2).
+//
+// The first and second derivatives are:
+//
+// s -> rho'(s / a^2),
+// s -> (1 / a^2) rho''(s / a^2),
+//
+// but the behaviour near s = 0 is the same as the original function,
+// i.e.
+//
+// rho(s) = s + higher order terms,
+// a^2 rho(s / a^2) = s + higher order terms.
+//
+// The scalar 'a' should be positive.
+//
+// The reason for the appearance of squaring is that 'a' is in the
+// units of the residual vector norm whereas 's' is a squared
+// norm. For applications it is more convenient to specify 'a' than
+// its square. The commonly used robustifiers below are described in
+// un-scaled format (a = 1) but their implementations work for any
+// non-zero value of 'a'.
+
+// Huber.
+//
+// rho(s) = s for s <= 1,
+// rho(s) = 2 sqrt(s) - 1 for s >= 1.
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// The scaling parameter 'a' corresponds to 'delta' on this page:
+// http://en.wikipedia.org/wiki/Huber_Loss_Function
+class CERES_EXPORT HuberLoss : public LossFunction {
+ public:
+ explicit HuberLoss(double a) : a_(a), b_(a * a) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_;
+ // b = a^2.
+ const double b_;
+};
+
+// Soft L1, similar to Huber but smooth.
+//
+// rho(s) = 2 (sqrt(1 + s) - 1).
+//
+// At s = 0: rho = [0, 1, -1/2].
+class CERES_EXPORT SoftLOneLoss : public LossFunction {
+ public:
+ explicit SoftLOneLoss(double a) : b_(a * a), c_(1 / b_) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ // b = a^2.
+ const double b_;
+ // c = 1 / a^2.
+ const double c_;
+};
+
+// Inspired by the Cauchy distribution
+//
+// rho(s) = log(1 + s).
+//
+// At s = 0: rho = [0, 1, -1].
+class CERES_EXPORT CauchyLoss : public LossFunction {
+ public:
+ explicit CauchyLoss(double a) : b_(a * a), c_(1 / b_) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ // b = a^2.
+ const double b_;
+ // c = 1 / a^2.
+ const double c_;
+};
+
+// Loss that is capped beyond a certain level using the arc-tangent function.
+// The scaling parameter 'a' determines the level where falloff occurs.
+// For costs much smaller than 'a', the loss function is linear and behaves like
+// TrivialLoss, and for values much larger than 'a' the value asymptotically
+// approaches the constant value of a * PI / 2.
+//
+// rho(s) = a atan(s / a).
+//
+// At s = 0: rho = [0, 1, 0].
+class CERES_EXPORT ArctanLoss : public LossFunction {
+ public:
+ explicit ArctanLoss(double a) : a_(a), b_(1 / (a * a)) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_;
+ // b = 1 / a^2.
+ const double b_;
+};
+
+// Loss function that maps to approximately zero cost in a range around the
+// origin, and reverts to linear in error (quadratic in cost) beyond this range.
+// The tolerance parameter 'a' sets the nominal point at which the
+// transition occurs, and the transition size parameter 'b' sets the nominal
+// distance over which most of the transition occurs. Both a and b must be
+// greater than zero, and typically b will be set to a fraction of a.
+// The slope rho'[s] varies smoothly from about 0 at s <= a - b to
+// about 1 at s >= a + b.
+//
+// The term is computed as:
+//
+// rho(s) = b log(1 + exp((s - a) / b)) - c0.
+//
+// where c0 is chosen so that rho(0) == 0
+//
+// c0 = b log(1 + exp(-a / b)
+//
+// This has the following useful properties:
+//
+// rho(s) == 0 for s = 0
+// rho'(s) ~= 0 for s << a - b
+// rho'(s) ~= 1 for s >> a + b
+// rho''(s) > 0 for all s
+//
+// In addition, all derivatives are continuous, and the curvature is
+// concentrated in the range a - b to a + b.
+//
+// At s = 0: rho = [0, ~0, ~0].
+class CERES_EXPORT TolerantLoss : public LossFunction {
+ public:
+ explicit TolerantLoss(double a, double b);
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_, b_, c_;
+};
+
+// This is the Tukey biweight loss function which aggressively
+// attempts to suppress large errors.
+//
+// The term is computed as:
+//
+// rho(s) = a^2 / 6 * (1 - (1 - s / a^2)^3 ) for s <= a^2,
+// rho(s) = a^2 / 6 for s > a^2.
+//
+// At s = 0: rho = [0, 0.5, -1 / a^2]
+class CERES_EXPORT TukeyLoss : public ceres::LossFunction {
+ public:
+ explicit TukeyLoss(double a) : a_squared_(a * a) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_squared_;
+};
+
+// Composition of two loss functions. The error is the result of first
+// evaluating g followed by f to yield the composition f(g(s)).
+// The loss functions must not be NULL.
+class CERES_EXPORT ComposedLoss : public LossFunction {
+ public:
+ explicit ComposedLoss(const LossFunction* f, Ownership ownership_f,
+ const LossFunction* g, Ownership ownership_g);
+ virtual ~ComposedLoss();
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ internal::scoped_ptr<const LossFunction> f_, g_;
+ const Ownership ownership_f_, ownership_g_;
+};
+
+// The discussion above has to do with length scaling: it affects the space
+// in which s is measured. Sometimes you want to simply scale the output
+// value of the robustifier. For example, you might want to weight
+// different error terms differently (e.g., weight pixel reprojection
+// errors differently from terrain errors).
+//
+// If rho is the wrapped robustifier, then this simply outputs
+// s -> a * rho(s)
+//
+// The first and second derivatives are, not surprisingly
+// s -> a * rho'(s)
+// s -> a * rho''(s)
+//
+// Since we treat the a NULL Loss function as the Identity loss
+// function, rho = NULL is a valid input and will result in the input
+// being scaled by a. This provides a simple way of implementing a
+// scaled ResidualBlock.
+class CERES_EXPORT ScaledLoss : public LossFunction {
+ public:
+ // Constructs a ScaledLoss wrapping another loss function. Takes
+ // ownership of the wrapped loss function or not depending on the
+ // ownership parameter.
+ ScaledLoss(const LossFunction* rho, double a, Ownership ownership) :
+ rho_(rho), a_(a), ownership_(ownership) { }
+
+ virtual ~ScaledLoss() {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ internal::scoped_ptr<const LossFunction> rho_;
+ const double a_;
+ const Ownership ownership_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(ScaledLoss);
+};
+
+// Sometimes after the optimization problem has been constructed, we
+// wish to mutate the scale of the loss function. For example, when
+// performing estimation from data which has substantial outliers,
+// convergence can be improved by starting out with a large scale,
+// optimizing the problem and then reducing the scale. This can have
+// better convergence behaviour than just using a loss function with a
+// small scale.
+//
+// This templated class allows the user to implement a loss function
+// whose scale can be mutated after an optimization problem has been
+// constructed.
+//
+// Since we treat the a NULL Loss function as the Identity loss
+// function, rho = NULL is a valid input.
+//
+// Example usage
+//
+// Problem problem;
+//
+// // Add parameter blocks
+//
+// CostFunction* cost_function =
+// new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>(
+// new UW_Camera_Mapper(feature_x, feature_y));
+//
+// LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+// problem.AddResidualBlock(cost_function, loss_function, parameters);
+//
+// Solver::Options options;
+// Solger::Summary summary;
+//
+// Solve(options, &problem, &summary)
+//
+// loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+// Solve(options, &problem, &summary)
+//
+class CERES_EXPORT LossFunctionWrapper : public LossFunction {
+ public:
+ LossFunctionWrapper(LossFunction* rho, Ownership ownership)
+ : rho_(rho), ownership_(ownership) {
+ }
+
+ virtual ~LossFunctionWrapper() {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ }
+
+ virtual void Evaluate(double sq_norm, double out[3]) const {
+ if (rho_.get() == NULL) {
+ out[0] = sq_norm;
+ out[1] = 1.0;
+ out[2] = 0.0;
+ }
+ else {
+ rho_->Evaluate(sq_norm, out);
+ }
+ }
+
+ void Reset(LossFunction* rho, Ownership ownership) {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ rho_.reset(rho);
+ ownership_ = ownership;
+ }
+
+ private:
+ internal::scoped_ptr<const LossFunction> rho_;
+ Ownership ownership_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(LossFunctionWrapper);
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_LOSS_FUNCTION_H_
--- /dev/null
+// 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)
+//
+// Cost term that implements a prior on a parameter block using a
+// normal distribution.
+
+#ifndef CERES_PUBLIC_NORMAL_PRIOR_H_
+#define CERES_PUBLIC_NORMAL_PRIOR_H_
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Implements a cost function of the form
+//
+// cost(x) = ||A(x - b)||^2
+//
+// where, the matrix A and the vector b are fixed and x is the
+// variable. In case the user is interested in implementing a cost
+// function of the form
+//
+// cost(x) = (x - mu)^T S^{-1} (x - mu)
+//
+// where, mu is a vector and S is a covariance matrix, then, A =
+// S^{-1/2}, i.e the matrix A is the square root of the inverse of the
+// covariance, also known as the stiffness matrix. There are however
+// no restrictions on the shape of A. It is free to be rectangular,
+// which would be the case if the covariance matrix S is rank
+// deficient.
+
+class CERES_EXPORT NormalPrior: public CostFunction {
+ public:
+ // Check that the number of rows in the vector b are the same as the
+ // number of columns in the matrix A, crash otherwise.
+ NormalPrior(const Matrix& A, const Vector& b);
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+ private:
+ Matrix A_;
+ Vector b_;
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_NORMAL_PRIOR_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Create CostFunctions as needed by the least squares framework with jacobians
+// computed via numeric (a.k.a. finite) differentiation. For more details see
+// http://en.wikipedia.org/wiki/Numerical_differentiation.
+//
+// To get an numerically differentiated cost function, you must define
+// a class with a operator() (a functor) that computes the residuals.
+//
+// The function must write the computed value in the last argument
+// (the only non-const one) and return true to indicate success.
+// Please see cost_function.h for details on how the return value
+// maybe used to impose simple constraints on the parameter block.
+//
+// For example, consider a scalar error e = k - x'y, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and k is a constant. The form of this error, which is the
+// difference between a constant and an expression, is a common pattern in least
+// squares problems. For example, the value x'y might be the model expectation
+// for a series of measurements, where there is an instance of the cost function
+// for each measurement k.
+//
+// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// the squaring is implicitly done by the optimization framework.
+//
+// To write an numerically-differentiable cost function for the above model, first
+// define the object
+//
+// class MyScalarCostFunctor {
+// MyScalarCostFunctor(double k): k_(k) {}
+//
+// bool operator()(const double* const x,
+// const double* const y,
+// double* residuals) const {
+// residuals[0] = k_ - x[0] * y[0] + x[1] * y[1];
+// return true;
+// }
+//
+// private:
+// double k_;
+// };
+//
+// Note that in the declaration of operator() the input parameters x
+// and y come first, and are passed as const pointers to arrays of
+// doubles. If there were three input parameters, then the third input
+// parameter would come after y. The output is always the last
+// parameter, and is also a pointer to an array. In the example above,
+// the residual is a scalar, so only residuals[0] is set.
+//
+// Then given this class definition, the numerically differentiated
+// cost function with central differences used for computing the
+// derivative can be constructed as follows.
+//
+// CostFunction* cost_function
+// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
+// new MyScalarCostFunctor(1.0)); ^ ^ ^ ^
+// | | | |
+// Finite Differencing Scheme -+ | | |
+// Dimension of residual ------------+ | |
+// Dimension of x ----------------------+ |
+// Dimension of y -------------------------+
+//
+// In this example, there is usually an instance for each measurement of k.
+//
+// In the instantiation above, the template parameters following
+// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing
+// a 1-dimensional output from two arguments, both 2-dimensional.
+//
+// NumericDiffCostFunction also supports cost functions with a
+// runtime-determined number of residuals. For example:
+//
+// CostFunction* cost_function
+// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
+// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
+// TAKE_OWNERSHIP, | | |
+// runtime_number_of_residuals); <----+ | | |
+// | | | |
+// | | | |
+// Actual number of residuals ------+ | | |
+// Indicate dynamic number of residuals --------------------+ | |
+// Dimension of x ------------------------------------------------+ |
+// Dimension of y ---------------------------------------------------+
+//
+// The framework can currently accommodate cost functions of up to 10
+// independent variables, and there is no limit on the dimensionality
+// of each of them.
+//
+// The central difference method is considerably more accurate at the cost of
+// twice as many function evaluations than forward difference. Consider using
+// central differences begin with, and only after that works, trying forward
+// difference to improve performance.
+//
+// WARNING #1: A common beginner's error when first using
+// NumericDiffCostFunction is to get the sizing wrong. In particular,
+// there is a tendency to set the template parameters to (dimension of
+// residual, number of parameters) instead of passing a dimension
+// parameter for *every parameter*. In the example above, that would
+// be <MyScalarCostFunctor, 1, 2>, which is missing the last '2'
+// argument. Please be careful when setting the size parameters.
+//
+////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////
+//
+// ALTERNATE INTERFACE
+//
+// For a variety of reasons, including compatibility with legacy code,
+// NumericDiffCostFunction can also take CostFunction objects as
+// input. The following describes how.
+//
+// To get a numerically differentiated cost function, define a
+// subclass of CostFunction such that the Evaluate() function ignores
+// the jacobian parameter. The numeric differentiation wrapper will
+// fill in the jacobian parameter if necessary by repeatedly calling
+// the Evaluate() function with small changes to the appropriate
+// parameters, and computing the slope. For performance, the numeric
+// differentiation wrapper class is templated on the concrete cost
+// function, even though it could be implemented only in terms of the
+// virtual CostFunction interface.
+//
+// The numerically differentiated version of a cost function for a cost function
+// can be constructed as follows:
+//
+// CostFunction* cost_function
+// = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+// new MyCostFunction(...), TAKE_OWNERSHIP);
+//
+// where MyCostFunction has 1 residual and 2 parameter blocks with sizes 4 and 8
+// respectively. Look at the tests for a more detailed example.
+//
+// TODO(keir): Characterize accuracy; mention pitfalls; provide alternatives.
+
+#ifndef CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include "Eigen/Dense"
+#include "ceres/cost_function.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/numeric_diff_options.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+template <typename CostFunctor,
+ NumericDiffMethodType method = CENTRAL,
+ int kNumResiduals = 0, // Number of residuals, or ceres::DYNAMIC
+ int N0 = 0, // Number of parameters in block 0.
+ int N1 = 0, // Number of parameters in block 1.
+ int N2 = 0, // Number of parameters in block 2.
+ int N3 = 0, // Number of parameters in block 3.
+ int N4 = 0, // Number of parameters in block 4.
+ int N5 = 0, // Number of parameters in block 5.
+ int N6 = 0, // Number of parameters in block 6.
+ int N7 = 0, // Number of parameters in block 7.
+ int N8 = 0, // Number of parameters in block 8.
+ int N9 = 0> // Number of parameters in block 9.
+class NumericDiffCostFunction
+ : public SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9> {
+ public:
+ NumericDiffCostFunction(
+ CostFunctor* functor,
+ Ownership ownership = TAKE_OWNERSHIP,
+ int num_residuals = kNumResiduals,
+ const NumericDiffOptions& options = NumericDiffOptions())
+ : functor_(functor),
+ ownership_(ownership),
+ options_(options) {
+ if (kNumResiduals == DYNAMIC) {
+ SizedCostFunction<kNumResiduals,
+ N0, N1, N2, N3, N4,
+ N5, N6, N7, N8, N9>
+ ::set_num_residuals(num_residuals);
+ }
+ }
+
+ ~NumericDiffCostFunction() {
+ if (ownership_ != TAKE_OWNERSHIP) {
+ functor_.release();
+ }
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ using internal::FixedArray;
+ using internal::NumericDiff;
+
+ const int kNumParameters = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
+ const int kNumParameterBlocks =
+ (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
+ (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+
+ // Get the function value (residuals) at the the point to evaluate.
+ if (!internal::EvaluateImpl<CostFunctor,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+ functor_.get(),
+ parameters,
+ residuals,
+ functor_.get())) {
+ return false;
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ // Create a copy of the parameters which will get mutated.
+ FixedArray<double> parameters_copy(kNumParameters);
+ FixedArray<double*> parameters_reference_copy(kNumParameterBlocks);
+
+ parameters_reference_copy[0] = parameters_copy.get();
+ if (N1) parameters_reference_copy[1] = parameters_reference_copy[0] + N0;
+ if (N2) parameters_reference_copy[2] = parameters_reference_copy[1] + N1;
+ if (N3) parameters_reference_copy[3] = parameters_reference_copy[2] + N2;
+ if (N4) parameters_reference_copy[4] = parameters_reference_copy[3] + N3;
+ if (N5) parameters_reference_copy[5] = parameters_reference_copy[4] + N4;
+ if (N6) parameters_reference_copy[6] = parameters_reference_copy[5] + N5;
+ if (N7) parameters_reference_copy[7] = parameters_reference_copy[6] + N6;
+ if (N8) parameters_reference_copy[8] = parameters_reference_copy[7] + N7;
+ if (N9) parameters_reference_copy[9] = parameters_reference_copy[8] + N8;
+
+#define CERES_COPY_PARAMETER_BLOCK(block) \
+ if (N ## block) memcpy(parameters_reference_copy[block], \
+ parameters[block], \
+ sizeof(double) * N ## block); // NOLINT
+
+ CERES_COPY_PARAMETER_BLOCK(0);
+ CERES_COPY_PARAMETER_BLOCK(1);
+ CERES_COPY_PARAMETER_BLOCK(2);
+ CERES_COPY_PARAMETER_BLOCK(3);
+ CERES_COPY_PARAMETER_BLOCK(4);
+ CERES_COPY_PARAMETER_BLOCK(5);
+ CERES_COPY_PARAMETER_BLOCK(6);
+ CERES_COPY_PARAMETER_BLOCK(7);
+ CERES_COPY_PARAMETER_BLOCK(8);
+ CERES_COPY_PARAMETER_BLOCK(9);
+
+#undef CERES_COPY_PARAMETER_BLOCK
+
+#define CERES_EVALUATE_JACOBIAN_FOR_BLOCK(block) \
+ if (N ## block && jacobians[block] != NULL) { \
+ if (!NumericDiff<CostFunctor, \
+ method, \
+ kNumResiduals, \
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9, \
+ block, \
+ N ## block >::EvaluateJacobianForParameterBlock( \
+ functor_.get(), \
+ residuals, \
+ options_, \
+ SizedCostFunction<kNumResiduals, \
+ N0, N1, N2, N3, N4, \
+ N5, N6, N7, N8, N9>::num_residuals(), \
+ block, \
+ N ## block, \
+ parameters_reference_copy.get(), \
+ jacobians[block])) { \
+ return false; \
+ } \
+ }
+
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(0);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(1);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(2);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(3);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(4);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(5);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(6);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(7);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(8);
+ CERES_EVALUATE_JACOBIAN_FOR_BLOCK(9);
+
+#undef CERES_EVALUATE_JACOBIAN_FOR_BLOCK
+
+ return true;
+ }
+
+ private:
+ internal::scoped_ptr<CostFunctor> functor_;
+ Ownership ownership_;
+ NumericDiffOptions options_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
--- /dev/null
+// 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: tbennun@gmail.com (Tal Ben-Nun)
+//
+
+#ifndef CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
+#define CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
+
+namespace ceres {
+
+// Options pertaining to numeric differentiation (e.g., convergence criteria,
+// step sizes).
+struct CERES_EXPORT NumericDiffOptions {
+ NumericDiffOptions() {
+ relative_step_size = 1e-6;
+ ridders_relative_initial_step_size = 1e-2;
+ max_num_ridders_extrapolations = 10;
+ ridders_epsilon = 1e-12;
+ ridders_step_shrink_factor = 2.0;
+ }
+
+ // Numeric differentiation step size (multiplied by parameter block's
+ // order of magnitude). If parameters are close to zero, the step size
+ // is set to sqrt(machine_epsilon).
+ double relative_step_size;
+
+ // Initial step size for Ridders adaptive numeric differentiation (multiplied
+ // by parameter block's order of magnitude).
+ // If parameters are close to zero, Ridders' method sets the step size
+ // directly to this value. This parameter is separate from
+ // "relative_step_size" in order to set a different default value.
+ //
+ // Note: For Ridders' method to converge, the step size should be initialized
+ // to a value that is large enough to produce a significant change in the
+ // function. As the derivative is estimated, the step size decreases.
+ double ridders_relative_initial_step_size;
+
+ // Maximal number of adaptive extrapolations (sampling) in Ridders' method.
+ int max_num_ridders_extrapolations;
+
+ // Convergence criterion on extrapolation error for Ridders adaptive
+ // differentiation. The available error estimation methods are defined in
+ // NumericDiffErrorType and set in the "ridders_error_method" field.
+ double ridders_epsilon;
+
+ // The factor in which to shrink the step size with each extrapolation in
+ // Ridders' method.
+ double ridders_step_shrink_factor;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_ORDERED_GROUPS_H_
+#define CERES_PUBLIC_ORDERED_GROUPS_H_
+
+#include <map>
+#include <set>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// A class for storing and manipulating an ordered collection of
+// groups/sets with the following semantics:
+//
+// Group ids are non-negative integer values. Elements are any type
+// that can serve as a key in a map or an element of a set.
+//
+// An element can only belong to one group at a time. A group may
+// contain an arbitrary number of elements.
+//
+// Groups are ordered by their group id.
+template <typename T>
+class OrderedGroups {
+ public:
+ // Add an element to a group. If a group with this id does not
+ // exist, one is created. This method can be called any number of
+ // times for the same element. Group ids should be non-negative
+ // numbers.
+ //
+ // Return value indicates if adding the element was a success.
+ bool AddElementToGroup(const T element, const int group) {
+ if (group < 0) {
+ return false;
+ }
+
+ typename std::map<T, int>::const_iterator it =
+ element_to_group_.find(element);
+ if (it != element_to_group_.end()) {
+ if (it->second == group) {
+ // Element is already in the right group, nothing to do.
+ return true;
+ }
+
+ group_to_elements_[it->second].erase(element);
+ if (group_to_elements_[it->second].size() == 0) {
+ group_to_elements_.erase(it->second);
+ }
+ }
+
+ element_to_group_[element] = group;
+ group_to_elements_[group].insert(element);
+ return true;
+ }
+
+ void Clear() {
+ group_to_elements_.clear();
+ element_to_group_.clear();
+ }
+
+ // Remove the element, no matter what group it is in. Return value
+ // indicates if the element was actually removed.
+ bool Remove(const T element) {
+ const int current_group = GroupId(element);
+ if (current_group < 0) {
+ return false;
+ }
+
+ group_to_elements_[current_group].erase(element);
+
+ if (group_to_elements_[current_group].size() == 0) {
+ // If the group is empty, then get rid of it.
+ group_to_elements_.erase(current_group);
+ }
+
+ element_to_group_.erase(element);
+ return true;
+ }
+
+ // Bulk remove elements. The return value indicates the number of
+ // elements successfully removed.
+ int Remove(const std::vector<T>& elements) {
+ if (NumElements() == 0 || elements.size() == 0) {
+ return 0;
+ }
+
+ int num_removed = 0;
+ for (int i = 0; i < elements.size(); ++i) {
+ num_removed += Remove(elements[i]);
+ }
+ return num_removed;
+ }
+
+ // Reverse the order of the groups in place.
+ void Reverse() {
+ if (NumGroups() == 0) {
+ return;
+ }
+
+ typename std::map<int, std::set<T> >::reverse_iterator it =
+ group_to_elements_.rbegin();
+ std::map<int, std::set<T> > new_group_to_elements;
+ new_group_to_elements[it->first] = it->second;
+
+ int new_group_id = it->first + 1;
+ for (++it; it != group_to_elements_.rend(); ++it) {
+ for (typename std::set<T>::const_iterator element_it = it->second.begin();
+ element_it != it->second.end();
+ ++element_it) {
+ element_to_group_[*element_it] = new_group_id;
+ }
+ new_group_to_elements[new_group_id] = it->second;
+ new_group_id++;
+ }
+
+ group_to_elements_.swap(new_group_to_elements);
+ }
+
+ // Return the group id for the element. If the element is not a
+ // member of any group, return -1.
+ int GroupId(const T element) const {
+ typename std::map<T, int>::const_iterator it =
+ element_to_group_.find(element);
+ if (it == element_to_group_.end()) {
+ return -1;
+ }
+ return it->second;
+ }
+
+ bool IsMember(const T element) const {
+ typename std::map<T, int>::const_iterator it =
+ element_to_group_.find(element);
+ return (it != element_to_group_.end());
+ }
+
+ // This function always succeeds, i.e., implicitly there exists a
+ // group for every integer.
+ int GroupSize(const int group) const {
+ typename std::map<int, std::set<T> >::const_iterator it =
+ group_to_elements_.find(group);
+ return (it == group_to_elements_.end()) ? 0 : it->second.size();
+ }
+
+ int NumElements() const {
+ return element_to_group_.size();
+ }
+
+ // Number of groups with one or more elements.
+ int NumGroups() const {
+ return group_to_elements_.size();
+ }
+
+ // The first group with one or more elements. Calling this when
+ // there are no groups with non-zero elements will result in a
+ // crash.
+ int MinNonZeroGroup() const {
+ CHECK_NE(NumGroups(), 0);
+ return group_to_elements_.begin()->first;
+ }
+
+ const std::map<int, std::set<T> >& group_to_elements() const {
+ return group_to_elements_;
+ }
+
+ const std::map<T, int>& element_to_group() const {
+ return element_to_group_;
+ }
+
+ private:
+ std::map<int, std::set<T> > group_to_elements_;
+ std::map<T, int> element_to_group_;
+};
+
+// Typedef for the most commonly used version of OrderedGroups.
+typedef OrderedGroups<double*> ParameterBlockOrdering;
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_ORDERED_GROUP_H_
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+//
+// The Problem object is used to build and hold least squares problems.
+
+#ifndef CERES_PUBLIC_PROBLEM_H_
+#define CERES_PUBLIC_PROBLEM_H_
+
+#include <cstddef>
+#include <map>
+#include <set>
+#include <vector>
+
+#include "glog/logging.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+class Solver;
+struct CRSMatrix;
+
+namespace internal {
+class Preprocessor;
+class ProblemImpl;
+class ParameterBlock;
+class ResidualBlock;
+} // namespace internal
+
+// A ResidualBlockId is an opaque handle clients can use to remove residual
+// blocks from a Problem after adding them.
+typedef internal::ResidualBlock* ResidualBlockId;
+
+// A class to represent non-linear least squares problems. Such
+// problems have a cost function that is a sum of error terms (known
+// as "residuals"), where each residual is a function of some subset
+// of the parameters. The cost function takes the form
+//
+// N 1
+// SUM --- loss( || r_i1, r_i2,..., r_ik ||^2 ),
+// i=1 2
+//
+// where
+//
+// r_ij is residual number i, component j; the residual is a
+// function of some subset of the parameters x1...xk. For
+// example, in a structure from motion problem a residual
+// might be the difference between a measured point in an
+// image and the reprojected position for the matching
+// camera, point pair. The residual would have two
+// components, error in x and error in y.
+//
+// loss(y) is the loss function; for example, squared error or
+// Huber L1 loss. If loss(y) = y, then the cost function is
+// non-robustified least squares.
+//
+// This class is specifically designed to address the important subset
+// of "sparse" least squares problems, where each component of the
+// residual depends only on a small number number of parameters, even
+// though the total number of residuals and parameters may be very
+// large. This property affords tremendous gains in scale, allowing
+// efficient solving of large problems that are otherwise
+// inaccessible.
+//
+// The canonical example of a sparse least squares problem is
+// "structure-from-motion" (SFM), where the parameters are points and
+// cameras, and residuals are reprojection errors. Typically a single
+// residual will depend only on 9 parameters (3 for the point, 6 for
+// the camera).
+//
+// To create a least squares problem, use the AddResidualBlock() and
+// AddParameterBlock() methods, documented below. Here is an example least
+// squares problem containing 3 parameter blocks of sizes 3, 4 and 5
+// respectively and two residual terms of size 2 and 6:
+//
+// double x1[] = { 1.0, 2.0, 3.0 };
+// double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+// double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+//
+// Problem problem;
+//
+// problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+// problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+//
+// Please see cost_function.h for details of the CostFunction object.
+class CERES_EXPORT Problem {
+ public:
+ struct CERES_EXPORT Options {
+ Options()
+ : cost_function_ownership(TAKE_OWNERSHIP),
+ loss_function_ownership(TAKE_OWNERSHIP),
+ local_parameterization_ownership(TAKE_OWNERSHIP),
+ enable_fast_removal(false),
+ disable_all_safety_checks(false) {}
+
+ // These flags control whether the Problem object owns the cost
+ // functions, loss functions, and parameterizations passed into
+ // the Problem. If set to TAKE_OWNERSHIP, then the problem object
+ // will delete the corresponding cost or loss functions on
+ // destruction. The destructor is careful to delete the pointers
+ // only once, since sharing cost/loss/parameterizations is
+ // allowed.
+ Ownership cost_function_ownership;
+ Ownership loss_function_ownership;
+ Ownership local_parameterization_ownership;
+
+ // If true, trades memory for faster RemoveResidualBlock() and
+ // RemoveParameterBlock() operations.
+ //
+ // By default, RemoveParameterBlock() and RemoveResidualBlock() take time
+ // proportional to the size of the entire problem. If you only ever remove
+ // parameters or residuals from the problem occassionally, this might be
+ // acceptable. However, if you have memory to spare, enable this option to
+ // make RemoveParameterBlock() take time proportional to the number of
+ // residual blocks that depend on it, and RemoveResidualBlock() take (on
+ // average) constant time.
+ //
+ // The increase in memory usage is twofold: an additonal hash set per
+ // parameter block containing all the residuals that depend on the parameter
+ // block; and a hash set in the problem containing all residuals.
+ bool enable_fast_removal;
+
+ // By default, Ceres performs a variety of safety checks when constructing
+ // the problem. There is a small but measurable performance penalty to
+ // these checks, typically around 5% of construction time. If you are sure
+ // your problem construction is correct, and 5% of the problem construction
+ // time is truly an overhead you want to avoid, then you can set
+ // disable_all_safety_checks to true.
+ //
+ // WARNING: Do not set this to true, unless you are absolutely sure of what
+ // you are doing.
+ bool disable_all_safety_checks;
+ };
+
+ // The default constructor is equivalent to the
+ // invocation Problem(Problem::Options()).
+ Problem();
+ explicit Problem(const Options& options);
+
+ ~Problem();
+
+ // Add a residual block to the overall cost function. The cost
+ // function carries with it information about the sizes of the
+ // parameter blocks it expects. The function checks that these match
+ // the sizes of the parameter blocks listed in parameter_blocks. The
+ // program aborts if a mismatch is detected. loss_function can be
+ // NULL, in which case the cost of the term is just the squared norm
+ // of the residuals.
+ //
+ // The user has the option of explicitly adding the parameter blocks
+ // using AddParameterBlock. This causes additional correctness
+ // checking; however, AddResidualBlock implicitly adds the parameter
+ // blocks if they are not present, so calling AddParameterBlock
+ // explicitly is not required.
+ //
+ // The Problem object by default takes ownership of the
+ // cost_function and loss_function pointers. These objects remain
+ // live for the life of the Problem object. If the user wishes to
+ // keep control over the destruction of these objects, then they can
+ // do this by setting the corresponding enums in the Options struct.
+ //
+ // Note: Even though the Problem takes ownership of cost_function
+ // and loss_function, it does not preclude the user from re-using
+ // them in another residual block. The destructor takes care to call
+ // delete on each cost_function or loss_function pointer only once,
+ // regardless of how many residual blocks refer to them.
+ //
+ // Example usage:
+ //
+ // double x1[] = {1.0, 2.0, 3.0};
+ // double x2[] = {1.0, 2.0, 5.0, 6.0};
+ // double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0};
+ //
+ // Problem problem;
+ //
+ // problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
+ // problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
+ //
+ ResidualBlockId AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const std::vector<double*>& parameter_blocks);
+
+ // Convenience methods for adding residuals with a small number of
+ // parameters. This is the common case. Instead of specifying the
+ // parameter block arguments as a vector, list them as pointers.
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8,
+ double* x9);
+
+ // Add a parameter block with appropriate size to the problem.
+ // Repeated calls with the same arguments are ignored. Repeated
+ // calls with the same double pointer but a different size results
+ // in undefined behaviour.
+ void AddParameterBlock(double* values, int size);
+
+ // Add a parameter block with appropriate size and parameterization
+ // to the problem. Repeated calls with the same arguments are
+ // ignored. Repeated calls with the same double pointer but a
+ // different size results in undefined behaviour.
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+
+ // Remove a parameter block from the problem. The parameterization of the
+ // parameter block, if it exists, will persist until the deletion of the
+ // problem (similar to cost/loss functions in residual block removal). Any
+ // residual blocks that depend on the parameter are also removed, as
+ // described above in RemoveResidualBlock().
+ //
+ // If Problem::Options::enable_fast_removal is true, then the
+ // removal is fast (almost constant time). Otherwise, removing a parameter
+ // block will incur a scan of the entire Problem object.
+ //
+ // WARNING: Removing a residual or parameter block will destroy the implicit
+ // ordering, rendering the jacobian or residuals returned from the solver
+ // uninterpretable. If you depend on the evaluated jacobian, do not use
+ // remove! This may change in a future release.
+ void RemoveParameterBlock(double* values);
+
+ // Remove a residual block from the problem. Any parameters that the residual
+ // block depends on are not removed. The cost and loss functions for the
+ // residual block will not get deleted immediately; won't happen until the
+ // problem itself is deleted.
+ //
+ // WARNING: Removing a residual or parameter block will destroy the implicit
+ // ordering, rendering the jacobian or residuals returned from the solver
+ // uninterpretable. If you depend on the evaluated jacobian, do not use
+ // remove! This may change in a future release.
+ void RemoveResidualBlock(ResidualBlockId residual_block);
+
+ // Hold the indicated parameter block constant during optimization.
+ void SetParameterBlockConstant(double* values);
+
+ // Allow the indicated parameter block to vary during optimization.
+ void SetParameterBlockVariable(double* values);
+
+ // Returns true if a parameter block is set constant, and false otherwise.
+ bool IsParameterBlockConstant(double* values) const;
+
+ // Set the local parameterization for one of the parameter blocks.
+ // The local_parameterization is owned by the Problem by default. It
+ // is acceptable to set the same parameterization for multiple
+ // parameters; the destructor is careful to delete local
+ // parameterizations only once. The local parameterization can only
+ // be set once per parameter, and cannot be changed once set.
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+
+ // Get the local parameterization object associated with this
+ // parameter block. If there is no parameterization object
+ // associated then NULL is returned.
+ const LocalParameterization* GetParameterization(double* values) const;
+
+ // Set the lower/upper bound for the parameter with position "index".
+ void SetParameterLowerBound(double* values, int index, double lower_bound);
+ void SetParameterUpperBound(double* values, int index, double upper_bound);
+
+ // Number of parameter blocks in the problem. Always equals
+ // parameter_blocks().size() and parameter_block_sizes().size().
+ int NumParameterBlocks() const;
+
+ // The size of the parameter vector obtained by summing over the
+ // sizes of all the parameter blocks.
+ int NumParameters() const;
+
+ // Number of residual blocks in the problem. Always equals
+ // residual_blocks().size().
+ int NumResidualBlocks() const;
+
+ // The size of the residual vector obtained by summing over the
+ // sizes of all of the residual blocks.
+ int NumResiduals() const;
+
+ // The size of the parameter block.
+ int ParameterBlockSize(const double* values) const;
+
+ // The size of local parameterization for the parameter block. If
+ // there is no local parameterization associated with this parameter
+ // block, then ParameterBlockLocalSize = ParameterBlockSize.
+ int ParameterBlockLocalSize(const double* values) const;
+
+ // Is the given parameter block present in this problem or not?
+ bool HasParameterBlock(const double* values) const;
+
+ // Fills the passed parameter_blocks vector with pointers to the
+ // parameter blocks currently in the problem. After this call,
+ // parameter_block.size() == NumParameterBlocks.
+ void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
+
+ // Fills the passed residual_blocks vector with pointers to the
+ // residual blocks currently in the problem. After this call,
+ // residual_blocks.size() == NumResidualBlocks.
+ void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
+
+ // Get all the parameter blocks that depend on the given residual block.
+ void GetParameterBlocksForResidualBlock(
+ const ResidualBlockId residual_block,
+ std::vector<double*>* parameter_blocks) const;
+
+ // Get the CostFunction for the given residual block.
+ const CostFunction* GetCostFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const;
+
+ // Get the LossFunction for the given residual block. Returns NULL
+ // if no loss function is associated with this residual block.
+ const LossFunction* GetLossFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const;
+
+ // Get all the residual blocks that depend on the given parameter block.
+ //
+ // If Problem::Options::enable_fast_removal is true, then
+ // getting the residual blocks is fast and depends only on the number of
+ // residual blocks. Otherwise, getting the residual blocks for a parameter
+ // block will incur a scan of the entire Problem object.
+ void GetResidualBlocksForParameterBlock(
+ const double* values,
+ std::vector<ResidualBlockId>* residual_blocks) const;
+
+ // Options struct to control Problem::Evaluate.
+ struct EvaluateOptions {
+ EvaluateOptions()
+ : apply_loss_function(true),
+ num_threads(1) {
+ }
+
+ // The set of parameter blocks for which evaluation should be
+ // performed. This vector determines the order that parameter
+ // blocks occur in the gradient vector and in the columns of the
+ // jacobian matrix. If parameter_blocks is empty, then it is
+ // assumed to be equal to vector containing ALL the parameter
+ // blocks. Generally speaking the parameter blocks will occur in
+ // the order in which they were added to the problem. But, this
+ // may change if the user removes any parameter blocks from the
+ // problem.
+ //
+ // NOTE: This vector should contain the same pointers as the ones
+ // used to add parameter blocks to the Problem. These parameter
+ // block should NOT point to new memory locations. Bad things will
+ // happen otherwise.
+ std::vector<double*> parameter_blocks;
+
+ // The set of residual blocks to evaluate. This vector determines
+ // the order in which the residuals occur, and how the rows of the
+ // jacobian are ordered. If residual_blocks is empty, then it is
+ // assumed to be equal to the vector containing ALL the residual
+ // blocks. Generally speaking the residual blocks will occur in
+ // the order in which they were added to the problem. But, this
+ // may change if the user removes any residual blocks from the
+ // problem.
+ std::vector<ResidualBlockId> residual_blocks;
+
+ // Even though the residual blocks in the problem may contain loss
+ // functions, setting apply_loss_function to false will turn off
+ // the application of the loss function to the output of the cost
+ // function. This is of use for example if the user wishes to
+ // analyse the solution quality by studying the distribution of
+ // residuals before and after the solve.
+ bool apply_loss_function;
+
+ int num_threads;
+ };
+
+ // Evaluate Problem. Any of the output pointers can be NULL. Which
+ // residual blocks and parameter blocks are used is controlled by
+ // the EvaluateOptions struct above.
+ //
+ // Note 1: The evaluation will use the values stored in the memory
+ // locations pointed to by the parameter block pointers used at the
+ // time of the construction of the problem. i.e.,
+ //
+ // Problem problem;
+ // double x = 1;
+ // problem.AddResidualBlock(new MyCostFunction, NULL, &x);
+ //
+ // double cost = 0.0;
+ // problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+ //
+ // The cost is evaluated at x = 1. If you wish to evaluate the
+ // problem at x = 2, then
+ //
+ // x = 2;
+ // problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+ //
+ // is the way to do so.
+ //
+ // Note 2: If no local parameterizations are used, then the size of
+ // the gradient vector (and the number of columns in the jacobian)
+ // is the sum of the sizes of all the parameter blocks. If a
+ // parameter block has a local parameterization, then it contributes
+ // "LocalSize" entries to the gradient vector (and the number of
+ // columns in the jacobian).
+ //
+ // Note 3: This function cannot be called while the problem is being
+ // solved, for example it cannot be called from an IterationCallback
+ // at the end of an iteration during a solve.
+ bool Evaluate(const EvaluateOptions& options,
+ double* cost,
+ std::vector<double>* residuals,
+ std::vector<double>* gradient,
+ CRSMatrix* jacobian);
+
+ private:
+ friend class Solver;
+ friend class Covariance;
+ internal::scoped_ptr<internal::ProblemImpl> problem_impl_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(Problem);
+};
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_PROBLEM_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Templated functions for manipulating rotations. The templated
+// functions are useful when implementing functors for automatic
+// differentiation.
+//
+// In the following, the Quaternions are laid out as 4-vectors, thus:
+//
+// q[0] scalar part.
+// q[1] coefficient of i.
+// q[2] coefficient of j.
+// q[3] coefficient of k.
+//
+// where: i*i = j*j = k*k = -1 and i*j = k, j*k = i, k*i = j.
+
+#ifndef CERES_PUBLIC_ROTATION_H_
+#define CERES_PUBLIC_ROTATION_H_
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+namespace ceres {
+
+// Trivial wrapper to index linear arrays as matrices, given a fixed
+// column and row stride. When an array "T* array" is wrapped by a
+//
+// (const) MatrixAdapter<T, row_stride, col_stride> M"
+//
+// the expression M(i, j) is equivalent to
+//
+// arrary[i * row_stride + j * col_stride]
+//
+// Conversion functions to and from rotation matrices accept
+// MatrixAdapters to permit using row-major and column-major layouts,
+// and rotation matrices embedded in larger matrices (such as a 3x4
+// projection matrix).
+template <typename T, int row_stride, int col_stride>
+struct MatrixAdapter;
+
+// Convenience functions to create a MatrixAdapter that treats the
+// array pointed to by "pointer" as a 3x3 (contiguous) column-major or
+// row-major matrix.
+template <typename T>
+MatrixAdapter<T, 1, 3> ColumnMajorAdapter3x3(T* pointer);
+
+template <typename T>
+MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer);
+
+// Convert a value in combined axis-angle representation to a quaternion.
+// The value angle_axis is a triple whose norm is an angle in radians,
+// and whose direction is aligned with the axis of rotation,
+// and quaternion is a 4-tuple that will contain the resulting quaternion.
+// The implementation may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
+
+// Convert a quaternion to the equivalent combined axis-angle representation.
+// The value quaternion must be a unit quaternion - it is not normalized first,
+// and angle_axis will be filled with a value whose norm is the angle of
+// rotation in radians, and whose direction is the axis of rotation.
+// The implemention may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
+
+// Conversions between 3x3 rotation matrix (in column major order) and
+// quaternion rotation representations. Templated for use with
+// autodifferentiation.
+template <typename T>
+void RotationMatrixToQuaternion(const T* R, T* quaternion);
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToQuaternion(
+ const MatrixAdapter<const T, row_stride, col_stride>& R,
+ T* quaternion);
+
+// Conversions between 3x3 rotation matrix (in column major order) and
+// axis-angle rotation representations. Templated for use with
+// autodifferentiation.
+template <typename T>
+void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToAngleAxis(
+ const MatrixAdapter<const T, row_stride, col_stride>& R,
+ T* angle_axis);
+
+template <typename T>
+void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
+
+template <typename T, int row_stride, int col_stride>
+void AngleAxisToRotationMatrix(
+ const T* angle_axis,
+ const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Conversions between 3x3 rotation matrix (in row major order) and
+// Euler angle (in degrees) rotation representations.
+//
+// The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z}
+// axes, respectively. They are applied in that same order, so the
+// total rotation R is Rz * Ry * Rx.
+template <typename T>
+void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R);
+
+template <typename T, int row_stride, int col_stride>
+void EulerAnglesToRotationMatrix(
+ const T* euler,
+ const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Convert a 4-vector to a 3x3 scaled rotation matrix.
+//
+// The choice of rotation is such that the quaternion [1 0 0 0] goes to an
+// identity matrix and for small a, b, c the quaternion [1 a b c] goes to
+// the matrix
+//
+// [ 0 -c b ]
+// I + 2 [ c 0 -a ] + higher order terms
+// [ -b a 0 ]
+//
+// which corresponds to a Rodrigues approximation, the last matrix being
+// the cross-product matrix of [a b c]. Together with the property that
+// R(q1 * q2) = R(q1) * R(q2) this uniquely defines the mapping from q to R.
+//
+// No normalization of the quaternion is performed, i.e.
+// R = ||q||^2 * Q, where Q is an orthonormal matrix
+// such that det(Q) = 1 and Q*Q' = I
+//
+// WARNING: The rotation matrix is ROW MAJOR
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]);
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToScaledRotation(
+ const T q[4],
+ const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Same as above except that the rotation matrix is normalized by the
+// Frobenius norm, so that R * R' = I (and det(R) = 1).
+//
+// WARNING: The rotation matrix is ROW MAJOR
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]);
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToRotation(
+ const T q[4],
+ const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Rotates a point pt by a quaternion q:
+//
+// result = R(q) * pt
+//
+// Assumes the quaternion is unit norm. This assumption allows us to
+// write the transform as (something)*pt + pt, as is clear from the
+// formula below. If you pass in a quaternion with |q|^2 = 2 then you
+// WILL NOT get back 2 times the result you get for a unit quaternion.
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// With this function you do not need to assume that q has unit norm.
+// It does assume that the norm is non-zero.
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// zw = z * w, where * is the Quaternion product between 4 vectors.
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]);
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]);
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]);
+
+// y = R(angle_axis) * x;
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
+
+// --- IMPLEMENTATION
+
+template<typename T, int row_stride, int col_stride>
+struct MatrixAdapter {
+ T* pointer_;
+ explicit MatrixAdapter(T* pointer)
+ : pointer_(pointer)
+ {}
+
+ T& operator()(int r, int c) const {
+ return pointer_[r * row_stride + c * col_stride];
+ }
+};
+
+template <typename T>
+MatrixAdapter<T, 1, 3> ColumnMajorAdapter3x3(T* pointer) {
+ return MatrixAdapter<T, 1, 3>(pointer);
+}
+
+template <typename T>
+MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer) {
+ return MatrixAdapter<T, 3, 1>(pointer);
+}
+
+template<typename T>
+inline void AngleAxisToQuaternion(const T* angle_axis, T* quaternion) {
+ const T& a0 = angle_axis[0];
+ const T& a1 = angle_axis[1];
+ const T& a2 = angle_axis[2];
+ const T theta_squared = a0 * a0 + a1 * a1 + a2 * a2;
+
+ // For points not at the origin, the full conversion is numerically stable.
+ if (theta_squared > T(0.0)) {
+ const T theta = sqrt(theta_squared);
+ const T half_theta = theta * T(0.5);
+ const T k = sin(half_theta) / theta;
+ quaternion[0] = cos(half_theta);
+ quaternion[1] = a0 * k;
+ quaternion[2] = a1 * k;
+ quaternion[3] = a2 * k;
+ } else {
+ // At the origin, sqrt() will produce NaN in the derivative since
+ // the argument is zero. By approximating with a Taylor series,
+ // and truncating at one term, the value and first derivatives will be
+ // computed correctly when Jets are used.
+ const T k(0.5);
+ quaternion[0] = T(1.0);
+ quaternion[1] = a0 * k;
+ quaternion[2] = a1 * k;
+ quaternion[3] = a2 * k;
+ }
+}
+
+template<typename T>
+inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
+ const T& q1 = quaternion[1];
+ const T& q2 = quaternion[2];
+ const T& q3 = quaternion[3];
+ const T sin_squared_theta = q1 * q1 + q2 * q2 + q3 * q3;
+
+ // For quaternions representing non-zero rotation, the conversion
+ // is numerically stable.
+ if (sin_squared_theta > T(0.0)) {
+ const T sin_theta = sqrt(sin_squared_theta);
+ const T& cos_theta = quaternion[0];
+
+ // If cos_theta is negative, theta is greater than pi/2, which
+ // means that angle for the angle_axis vector which is 2 * theta
+ // would be greater than pi.
+ //
+ // While this will result in the correct rotation, it does not
+ // result in a normalized angle-axis vector.
+ //
+ // In that case we observe that 2 * theta ~ 2 * theta - 2 * pi,
+ // which is equivalent saying
+ //
+ // theta - pi = atan(sin(theta - pi), cos(theta - pi))
+ // = atan(-sin(theta), -cos(theta))
+ //
+ const T two_theta =
+ T(2.0) * ((cos_theta < 0.0)
+ ? atan2(-sin_theta, -cos_theta)
+ : atan2(sin_theta, cos_theta));
+ const T k = two_theta / sin_theta;
+ angle_axis[0] = q1 * k;
+ angle_axis[1] = q2 * k;
+ angle_axis[2] = q3 * k;
+ } else {
+ // For zero rotation, sqrt() will produce NaN in the derivative since
+ // the argument is zero. By approximating with a Taylor series,
+ // and truncating at one term, the value and first derivatives will be
+ // computed correctly when Jets are used.
+ const T k(2.0);
+ angle_axis[0] = q1 * k;
+ angle_axis[1] = q2 * k;
+ angle_axis[2] = q3 * k;
+ }
+}
+
+template <typename T>
+void RotationMatrixToQuaternion(const T* R, T* angle_axis) {
+ RotationMatrixToQuaternion(ColumnMajorAdapter3x3(R), angle_axis);
+}
+
+// This algorithm comes from "Quaternion Calculus and Fast Animation",
+// Ken Shoemake, 1987 SIGGRAPH course notes
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToQuaternion(
+ const MatrixAdapter<const T, row_stride, col_stride>& R,
+ T* quaternion) {
+ const T trace = R(0, 0) + R(1, 1) + R(2, 2);
+ if (trace >= 0.0) {
+ T t = sqrt(trace + T(1.0));
+ quaternion[0] = T(0.5) * t;
+ t = T(0.5) / t;
+ quaternion[1] = (R(2, 1) - R(1, 2)) * t;
+ quaternion[2] = (R(0, 2) - R(2, 0)) * t;
+ quaternion[3] = (R(1, 0) - R(0, 1)) * t;
+ } else {
+ int i = 0;
+ if (R(1, 1) > R(0, 0)) {
+ i = 1;
+ }
+
+ if (R(2, 2) > R(i, i)) {
+ i = 2;
+ }
+
+ const int j = (i + 1) % 3;
+ const int k = (j + 1) % 3;
+ T t = sqrt(R(i, i) - R(j, j) - R(k, k) + T(1.0));
+ quaternion[i + 1] = T(0.5) * t;
+ t = T(0.5) / t;
+ quaternion[0] = (R(k, j) - R(j, k)) * t;
+ quaternion[j + 1] = (R(j, i) + R(i, j)) * t;
+ quaternion[k + 1] = (R(k, i) + R(i, k)) * t;
+ }
+}
+
+// The conversion of a rotation matrix to the angle-axis form is
+// numerically problematic when then rotation angle is close to zero
+// or to Pi. The following implementation detects when these two cases
+// occurs and deals with them by taking code paths that are guaranteed
+// to not perform division by a small number.
+template <typename T>
+inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
+ RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
+}
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToAngleAxis(
+ const MatrixAdapter<const T, row_stride, col_stride>& R,
+ T* angle_axis) {
+ T quaternion[4];
+ RotationMatrixToQuaternion(R, quaternion);
+ QuaternionToAngleAxis(quaternion, angle_axis);
+ return;
+}
+
+template <typename T>
+inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
+ AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride>
+void AngleAxisToRotationMatrix(
+ const T* angle_axis,
+ const MatrixAdapter<T, row_stride, col_stride>& R) {
+ static const T kOne = T(1.0);
+ const T theta2 = DotProduct(angle_axis, angle_axis);
+ if (theta2 > T(std::numeric_limits<double>::epsilon())) {
+ // We want to be careful to only evaluate the square root if the
+ // norm of the angle_axis vector is greater than zero. Otherwise
+ // we get a division by zero.
+ const T theta = sqrt(theta2);
+ const T wx = angle_axis[0] / theta;
+ const T wy = angle_axis[1] / theta;
+ const T wz = angle_axis[2] / theta;
+
+ const T costheta = cos(theta);
+ const T sintheta = sin(theta);
+
+ R(0, 0) = costheta + wx*wx*(kOne - costheta);
+ R(1, 0) = wz*sintheta + wx*wy*(kOne - costheta);
+ R(2, 0) = -wy*sintheta + wx*wz*(kOne - costheta);
+ R(0, 1) = wx*wy*(kOne - costheta) - wz*sintheta;
+ R(1, 1) = costheta + wy*wy*(kOne - costheta);
+ R(2, 1) = wx*sintheta + wy*wz*(kOne - costheta);
+ R(0, 2) = wy*sintheta + wx*wz*(kOne - costheta);
+ R(1, 2) = -wx*sintheta + wy*wz*(kOne - costheta);
+ R(2, 2) = costheta + wz*wz*(kOne - costheta);
+ } else {
+ // Near zero, we switch to using the first order Taylor expansion.
+ R(0, 0) = kOne;
+ R(1, 0) = angle_axis[2];
+ R(2, 0) = -angle_axis[1];
+ R(0, 1) = -angle_axis[2];
+ R(1, 1) = kOne;
+ R(2, 1) = angle_axis[0];
+ R(0, 2) = angle_axis[1];
+ R(1, 2) = -angle_axis[0];
+ R(2, 2) = kOne;
+ }
+}
+
+template <typename T>
+inline void EulerAnglesToRotationMatrix(const T* euler,
+ const int row_stride_parameter,
+ T* R) {
+ EulerAnglesToRotationMatrix(euler, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride>
+void EulerAnglesToRotationMatrix(
+ const T* euler,
+ const MatrixAdapter<T, row_stride, col_stride>& R) {
+ const double kPi = 3.14159265358979323846;
+ const T degrees_to_radians(kPi / 180.0);
+
+ const T pitch(euler[0] * degrees_to_radians);
+ const T roll(euler[1] * degrees_to_radians);
+ const T yaw(euler[2] * degrees_to_radians);
+
+ const T c1 = cos(yaw);
+ const T s1 = sin(yaw);
+ const T c2 = cos(roll);
+ const T s2 = sin(roll);
+ const T c3 = cos(pitch);
+ const T s3 = sin(pitch);
+
+ R(0, 0) = c1*c2;
+ R(0, 1) = -s1*c3 + c1*s2*s3;
+ R(0, 2) = s1*s3 + c1*s2*c3;
+
+ R(1, 0) = s1*c2;
+ R(1, 1) = c1*c3 + s1*s2*s3;
+ R(1, 2) = -c1*s3 + s1*s2*c3;
+
+ R(2, 0) = -s2;
+ R(2, 1) = c2*s3;
+ R(2, 2) = c2*c3;
+}
+
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]) {
+ QuaternionToScaledRotation(q, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToScaledRotation(
+ const T q[4],
+ const MatrixAdapter<T, row_stride, col_stride>& R) {
+ // Make convenient names for elements of q.
+ T a = q[0];
+ T b = q[1];
+ T c = q[2];
+ T d = q[3];
+ // This is not to eliminate common sub-expression, but to
+ // make the lines shorter so that they fit in 80 columns!
+ T aa = a * a;
+ T ab = a * b;
+ T ac = a * c;
+ T ad = a * d;
+ T bb = b * b;
+ T bc = b * c;
+ T bd = b * d;
+ T cc = c * c;
+ T cd = c * d;
+ T dd = d * d;
+
+ R(0, 0) = aa + bb - cc - dd; R(0, 1) = T(2) * (bc - ad); R(0, 2) = T(2) * (ac + bd); // NOLINT
+ R(1, 0) = T(2) * (ad + bc); R(1, 1) = aa - bb + cc - dd; R(1, 2) = T(2) * (cd - ab); // NOLINT
+ R(2, 0) = T(2) * (bd - ac); R(2, 1) = T(2) * (ab + cd); R(2, 2) = aa - bb - cc + dd; // NOLINT
+}
+
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]) {
+ QuaternionToRotation(q, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToRotation(const T q[4],
+ const MatrixAdapter<T, row_stride, col_stride>& R) {
+ QuaternionToScaledRotation(q, R);
+
+ T normalizer = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+ normalizer = T(1) / normalizer;
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ R(i, j) *= normalizer;
+ }
+ }
+}
+
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+ const T t2 = q[0] * q[1];
+ const T t3 = q[0] * q[2];
+ const T t4 = q[0] * q[3];
+ const T t5 = -q[1] * q[1];
+ const T t6 = q[1] * q[2];
+ const T t7 = q[1] * q[3];
+ const T t8 = -q[2] * q[2];
+ const T t9 = q[2] * q[3];
+ const T t1 = -q[3] * q[3];
+ result[0] = T(2) * ((t8 + t1) * pt[0] + (t6 - t4) * pt[1] + (t3 + t7) * pt[2]) + pt[0]; // NOLINT
+ result[1] = T(2) * ((t4 + t6) * pt[0] + (t5 + t1) * pt[1] + (t9 - t2) * pt[2]) + pt[1]; // NOLINT
+ result[2] = T(2) * ((t7 - t3) * pt[0] + (t2 + t9) * pt[1] + (t5 + t8) * pt[2]) + pt[2]; // NOLINT
+}
+
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+ // 'scale' is 1 / norm(q).
+ const T scale = T(1) / sqrt(q[0] * q[0] +
+ q[1] * q[1] +
+ q[2] * q[2] +
+ q[3] * q[3]);
+
+ // Make unit-norm version of q.
+ const T unit[4] = {
+ scale * q[0],
+ scale * q[1],
+ scale * q[2],
+ scale * q[3],
+ };
+
+ UnitQuaternionRotatePoint(unit, pt, result);
+}
+
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]) {
+ zw[0] = z[0] * w[0] - z[1] * w[1] - z[2] * w[2] - z[3] * w[3];
+ zw[1] = z[0] * w[1] + z[1] * w[0] + z[2] * w[3] - z[3] * w[2];
+ zw[2] = z[0] * w[2] - z[1] * w[3] + z[2] * w[0] + z[3] * w[1];
+ zw[3] = z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0];
+}
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]) {
+ x_cross_y[0] = x[1] * y[2] - x[2] * y[1];
+ x_cross_y[1] = x[2] * y[0] - x[0] * y[2];
+ x_cross_y[2] = x[0] * y[1] - x[1] * y[0];
+}
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]) {
+ return (x[0] * y[0] + x[1] * y[1] + x[2] * y[2]);
+}
+
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]) {
+ const T theta2 = DotProduct(angle_axis, angle_axis);
+ if (theta2 > T(std::numeric_limits<double>::epsilon())) {
+ // Away from zero, use the rodriguez formula
+ //
+ // result = pt costheta +
+ // (w x pt) * sintheta +
+ // w (w . pt) (1 - costheta)
+ //
+ // We want to be careful to only evaluate the square root if the
+ // norm of the angle_axis vector is greater than zero. Otherwise
+ // we get a division by zero.
+ //
+ const T theta = sqrt(theta2);
+ const T costheta = cos(theta);
+ const T sintheta = sin(theta);
+ const T theta_inverse = T(1.0) / theta;
+
+ const T w[3] = { angle_axis[0] * theta_inverse,
+ angle_axis[1] * theta_inverse,
+ angle_axis[2] * theta_inverse };
+
+ // Explicitly inlined evaluation of the cross product for
+ // performance reasons.
+ const T w_cross_pt[3] = { w[1] * pt[2] - w[2] * pt[1],
+ w[2] * pt[0] - w[0] * pt[2],
+ w[0] * pt[1] - w[1] * pt[0] };
+ const T tmp =
+ (w[0] * pt[0] + w[1] * pt[1] + w[2] * pt[2]) * (T(1.0) - costheta);
+
+ result[0] = pt[0] * costheta + w_cross_pt[0] * sintheta + w[0] * tmp;
+ result[1] = pt[1] * costheta + w_cross_pt[1] * sintheta + w[1] * tmp;
+ result[2] = pt[2] * costheta + w_cross_pt[2] * sintheta + w[2] * tmp;
+ } else {
+ // Near zero, the first order Taylor approximation of the rotation
+ // matrix R corresponding to a vector w and angle w is
+ //
+ // R = I + hat(w) * sin(theta)
+ //
+ // But sintheta ~ theta and theta * w = angle_axis, which gives us
+ //
+ // R = I + hat(w)
+ //
+ // and actually performing multiplication with the point pt, gives us
+ // R * pt = pt + w x pt.
+ //
+ // Switching to the Taylor expansion near zero provides meaningful
+ // derivatives when evaluated using Jets.
+ //
+ // Explicitly inlined evaluation of the cross product for
+ // performance reasons.
+ const T w_cross_pt[3] = { angle_axis[1] * pt[2] - angle_axis[2] * pt[1],
+ angle_axis[2] * pt[0] - angle_axis[0] * pt[2],
+ angle_axis[0] * pt[1] - angle_axis[1] * pt[0] };
+
+ result[0] = pt[0] + w_cross_pt[0];
+ result[1] = pt[1] + w_cross_pt[1];
+ result[2] = pt[2] + w_cross_pt[2];
+ }
+}
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_ROTATION_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A convenience class for cost functions which are statically sized.
+// Compared to the dynamically-sized base class, this reduces boilerplate.
+//
+// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
+// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
+// are responsible for calling set_num_residuals() at runtime.
+
+#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+
+#include "ceres/types.h"
+#include "ceres/cost_function.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+template<int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+class SizedCostFunction : public CostFunction {
+ public:
+ SizedCostFunction() {
+ CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
+ << "Cost functions must have at least one residual block.";
+
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+
+ set_num_residuals(kNumResiduals);
+
+#define CERES_ADD_PARAMETER_BLOCK(N) \
+ if (N) mutable_parameter_block_sizes()->push_back(N);
+ CERES_ADD_PARAMETER_BLOCK(N0);
+ CERES_ADD_PARAMETER_BLOCK(N1);
+ CERES_ADD_PARAMETER_BLOCK(N2);
+ CERES_ADD_PARAMETER_BLOCK(N3);
+ CERES_ADD_PARAMETER_BLOCK(N4);
+ CERES_ADD_PARAMETER_BLOCK(N5);
+ CERES_ADD_PARAMETER_BLOCK(N6);
+ CERES_ADD_PARAMETER_BLOCK(N7);
+ CERES_ADD_PARAMETER_BLOCK(N8);
+ CERES_ADD_PARAMETER_BLOCK(N9);
+#undef CERES_ADD_PARAMETER_BLOCK
+ }
+
+ virtual ~SizedCostFunction() { }
+
+ // Subclasses must implement Evaluate().
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_
--- /dev/null
+// 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)
+
+#ifndef CERES_PUBLIC_SOLVER_H_
+#define CERES_PUBLIC_SOLVER_H_
+
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class Problem;
+
+// Interface for non-linear least squares solvers.
+class CERES_EXPORT Solver {
+ public:
+ virtual ~Solver();
+
+ // The options structure contains, not surprisingly, options that control how
+ // the solver operates. The defaults should be suitable for a wide range of
+ // problems; however, better performance is often obtainable with tweaking.
+ //
+ // The constants are defined inside types.h
+ struct CERES_EXPORT Options {
+ // Default constructor that sets up a generic sparse problem.
+ Options() {
+ minimizer_type = TRUST_REGION;
+ line_search_direction_type = LBFGS;
+ line_search_type = WOLFE;
+ nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
+ max_lbfgs_rank = 20;
+ use_approximate_eigenvalue_bfgs_scaling = false;
+ line_search_interpolation_type = CUBIC;
+ min_line_search_step_size = 1e-9;
+ line_search_sufficient_function_decrease = 1e-4;
+ max_line_search_step_contraction = 1e-3;
+ min_line_search_step_contraction = 0.6;
+ max_num_line_search_step_size_iterations = 20;
+ max_num_line_search_direction_restarts = 5;
+ line_search_sufficient_curvature_decrease = 0.9;
+ max_line_search_step_expansion = 10.0;
+ trust_region_strategy_type = LEVENBERG_MARQUARDT;
+ dogleg_type = TRADITIONAL_DOGLEG;
+ use_nonmonotonic_steps = false;
+ max_consecutive_nonmonotonic_steps = 5;
+ max_num_iterations = 50;
+ max_solver_time_in_seconds = 1e9;
+ num_threads = 1;
+ initial_trust_region_radius = 1e4;
+ max_trust_region_radius = 1e16;
+ min_trust_region_radius = 1e-32;
+ min_relative_decrease = 1e-3;
+ min_lm_diagonal = 1e-6;
+ max_lm_diagonal = 1e32;
+ max_num_consecutive_invalid_steps = 5;
+ function_tolerance = 1e-6;
+ gradient_tolerance = 1e-10;
+ parameter_tolerance = 1e-8;
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE) && !defined(CERES_ENABLE_LGPL_CODE) // NOLINT
+ linear_solver_type = DENSE_QR;
+#else
+ linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+#endif
+
+ preconditioner_type = JACOBI;
+ visibility_clustering_type = CANONICAL_VIEWS;
+ dense_linear_algebra_library_type = EIGEN;
+
+ // Choose a default sparse linear algebra library in the order:
+ //
+ // SUITE_SPARSE > CX_SPARSE > EIGEN_SPARSE > NO_SPARSE
+ sparse_linear_algebra_library_type = NO_SPARSE;
+#if !defined(CERES_NO_SUITESPARSE)
+ sparse_linear_algebra_library_type = SUITE_SPARSE;
+#else
+ #if !defined(CERES_NO_CXSPARSE)
+ sparse_linear_algebra_library_type = CX_SPARSE;
+ #else
+ #if defined(CERES_USE_EIGEN_SPARSE)
+ sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ #endif
+ #endif
+#endif
+
+ num_linear_solver_threads = 1;
+ use_explicit_schur_complement = false;
+ use_postordering = false;
+ dynamic_sparsity = false;
+ min_linear_solver_iterations = 0;
+ max_linear_solver_iterations = 500;
+ eta = 1e-1;
+ jacobi_scaling = true;
+ use_inner_iterations = false;
+ inner_iteration_tolerance = 1e-3;
+ logging_type = PER_MINIMIZER_ITERATION;
+ minimizer_progress_to_stdout = false;
+ trust_region_problem_dump_directory = "/tmp";
+ trust_region_problem_dump_format_type = TEXTFILE;
+ check_gradients = false;
+ gradient_check_relative_precision = 1e-8;
+ gradient_check_numeric_derivative_relative_step_size = 1e-6;
+ update_state_every_iteration = false;
+ }
+
+ // Returns true if the options struct has a valid
+ // configuration. Returns false otherwise, and fills in *error
+ // with a message describing the problem.
+ bool IsValid(std::string* error) const;
+
+ // Minimizer options ----------------------------------------
+
+ // Ceres supports the two major families of optimization strategies -
+ // Trust Region and Line Search.
+ //
+ // 1. The line search approach first finds a descent direction
+ // along which the objective function will be reduced and then
+ // computes a step size that decides how far should move along
+ // that direction. The descent direction can be computed by
+ // various methods, such as gradient descent, Newton's method and
+ // Quasi-Newton method. The step size can be determined either
+ // exactly or inexactly.
+ //
+ // 2. The trust region approach approximates the objective
+ // function using using a model function (often a quadratic) over
+ // a subset of the search space known as the trust region. If the
+ // model function succeeds in minimizing the true objective
+ // function the trust region is expanded; conversely, otherwise it
+ // is contracted and the model optimization problem is solved
+ // again.
+ //
+ // Trust region methods are in some sense dual to line search methods:
+ // trust region methods first choose a step size (the size of the
+ // trust region) and then a step direction while line search methods
+ // first choose a step direction and then a step size.
+ MinimizerType minimizer_type;
+
+ LineSearchDirectionType line_search_direction_type;
+ LineSearchType line_search_type;
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+ // The LBFGS hessian approximation is a low rank approximation to
+ // the inverse of the Hessian matrix. The rank of the
+ // approximation determines (linearly) the space and time
+ // complexity of using the approximation. Higher the rank, the
+ // better is the quality of the approximation. The increase in
+ // quality is however is bounded for a number of reasons.
+ //
+ // 1. The method only uses secant information and not actual
+ // derivatives.
+ //
+ // 2. The Hessian approximation is constrained to be positive
+ // definite.
+ //
+ // So increasing this rank to a large number will cost time and
+ // space complexity without the corresponding increase in solution
+ // quality. There are no hard and fast rules for choosing the
+ // maximum rank. The best choice usually requires some problem
+ // specific experimentation.
+ //
+ // For more theoretical and implementation details of the LBFGS
+ // method, please see:
+ //
+ // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with
+ // Limited Storage". Mathematics of Computation 35 (151): 773–782.
+ int max_lbfgs_rank;
+
+ // As part of the (L)BFGS update step (BFGS) / right-multiply step (L-BFGS),
+ // the initial inverse Hessian approximation is taken to be the Identity.
+ // However, Oren showed that using instead I * \gamma, where \gamma is
+ // chosen to approximate an eigenvalue of the true inverse Hessian can
+ // result in improved convergence in a wide variety of cases. Setting
+ // use_approximate_eigenvalue_bfgs_scaling to true enables this scaling.
+ //
+ // It is important to note that approximate eigenvalue scaling does not
+ // always improve convergence, and that it can in fact significantly degrade
+ // performance for certain classes of problem, which is why it is disabled
+ // by default. In particular it can degrade performance when the
+ // sensitivity of the problem to different parameters varies significantly,
+ // as in this case a single scalar factor fails to capture this variation
+ // and detrimentally downscales parts of the jacobian approximation which
+ // correspond to low-sensitivity parameters. It can also reduce the
+ // robustness of the solution to errors in the jacobians.
+ //
+ // Oren S.S., Self-scaling variable metric (SSVM) algorithms
+ // Part II: Implementation and experiments, Management Science,
+ // 20(5), 863-874, 1974.
+ bool use_approximate_eigenvalue_bfgs_scaling;
+
+ // Degree of the polynomial used to approximate the objective
+ // function. Valid values are BISECTION, QUADRATIC and CUBIC.
+ //
+ // BISECTION corresponds to pure backtracking search with no
+ // interpolation.
+ LineSearchInterpolationType line_search_interpolation_type;
+
+ // If during the line search, the step_size falls below this
+ // value, it is truncated to zero.
+ double min_line_search_step_size;
+
+ // Line search parameters.
+
+ // Solving the line search problem exactly is computationally
+ // prohibitive. Fortunately, line search based optimization
+ // algorithms can still guarantee convergence if instead of an
+ // exact solution, the line search algorithm returns a solution
+ // which decreases the value of the objective function
+ // sufficiently. More precisely, we are looking for a step_size
+ // s.t.
+ //
+ // f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+ //
+ double line_search_sufficient_function_decrease;
+
+ // In each iteration of the line search,
+ //
+ // new_step_size >= max_line_search_step_contraction * step_size
+ //
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double max_line_search_step_contraction;
+
+ // In each iteration of the line search,
+ //
+ // new_step_size <= min_line_search_step_contraction * step_size
+ //
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double min_line_search_step_contraction;
+
+ // Maximum number of trial step size iterations during each line search,
+ // if a step size satisfying the search conditions cannot be found within
+ // this number of trials, the line search will terminate.
+ int max_num_line_search_step_size_iterations;
+
+ // Maximum number of restarts of the line search direction algorithm before
+ // terminating the optimization. Restarts of the line search direction
+ // algorithm occur when the current algorithm fails to produce a new descent
+ // direction. This typically indicates a numerical failure, or a breakdown
+ // in the validity of the approximations used.
+ int max_num_line_search_direction_restarts;
+
+ // The strong Wolfe conditions consist of the Armijo sufficient
+ // decrease condition, and an additional requirement that the
+ // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+ // conditions) of the gradient along the search direction
+ // decreases sufficiently. Precisely, this second condition
+ // is that we seek a step_size s.t.
+ //
+ // |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+ //
+ // Where f() is the line search objective and f'() is the derivative
+ // of f w.r.t step_size (d f / d step_size).
+ double line_search_sufficient_curvature_decrease;
+
+ // During the bracketing phase of the Wolfe search, the step size is
+ // increased until either a point satisfying the Wolfe conditions is
+ // found, or an upper bound for a bracket containing a point satisfying
+ // the conditions is found. Precisely, at each iteration of the
+ // expansion:
+ //
+ // new_step_size <= max_step_expansion * step_size.
+ //
+ // By definition for expansion, max_step_expansion > 1.0.
+ double max_line_search_step_expansion;
+
+ TrustRegionStrategyType trust_region_strategy_type;
+
+ // Type of dogleg strategy to use.
+ DoglegType dogleg_type;
+
+ // The classical trust region methods are descent methods, in that
+ // they only accept a point if it strictly reduces the value of
+ // the objective function.
+ //
+ // Relaxing this requirement allows the algorithm to be more
+ // efficient in the long term at the cost of some local increase
+ // in the value of the objective function.
+ //
+ // This is because allowing for non-decreasing objective function
+ // values in a princpled manner allows the algorithm to "jump over
+ // boulders" as the method is not restricted to move into narrow
+ // valleys while preserving its convergence properties.
+ //
+ // Setting use_nonmonotonic_steps to true enables the
+ // non-monotonic trust region algorithm as described by Conn,
+ // Gould & Toint in "Trust Region Methods", Section 10.1.
+ //
+ // The parameter max_consecutive_nonmonotonic_steps controls the
+ // window size used by the step selection algorithm to accept
+ // non-monotonic steps.
+ //
+ // Even though the value of the objective function may be larger
+ // than the minimum value encountered over the course of the
+ // optimization, the final parameters returned to the user are the
+ // ones corresponding to the minimum cost over all iterations.
+ bool use_nonmonotonic_steps;
+ int max_consecutive_nonmonotonic_steps;
+
+ // Maximum number of iterations for the minimizer to run for.
+ int max_num_iterations;
+
+ // Maximum time for which the minimizer should run for.
+ double max_solver_time_in_seconds;
+
+ // Number of threads used by Ceres for evaluating the cost and
+ // jacobians.
+ int num_threads;
+
+ // Trust region minimizer settings.
+ double initial_trust_region_radius;
+ double max_trust_region_radius;
+
+ // Minimizer terminates when the trust region radius becomes
+ // smaller than this value.
+ double min_trust_region_radius;
+
+ // Lower bound for the relative decrease before a step is
+ // accepted.
+ double min_relative_decrease;
+
+ // For the Levenberg-Marquadt algorithm, the scaled diagonal of
+ // the normal equations J'J is used to control the size of the
+ // trust region. Extremely small and large values along the
+ // diagonal can make this regularization scheme
+ // fail. max_lm_diagonal and min_lm_diagonal, clamp the values of
+ // diag(J'J) from above and below. In the normal course of
+ // operation, the user should not have to modify these parameters.
+ double min_lm_diagonal;
+ double max_lm_diagonal;
+
+ // Sometimes due to numerical conditioning problems or linear
+ // solver flakiness, the trust region strategy may return a
+ // numerically invalid step that can be fixed by reducing the
+ // trust region size. So the TrustRegionMinimizer allows for a few
+ // successive invalid steps before it declares NUMERICAL_FAILURE.
+ int max_num_consecutive_invalid_steps;
+
+ // Minimizer terminates when
+ //
+ // (new_cost - old_cost) < function_tolerance * old_cost;
+ //
+ double function_tolerance;
+
+ // Minimizer terminates when
+ //
+ // max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
+ //
+ // This value should typically be 1e-4 * function_tolerance.
+ double gradient_tolerance;
+
+ // Minimizer terminates when
+ //
+ // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ //
+ double parameter_tolerance;
+
+ // Linear least squares solver options -------------------------------------
+
+ LinearSolverType linear_solver_type;
+
+ // Type of preconditioner to use with the iterative linear solvers.
+ PreconditionerType preconditioner_type;
+
+ // Type of clustering algorithm to use for visibility based
+ // preconditioning. This option is used only when the
+ // preconditioner_type is CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL.
+ VisibilityClusteringType visibility_clustering_type;
+
+ // Ceres supports using multiple dense linear algebra libraries
+ // for dense matrix factorizations. Currently EIGEN and LAPACK are
+ // the valid choices. EIGEN is always available, LAPACK refers to
+ // the system BLAS + LAPACK library which may or may not be
+ // available.
+ //
+ // This setting affects the DENSE_QR, DENSE_NORMAL_CHOLESKY and
+ // DENSE_SCHUR solvers. For small to moderate sized probem EIGEN
+ // is a fine choice but for large problems, an optimized LAPACK +
+ // BLAS implementation can make a substantial difference in
+ // performance.
+ DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+
+ // Ceres supports using multiple sparse linear algebra libraries
+ // for sparse matrix ordering and factorizations. Currently,
+ // SUITE_SPARSE and CX_SPARSE are the valid choices, depending on
+ // whether they are linked into Ceres at build time.
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+ // Number of threads used by Ceres to solve the Newton
+ // step. Currently only the SPARSE_SCHUR solver is capable of
+ // using this setting.
+ int num_linear_solver_threads;
+
+ // The order in which variables are eliminated in a linear solver
+ // can have a significant of impact on the efficiency and accuracy
+ // of the method. e.g., when doing sparse Cholesky factorization,
+ // there are matrices for which a good ordering will give a
+ // Cholesky factor with O(n) storage, where as a bad ordering will
+ // result in an completely dense factor.
+ //
+ // Ceres allows the user to provide varying amounts of hints to
+ // the solver about the variable elimination ordering to use. This
+ // can range from no hints, where the solver is free to decide the
+ // best possible ordering based on the user's choices like the
+ // linear solver being used, to an exact order in which the
+ // variables should be eliminated, and a variety of possibilities
+ // in between.
+ //
+ // Instances of the ParameterBlockOrdering class are used to
+ // communicate this information to Ceres.
+ //
+ // Formally an ordering is an ordered partitioning of the
+ // parameter blocks, i.e, each parameter block belongs to exactly
+ // one group, and each group has a unique non-negative integer
+ // associated with it, that determines its order in the set of
+ // groups.
+ //
+ // Given such an ordering, Ceres ensures that the parameter blocks in
+ // the lowest numbered group are eliminated first, and then the
+ // parmeter blocks in the next lowest numbered group and so on. Within
+ // each group, Ceres is free to order the parameter blocks as it
+ // chooses.
+ //
+ // If NULL, then all parameter blocks are assumed to be in the
+ // same group and the solver is free to decide the best
+ // ordering.
+ //
+ // e.g. Consider the linear system
+ //
+ // x + y = 3
+ // 2x + 3y = 7
+ //
+ // There are two ways in which it can be solved. First eliminating x
+ // from the two equations, solving for y and then back substituting
+ // for x, or first eliminating y, solving for x and back substituting
+ // for y. The user can construct three orderings here.
+ //
+ // {0: x}, {1: y} - eliminate x first.
+ // {0: y}, {1: x} - eliminate y first.
+ // {0: x, y} - Solver gets to decide the elimination order.
+ //
+ // Thus, to have Ceres determine the ordering automatically using
+ // heuristics, put all the variables in group 0 and to control the
+ // ordering for every variable, create groups 0..N-1, one per
+ // variable, in the desired order.
+ //
+ // Bundle Adjustment
+ // -----------------
+ //
+ // A particular case of interest is bundle adjustment, where the user
+ // has two options. The default is to not specify an ordering at all,
+ // the solver will see that the user wants to use a Schur type solver
+ // and figure out the right elimination ordering.
+ //
+ // But if the user already knows what parameter blocks are points and
+ // what are cameras, they can save preprocessing time by partitioning
+ // the parameter blocks into two groups, one for the points and one
+ // for the cameras, where the group containing the points has an id
+ // smaller than the group containing cameras.
+ shared_ptr<ParameterBlockOrdering> linear_solver_ordering;
+
+ // Use an explicitly computed Schur complement matrix with
+ // ITERATIVE_SCHUR.
+ //
+ // By default this option is disabled and ITERATIVE_SCHUR
+ // evaluates evaluates matrix-vector products between the Schur
+ // complement and a vector implicitly by exploiting the algebraic
+ // expression for the Schur complement.
+ //
+ // The cost of this evaluation scales with the number of non-zeros
+ // in the Jacobian.
+ //
+ // For small to medium sized problems there is a sweet spot where
+ // computing the Schur complement is cheap enough that it is much
+ // more efficient to explicitly compute it and use it for evaluating
+ // the matrix-vector products.
+ //
+ // Enabling this option tells ITERATIVE_SCHUR to use an explicitly
+ // computed Schur complement.
+ //
+ // NOTE: This option can only be used with the SCHUR_JACOBI
+ // preconditioner.
+ bool use_explicit_schur_complement;
+
+ // Sparse Cholesky factorization algorithms use a fill-reducing
+ // ordering to permute the columns of the Jacobian matrix. There
+ // are two ways of doing this.
+
+ // 1. Compute the Jacobian matrix in some order and then have the
+ // factorization algorithm permute the columns of the Jacobian.
+
+ // 2. Compute the Jacobian with its columns already permuted.
+
+ // The first option incurs a significant memory penalty. The
+ // factorization algorithm has to make a copy of the permuted
+ // Jacobian matrix, thus Ceres pre-permutes the columns of the
+ // Jacobian matrix and generally speaking, there is no performance
+ // penalty for doing so.
+
+ // In some rare cases, it is worth using a more complicated
+ // reordering algorithm which has slightly better runtime
+ // performance at the expense of an extra copy of the Jacobian
+ // matrix. Setting use_postordering to true enables this tradeoff.
+ bool use_postordering;
+
+ // Some non-linear least squares problems are symbolically dense but
+ // numerically sparse. i.e. at any given state only a small number
+ // of jacobian entries are non-zero, but the position and number of
+ // non-zeros is different depending on the state. For these problems
+ // it can be useful to factorize the sparse jacobian at each solver
+ // iteration instead of including all of the zero entries in a single
+ // general factorization.
+ //
+ // If your problem does not have this property (or you do not know),
+ // then it is probably best to keep this false, otherwise it will
+ // likely lead to worse performance.
+
+ // This settings affects the SPARSE_NORMAL_CHOLESKY solver.
+ bool dynamic_sparsity;
+
+ // Some non-linear least squares problems have additional
+ // structure in the way the parameter blocks interact that it is
+ // beneficial to modify the way the trust region step is computed.
+ //
+ // e.g., consider the following regression problem
+ //
+ // y = a_1 exp(b_1 x) + a_2 exp(b_3 x^2 + c_1)
+ //
+ // Given a set of pairs{(x_i, y_i)}, the user wishes to estimate
+ // a_1, a_2, b_1, b_2, and c_1.
+ //
+ // Notice here that the expression on the left is linear in a_1
+ // and a_2, and given any value for b_1, b_2 and c_1, it is
+ // possible to use linear regression to estimate the optimal
+ // values of a_1 and a_2. Indeed, its possible to analytically
+ // eliminate the variables a_1 and a_2 from the problem all
+ // together. Problems like these are known as separable least
+ // squares problem and the most famous algorithm for solving them
+ // is the Variable Projection algorithm invented by Golub &
+ // Pereyra.
+ //
+ // Similar structure can be found in the matrix factorization with
+ // missing data problem. There the corresponding algorithm is
+ // known as Wiberg's algorithm.
+ //
+ // Ruhe & Wedin (Algorithms for Separable Nonlinear Least Squares
+ // Problems, SIAM Reviews, 22(3), 1980) present an analyis of
+ // various algorithms for solving separable non-linear least
+ // squares problems and refer to "Variable Projection" as
+ // Algorithm I in their paper.
+ //
+ // Implementing Variable Projection is tedious and expensive, and
+ // they present a simpler algorithm, which they refer to as
+ // Algorithm II, where once the Newton/Trust Region step has been
+ // computed for the whole problem (a_1, a_2, b_1, b_2, c_1) and
+ // additional optimization step is performed to estimate a_1 and
+ // a_2 exactly.
+ //
+ // This idea can be generalized to cases where the residual is not
+ // linear in a_1 and a_2, i.e., Solve for the trust region step
+ // for the full problem, and then use it as the starting point to
+ // further optimize just a_1 and a_2. For the linear case, this
+ // amounts to doing a single linear least squares solve. For
+ // non-linear problems, any method for solving the a_1 and a_2
+ // optimization problems will do. The only constraint on a_1 and
+ // a_2 is that they do not co-occur in any residual block.
+ //
+ // This idea can be further generalized, by not just optimizing
+ // (a_1, a_2), but decomposing the graph corresponding to the
+ // Hessian matrix's sparsity structure in a collection of
+ // non-overlapping independent sets and optimizing each of them.
+ //
+ // Setting "use_inner_iterations" to true enables the use of this
+ // non-linear generalization of Ruhe & Wedin's Algorithm II. This
+ // version of Ceres has a higher iteration complexity, but also
+ // displays better convergence behaviour per iteration. Setting
+ // Solver::Options::num_threads to the maximum number possible is
+ // highly recommended.
+ bool use_inner_iterations;
+
+ // If inner_iterations is true, then the user has two choices.
+ //
+ // 1. Let the solver heuristically decide which parameter blocks
+ // to optimize in each inner iteration. To do this leave
+ // Solver::Options::inner_iteration_ordering untouched.
+ //
+ // 2. Specify a collection of of ordered independent sets. Where
+ // the lower numbered groups are optimized before the higher
+ // number groups. Each group must be an independent set. Not
+ // all parameter blocks need to be present in the ordering.
+ shared_ptr<ParameterBlockOrdering> inner_iteration_ordering;
+
+ // Generally speaking, inner iterations make significant progress
+ // in the early stages of the solve and then their contribution
+ // drops down sharply, at which point the time spent doing inner
+ // iterations is not worth it.
+ //
+ // Once the relative decrease in the objective function due to
+ // inner iterations drops below inner_iteration_tolerance, the use
+ // of inner iterations in subsequent trust region minimizer
+ // iterations is disabled.
+ double inner_iteration_tolerance;
+
+ // Minimum number of iterations for which the linear solver should
+ // run, even if the convergence criterion is satisfied.
+ int min_linear_solver_iterations;
+
+ // Maximum number of iterations for which the linear solver should
+ // run. If the solver does not converge in less than
+ // max_linear_solver_iterations, then it returns MAX_ITERATIONS,
+ // as its termination type.
+ int max_linear_solver_iterations;
+
+ // Forcing sequence parameter. The truncated Newton solver uses
+ // this number to control the relative accuracy with which the
+ // Newton step is computed.
+ //
+ // This constant is passed to ConjugateGradientsSolver which uses
+ // it to terminate the iterations when
+ //
+ // (Q_i - Q_{i-1})/Q_i < eta/i
+ double eta;
+
+ // Normalize the jacobian using Jacobi scaling before calling
+ // the linear least squares solver.
+ bool jacobi_scaling;
+
+ // Logging options ---------------------------------------------------------
+
+ LoggingType logging_type;
+
+ // By default the Minimizer progress is logged to VLOG(1), which
+ // is sent to STDERR depending on the vlog level. If this flag is
+ // set to true, and logging_type is not SILENT, the logging output
+ // is sent to STDOUT.
+ bool minimizer_progress_to_stdout;
+
+ // List of iterations at which the minimizer should dump the trust
+ // region problem. Useful for testing and benchmarking. If empty
+ // (default), no problems are dumped.
+ std::vector<int> trust_region_minimizer_iterations_to_dump;
+
+ // Directory to which the problems should be written to. Should be
+ // non-empty if trust_region_minimizer_iterations_to_dump is
+ // non-empty and trust_region_problem_dump_format_type is not
+ // CONSOLE.
+ std::string trust_region_problem_dump_directory;
+ DumpFormatType trust_region_problem_dump_format_type;
+
+ // Finite differences options ----------------------------------------------
+
+ // Check all jacobians computed by each residual block with finite
+ // differences. This is expensive since it involves computing the
+ // derivative by normal means (e.g. user specified, autodiff,
+ // etc), then also computing it using finite differences. The
+ // results are compared, and if they differ substantially, details
+ // are printed to the log.
+ bool check_gradients;
+
+ // Relative precision to check for in the gradient checker. If the
+ // relative difference between an element in a jacobian exceeds
+ // this number, then the jacobian for that cost term is dumped.
+ double gradient_check_relative_precision;
+
+ // WARNING: This option only applies to the to the numeric
+ // differentiation used for checking the user provided derivatives
+ // when when Solver::Options::check_gradients is true. If you are
+ // using NumericDiffCostFunction and are interested in changing
+ // the step size for numeric differentiation in your cost
+ // function, please have a look at
+ // include/ceres/numeric_diff_options.h.
+ //
+ // Relative shift used for taking numeric derivatives when
+ // Solver::Options::check_gradients is true.
+ //
+ // For finite differencing, each dimension is evaluated at
+ // slightly shifted values; for the case of central difference,
+ // this is what gets evaluated:
+ //
+ // delta = gradient_check_numeric_derivative_relative_step_size;
+ // f_initial = f(x)
+ // f_forward = f((1 + delta) * x)
+ // f_backward = f((1 - delta) * x)
+ //
+ // The finite differencing is done along each dimension. The
+ // reason to use a relative (rather than absolute) step size is
+ // that this way, numeric differentation works for functions where
+ // the arguments are typically large (e.g. 1e9) and when the
+ // values are small (e.g. 1e-5). It is possible to construct
+ // "torture cases" which break this finite difference heuristic,
+ // but they do not come up often in practice.
+ //
+ // TODO(keir): Pick a smarter number than the default above! In
+ // theory a good choice is sqrt(eps) * x, which for doubles means
+ // about 1e-8 * x. However, I have found this number too
+ // optimistic. This number should be exposed for users to change.
+ double gradient_check_numeric_derivative_relative_step_size;
+
+ // If true, the user's parameter blocks are updated at the end of
+ // every Minimizer iteration, otherwise they are updated when the
+ // Minimizer terminates. This is useful if, for example, the user
+ // wishes to visualize the state of the optimization every
+ // iteration.
+ bool update_state_every_iteration;
+
+ // Callbacks that are executed at the end of each iteration of the
+ // Minimizer. An iteration may terminate midway, either due to
+ // numerical failures or because one of the convergence tests has
+ // been satisfied. In this case none of the callbacks are
+ // executed.
+
+ // Callbacks are executed in the order that they are specified in
+ // this vector. By default, parameter blocks are updated only at
+ // the end of the optimization, i.e when the Minimizer
+ // terminates. This behaviour is controlled by
+ // update_state_every_variable. If the user wishes to have access
+ // to the update parameter blocks when his/her callbacks are
+ // executed, then set update_state_every_iteration to true.
+ //
+ // The solver does NOT take ownership of these pointers.
+ std::vector<IterationCallback*> callbacks;
+ };
+
+ struct CERES_EXPORT Summary {
+ Summary();
+
+ // A brief one line description of the state of the solver after
+ // termination.
+ std::string BriefReport() const;
+
+ // A full multiline description of the state of the solver after
+ // termination.
+ std::string FullReport() const;
+
+ bool IsSolutionUsable() const;
+
+ // Minimizer summary -------------------------------------------------
+ MinimizerType minimizer_type;
+
+ TerminationType termination_type;
+
+ // Reason why the solver terminated.
+ std::string message;
+
+ // Cost of the problem (value of the objective function) before
+ // the optimization.
+ double initial_cost;
+
+ // Cost of the problem (value of the objective function) after the
+ // optimization.
+ double final_cost;
+
+ // The part of the total cost that comes from residual blocks that
+ // were held fixed by the preprocessor because all the parameter
+ // blocks that they depend on were fixed.
+ double fixed_cost;
+
+ // IterationSummary for each minimizer iteration in order.
+ std::vector<IterationSummary> iterations;
+
+ // Number of minimizer iterations in which the step was
+ // accepted. Unless use_non_monotonic_steps is true this is also
+ // the number of steps in which the objective function value/cost
+ // went down.
+ int num_successful_steps;
+
+ // Number of minimizer iterations in which the step was rejected
+ // either because it did not reduce the cost enough or the step
+ // was not numerically valid.
+ int num_unsuccessful_steps;
+
+ // Number of times inner iterations were performed.
+ int num_inner_iteration_steps;
+
+ // Total number of iterations inside the line search algorithm
+ // across all invocations. We call these iterations "steps" to
+ // distinguish them from the outer iterations of the line search
+ // and trust region minimizer algorithms which call the line
+ // search algorithm as a subroutine.
+ int num_line_search_steps;
+
+ // All times reported below are wall times.
+
+ // When the user calls Solve, before the actual optimization
+ // occurs, Ceres performs a number of preprocessing steps. These
+ // include error checks, memory allocations, and reorderings. This
+ // time is accounted for as preprocessing time.
+ double preprocessor_time_in_seconds;
+
+ // Time spent in the TrustRegionMinimizer.
+ double minimizer_time_in_seconds;
+
+ // After the Minimizer is finished, some time is spent in
+ // re-evaluating residuals etc. This time is accounted for in the
+ // postprocessor time.
+ double postprocessor_time_in_seconds;
+
+ // Some total of all time spent inside Ceres when Solve is called.
+ double total_time_in_seconds;
+
+ // Time (in seconds) spent in the linear solver computing the
+ // trust region step.
+ double linear_solver_time_in_seconds;
+
+ // Time (in seconds) spent evaluating the residual vector.
+ double residual_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent evaluating the jacobian matrix.
+ double jacobian_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent doing inner iterations.
+ double inner_iteration_time_in_seconds;
+
+ // Cumulative timing information for line searches performed as part of the
+ // solve. Note that in addition to the case when the Line Search minimizer
+ // is used, the Trust Region minimizer also uses a line search when
+ // solving a constrained problem.
+
+ // Time (in seconds) spent evaluating the univariate cost function as part
+ // of a line search.
+ double line_search_cost_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent evaluating the gradient of the univariate cost
+ // function as part of a line search.
+ double line_search_gradient_evaluation_time_in_seconds;
+
+ // Time (in seconds) spent minimizing the interpolating polynomial
+ // to compute the next candidate step size as part of a line search.
+ double line_search_polynomial_minimization_time_in_seconds;
+
+ // Total time (in seconds) spent performing line searches.
+ double line_search_total_time_in_seconds;
+
+ // Number of parameter blocks in the problem.
+ int num_parameter_blocks;
+
+ // Number of parameters in the probem.
+ int num_parameters;
+
+ // Dimension of the tangent space of the problem (or the number of
+ // columns in the Jacobian for the problem). This is different
+ // from num_parameters if a parameter block is associated with a
+ // LocalParameterization
+ int num_effective_parameters;
+
+ // Number of residual blocks in the problem.
+ int num_residual_blocks;
+
+ // Number of residuals in the problem.
+ int num_residuals;
+
+ // Number of parameter blocks in the problem after the inactive
+ // and constant parameter blocks have been removed. A parameter
+ // block is inactive if no residual block refers to it.
+ int num_parameter_blocks_reduced;
+
+ // Number of parameters in the reduced problem.
+ int num_parameters_reduced;
+
+ // Dimension of the tangent space of the reduced problem (or the
+ // number of columns in the Jacobian for the reduced
+ // problem). This is different from num_parameters_reduced if a
+ // parameter block in the reduced problem is associated with a
+ // LocalParameterization.
+ int num_effective_parameters_reduced;
+
+ // Number of residual blocks in the reduced problem.
+ int num_residual_blocks_reduced;
+
+ // Number of residuals in the reduced problem.
+ int num_residuals_reduced;
+
+ // Is the reduced problem bounds constrained.
+ bool is_constrained;
+
+ // Number of threads specified by the user for Jacobian and
+ // residual evaluation.
+ int num_threads_given;
+
+ // Number of threads actually used by the solver for Jacobian and
+ // residual evaluation. This number is not equal to
+ // num_threads_given if OpenMP is not available.
+ int num_threads_used;
+
+ // Number of threads specified by the user for solving the trust
+ // region problem.
+ int num_linear_solver_threads_given;
+
+ // Number of threads actually used by the solver for solving the
+ // trust region problem. This number is not equal to
+ // num_threads_given if OpenMP is not available.
+ int num_linear_solver_threads_used;
+
+ // Type of the linear solver requested by the user.
+ LinearSolverType linear_solver_type_given;
+
+ // Type of the linear solver actually used. This may be different
+ // from linear_solver_type_given if Ceres determines that the
+ // problem structure is not compatible with the linear solver
+ // requested or if the linear solver requested by the user is not
+ // available, e.g. The user requested SPARSE_NORMAL_CHOLESKY but
+ // no sparse linear algebra library was available.
+ LinearSolverType linear_solver_type_used;
+
+ // Size of the elimination groups given by the user as hints to
+ // the linear solver.
+ std::vector<int> linear_solver_ordering_given;
+
+ // Size of the parameter groups used by the solver when ordering
+ // the columns of the Jacobian. This maybe different from
+ // linear_solver_ordering_given if the user left
+ // linear_solver_ordering_given blank and asked for an automatic
+ // ordering, or if the problem contains some constant or inactive
+ // parameter blocks.
+ std::vector<int> linear_solver_ordering_used;
+
+ // For Schur type linear solvers, this string describes the
+ // template specialization which was detected in the problem and
+ // should be used.
+ std::string schur_structure_given;
+
+ // This is the Schur template specialization that was actually
+ // instantiated and used. The reason this will be different from
+ // schur_structure_given is because the corresponding template
+ // specialization does not exist.
+ //
+ // Template specializations can be added to ceres by editing
+ // internal/ceres/generate_template_specializations.py
+ std::string schur_structure_used;
+
+ // True if the user asked for inner iterations to be used as part
+ // of the optimization.
+ bool inner_iterations_given;
+
+ // True if the user asked for inner iterations to be used as part
+ // of the optimization and the problem structure was such that
+ // they were actually performed. e.g., in a problem with just one
+ // parameter block, inner iterations are not performed.
+ bool inner_iterations_used;
+
+ // Size of the parameter groups given by the user for performing
+ // inner iterations.
+ std::vector<int> inner_iteration_ordering_given;
+
+ // Size of the parameter groups given used by the solver for
+ // performing inner iterations. This maybe different from
+ // inner_iteration_ordering_given if the user left
+ // inner_iteration_ordering_given blank and asked for an automatic
+ // ordering, or if the problem contains some constant or inactive
+ // parameter blocks.
+ std::vector<int> inner_iteration_ordering_used;
+
+ // Type of the preconditioner requested by the user.
+ PreconditionerType preconditioner_type_given;
+
+ // Type of the preconditioner actually used. This may be different
+ // from linear_solver_type_given if Ceres determines that the
+ // problem structure is not compatible with the linear solver
+ // requested or if the linear solver requested by the user is not
+ // available.
+ PreconditionerType preconditioner_type_used;
+
+ // Type of clustering algorithm used for visibility based
+ // preconditioning. Only meaningful when the preconditioner_type
+ // is CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL.
+ VisibilityClusteringType visibility_clustering_type;
+
+ // Type of trust region strategy.
+ TrustRegionStrategyType trust_region_strategy_type;
+
+ // Type of dogleg strategy used for solving the trust region
+ // problem.
+ DoglegType dogleg_type;
+
+ // Type of the dense linear algebra library used.
+ DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+
+ // Type of the sparse linear algebra library used.
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+ // Type of line search direction used.
+ LineSearchDirectionType line_search_direction_type;
+
+ // Type of the line search algorithm used.
+ LineSearchType line_search_type;
+
+ // When performing line search, the degree of the polynomial used
+ // to approximate the objective function.
+ LineSearchInterpolationType line_search_interpolation_type;
+
+ // If the line search direction is NONLINEAR_CONJUGATE_GRADIENT,
+ // then this indicates the particular variant of non-linear
+ // conjugate gradient used.
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+ // If the type of the line search direction is LBFGS, then this
+ // indicates the rank of the Hessian approximation.
+ int max_lbfgs_rank;
+ };
+
+ // Once a least squares problem has been built, this function takes
+ // the problem and optimizes it based on the values of the options
+ // parameters. Upon return, a detailed summary of the work performed
+ // by the preprocessor, the non-linear minmizer and the linear
+ // solver are reported in the summary object.
+ virtual void Solve(const Options& options,
+ Problem* problem,
+ Solver::Summary* summary);
+};
+
+// Helper function which avoids going through the interface.
+CERES_EXPORT void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary);
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_SOLVER_H_
--- /dev/null
+// 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)
+//
+// Enums and other top level class definitions.
+//
+// Note: internal/types.cc defines stringification routines for some
+// of these enums. Please update those routines if you extend or
+// remove enums from here.
+
+#ifndef CERES_PUBLIC_TYPES_H_
+#define CERES_PUBLIC_TYPES_H_
+
+#include <string>
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Basic integer types. These typedefs are in the Ceres namespace to avoid
+// conflicts with other packages having similar typedefs.
+typedef int int32;
+
+// Argument type used in interfaces that can optionally take ownership
+// of a passed in argument. If TAKE_OWNERSHIP is passed, the called
+// object takes ownership of the pointer argument, and will call
+// delete on it upon completion.
+enum Ownership {
+ DO_NOT_TAKE_OWNERSHIP,
+ TAKE_OWNERSHIP
+};
+
+// TODO(keir): Considerably expand the explanations of each solver type.
+enum LinearSolverType {
+ // These solvers are for general rectangular systems formed from the
+ // normal equations A'A x = A'b. They are direct solvers and do not
+ // assume any special problem structure.
+
+ // Solve the normal equations using a dense Cholesky solver; based
+ // on Eigen.
+ DENSE_NORMAL_CHOLESKY,
+
+ // Solve the normal equations using a dense QR solver; based on
+ // Eigen.
+ DENSE_QR,
+
+ // Solve the normal equations using a sparse cholesky solver; requires
+ // SuiteSparse or CXSparse.
+ SPARSE_NORMAL_CHOLESKY,
+
+ // Specialized solvers, specific to problems with a generalized
+ // bi-partitite structure.
+
+ // Solves the reduced linear system using a dense Cholesky solver;
+ // based on Eigen.
+ DENSE_SCHUR,
+
+ // Solves the reduced linear system using a sparse Cholesky solver;
+ // based on CHOLMOD.
+ SPARSE_SCHUR,
+
+ // Solves the reduced linear system using Conjugate Gradients, based
+ // on a new Ceres implementation. Suitable for large scale
+ // problems.
+ ITERATIVE_SCHUR,
+
+ // Conjugate gradients on the normal equations.
+ CGNR
+};
+
+enum PreconditionerType {
+ // Trivial preconditioner - the identity matrix.
+ IDENTITY,
+
+ // Block diagonal of the Gauss-Newton Hessian.
+ JACOBI,
+
+ // Note: The following three preconditioners can only be used with
+ // the ITERATIVE_SCHUR solver. They are well suited for Structure
+ // from Motion problems.
+
+ // Block diagonal of the Schur complement. This preconditioner may
+ // only be used with the ITERATIVE_SCHUR solver.
+ SCHUR_JACOBI,
+
+ // Visibility clustering based preconditioners.
+ //
+ // The following two preconditioners use the visibility structure of
+ // the scene to determine the sparsity structure of the
+ // preconditioner. This is done using a clustering algorithm. The
+ // available visibility clustering algorithms are described below.
+ //
+ // Note: Requires SuiteSparse.
+ CLUSTER_JACOBI,
+ CLUSTER_TRIDIAGONAL
+};
+
+enum VisibilityClusteringType {
+ // Canonical views algorithm as described in
+ //
+ // "Scene Summarization for Online Image Collections", Ian Simon, Noah
+ // Snavely, Steven M. Seitz, ICCV 2007.
+ //
+ // This clustering algorithm can be quite slow, but gives high
+ // quality clusters. The original visibility based clustering paper
+ // used this algorithm.
+ CANONICAL_VIEWS,
+
+ // The classic single linkage algorithm. It is extremely fast as
+ // compared to CANONICAL_VIEWS, but can give slightly poorer
+ // results. For problems with large number of cameras though, this
+ // is generally a pretty good option.
+ //
+ // If you are using SCHUR_JACOBI preconditioner and have SuiteSparse
+ // available, CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL in combination
+ // with the SINGLE_LINKAGE algorithm will generally give better
+ // results.
+ SINGLE_LINKAGE
+};
+
+enum SparseLinearAlgebraLibraryType {
+ // High performance sparse Cholesky factorization and approximate
+ // minimum degree ordering.
+ SUITE_SPARSE,
+
+ // A lightweight replacment for SuiteSparse, which does not require
+ // a LAPACK/BLAS implementation. Consequently, its performance is
+ // also a bit lower than SuiteSparse.
+ CX_SPARSE,
+
+ // Eigen's sparse linear algebra routines. In particular Ceres uses
+ // the Simplicial LDLT routines.
+ EIGEN_SPARSE,
+
+ // No sparse linear solver should be used. This does not necessarily
+ // imply that Ceres was built without any sparse library, although that
+ // is the likely use case, merely that one should not be used.
+ NO_SPARSE
+};
+
+enum DenseLinearAlgebraLibraryType {
+ EIGEN,
+ LAPACK
+};
+
+// Logging options
+// The options get progressively noisier.
+enum LoggingType {
+ SILENT,
+ PER_MINIMIZER_ITERATION
+};
+
+enum MinimizerType {
+ LINE_SEARCH,
+ TRUST_REGION
+};
+
+enum LineSearchDirectionType {
+ // Negative of the gradient.
+ STEEPEST_DESCENT,
+
+ // A generalization of the Conjugate Gradient method to non-linear
+ // functions. The generalization can be performed in a number of
+ // different ways, resulting in a variety of search directions. The
+ // precise choice of the non-linear conjugate gradient algorithm
+ // used is determined by NonlinerConjuateGradientType.
+ NONLINEAR_CONJUGATE_GRADIENT,
+
+ // BFGS, and it's limited memory approximation L-BFGS, are quasi-Newton
+ // algorithms that approximate the Hessian matrix by iteratively refining
+ // an initial estimate with rank-one updates using the gradient at each
+ // iteration. They are a generalisation of the Secant method and satisfy
+ // the Secant equation. The Secant equation has an infinium of solutions
+ // in multiple dimensions, as there are N*(N+1)/2 degrees of freedom in a
+ // symmetric matrix but only N conditions are specified by the Secant
+ // equation. The requirement that the Hessian approximation be positive
+ // definite imposes another N additional constraints, but that still leaves
+ // remaining degrees-of-freedom. (L)BFGS methods uniquely deteremine the
+ // approximate Hessian by imposing the additional constraints that the
+ // approximation at the next iteration must be the 'closest' to the current
+ // approximation (the nature of how this proximity is measured is actually
+ // the defining difference between a family of quasi-Newton methods including
+ // (L)BFGS & DFP). (L)BFGS is currently regarded as being the best known
+ // general quasi-Newton method.
+ //
+ // The principal difference between BFGS and L-BFGS is that whilst BFGS
+ // maintains a full, dense approximation to the (inverse) Hessian, L-BFGS
+ // maintains only a window of the last M observations of the parameters and
+ // gradients. Using this observation history, the calculation of the next
+ // search direction can be computed without requiring the construction of the
+ // full dense inverse Hessian approximation. This is particularly important
+ // for problems with a large number of parameters, where storage of an N-by-N
+ // matrix in memory would be prohibitive.
+ //
+ // For more details on BFGS see:
+ //
+ // Broyden, C.G., "The Convergence of a Class of Double-rank Minimization
+ // Algorithms,"; J. Inst. Maths. Applics., Vol. 6, pp 76–90, 1970.
+ //
+ // Fletcher, R., "A New Approach to Variable Metric Algorithms,"
+ // Computer Journal, Vol. 13, pp 317–322, 1970.
+ //
+ // Goldfarb, D., "A Family of Variable Metric Updates Derived by Variational
+ // Means," Mathematics of Computing, Vol. 24, pp 23–26, 1970.
+ //
+ // Shanno, D.F., "Conditioning of Quasi-Newton Methods for Function
+ // Minimization," Mathematics of Computing, Vol. 24, pp 647–656, 1970.
+ //
+ // For more details on L-BFGS see:
+ //
+ // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with Limited
+ // Storage". Mathematics of Computation 35 (151): 773–782.
+ //
+ // Byrd, R. H.; Nocedal, J.; Schnabel, R. B. (1994).
+ // "Representations of Quasi-Newton Matrices and their use in
+ // Limited Memory Methods". Mathematical Programming 63 (4):
+ // 129–156.
+ //
+ // A general reference for both methods:
+ //
+ // Nocedal J., Wright S., Numerical Optimization, 2nd Ed. Springer, 1999.
+ LBFGS,
+ BFGS,
+};
+
+// Nonliner conjugate gradient methods are a generalization of the
+// method of Conjugate Gradients for linear systems. The
+// generalization can be carried out in a number of different ways
+// leading to number of different rules for computing the search
+// direction. Ceres provides a number of different variants. For more
+// details see Numerical Optimization by Nocedal & Wright.
+enum NonlinearConjugateGradientType {
+ FLETCHER_REEVES,
+ POLAK_RIBIERE,
+ HESTENES_STIEFEL,
+};
+
+enum LineSearchType {
+ // Backtracking line search with polynomial interpolation or
+ // bisection.
+ ARMIJO,
+ WOLFE,
+};
+
+// Ceres supports different strategies for computing the trust region
+// step.
+enum TrustRegionStrategyType {
+ // The default trust region strategy is to use the step computation
+ // used in the Levenberg-Marquardt algorithm. For more details see
+ // levenberg_marquardt_strategy.h
+ LEVENBERG_MARQUARDT,
+
+ // Powell's dogleg algorithm interpolates between the Cauchy point
+ // and the Gauss-Newton step. It is particularly useful if the
+ // LEVENBERG_MARQUARDT algorithm is making a large number of
+ // unsuccessful steps. For more details see dogleg_strategy.h.
+ //
+ // NOTES:
+ //
+ // 1. This strategy has not been experimented with or tested as
+ // extensively as LEVENBERG_MARQUARDT, and therefore it should be
+ // considered EXPERIMENTAL for now.
+ //
+ // 2. For now this strategy should only be used with exact
+ // factorization based linear solvers, i.e., SPARSE_SCHUR,
+ // DENSE_SCHUR, DENSE_QR and SPARSE_NORMAL_CHOLESKY.
+ DOGLEG
+};
+
+// Ceres supports two different dogleg strategies.
+// The "traditional" dogleg method by Powell and the
+// "subspace" method described in
+// R. H. Byrd, R. B. Schnabel, and G. A. Shultz,
+// "Approximate solution of the trust region problem by minimization
+// over two-dimensional subspaces", Mathematical Programming,
+// 40 (1988), pp. 247--263
+enum DoglegType {
+ // The traditional approach constructs a dogleg path
+ // consisting of two line segments and finds the furthest
+ // point on that path that is still inside the trust region.
+ TRADITIONAL_DOGLEG,
+
+ // The subspace approach finds the exact minimum of the model
+ // constrained to the subspace spanned by the dogleg path.
+ SUBSPACE_DOGLEG
+};
+
+enum TerminationType {
+ // Minimizer terminated because one of the convergence criterion set
+ // by the user was satisfied.
+ //
+ // 1. (new_cost - old_cost) < function_tolerance * old_cost;
+ // 2. max_i |gradient_i| < gradient_tolerance
+ // 3. |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ //
+ // The user's parameter blocks will be updated with the solution.
+ CONVERGENCE,
+
+ // The solver ran for maximum number of iterations or maximum amount
+ // of time specified by the user, but none of the convergence
+ // criterion specified by the user were met. The user's parameter
+ // blocks will be updated with the solution found so far.
+ NO_CONVERGENCE,
+
+ // The minimizer terminated because of an error. The user's
+ // parameter blocks will not be updated.
+ FAILURE,
+
+ // Using an IterationCallback object, user code can control the
+ // minimizer. The following enums indicate that the user code was
+ // responsible for termination.
+ //
+ // Minimizer terminated successfully because a user
+ // IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY.
+ //
+ // The user's parameter blocks will be updated with the solution.
+ USER_SUCCESS,
+
+ // Minimizer terminated because because a user IterationCallback
+ // returned SOLVER_ABORT.
+ //
+ // The user's parameter blocks will not be updated.
+ USER_FAILURE
+};
+
+// Enums used by the IterationCallback instances to indicate to the
+// solver whether it should continue solving, the user detected an
+// error or the solution is good enough and the solver should
+// terminate.
+enum CallbackReturnType {
+ // Continue solving to next iteration.
+ SOLVER_CONTINUE,
+
+ // Terminate solver, and do not update the parameter blocks upon
+ // return. Unless the user has set
+ // Solver:Options:::update_state_every_iteration, in which case the
+ // state would have been updated every iteration
+ // anyways. Solver::Summary::termination_type is set to USER_ABORT.
+ SOLVER_ABORT,
+
+ // Terminate solver, update state and
+ // return. Solver::Summary::termination_type is set to USER_SUCCESS.
+ SOLVER_TERMINATE_SUCCESSFULLY
+};
+
+// The format in which linear least squares problems should be logged
+// when Solver::Options::lsqp_iterations_to_dump is non-empty.
+enum DumpFormatType {
+ // Print the linear least squares problem in a human readable format
+ // to stderr. The Jacobian is printed as a dense matrix. The vectors
+ // D, x and f are printed as dense vectors. This should only be used
+ // for small problems.
+ CONSOLE,
+
+ // Write out the linear least squares problem to the directory
+ // pointed to by Solver::Options::lsqp_dump_directory as text files
+ // which can be read into MATLAB/Octave. The Jacobian is dumped as a
+ // text file containing (i,j,s) triplets, the vectors D, x and f are
+ // dumped as text files containing a list of their values.
+ //
+ // A MATLAB/octave script called lm_iteration_???.m is also output,
+ // which can be used to parse and load the problem into memory.
+ TEXTFILE
+};
+
+// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be
+// specified for the number of residuals. If specified, then the
+// number of residuas for that cost function can vary at runtime.
+enum DimensionType {
+ DYNAMIC = -1
+};
+
+// The differentiation method used to compute numerical derivatives in
+// NumericDiffCostFunction and DynamicNumericDiffCostFunction.
+enum NumericDiffMethodType {
+ // Compute central finite difference: f'(x) ~ (f(x+h) - f(x-h)) / 2h.
+ CENTRAL,
+
+ // Compute forward finite difference: f'(x) ~ (f(x+h) - f(x)) / h.
+ FORWARD,
+
+ // Adaptive numerical differentiation using Ridders' method. Provides more
+ // accurate and robust derivatives at the expense of additional cost
+ // function evaluations.
+ RIDDERS
+};
+
+enum LineSearchInterpolationType {
+ BISECTION,
+ QUADRATIC,
+ CUBIC
+};
+
+enum CovarianceAlgorithmType {
+ DENSE_SVD,
+ SPARSE_QR,
+};
+
+// It is a near impossibility that user code generates this exact
+// value in normal operation, thus we will use it to fill arrays
+// before passing them to user code. If on return an element of the
+// array still contains this value, we will assume that the user code
+// did not write to that memory location.
+const double kImpossibleValue = 1e302;
+
+CERES_EXPORT const char* LinearSolverTypeToString(
+ LinearSolverType type);
+CERES_EXPORT bool StringToLinearSolverType(std::string value,
+ LinearSolverType* type);
+
+CERES_EXPORT const char* PreconditionerTypeToString(PreconditionerType type);
+CERES_EXPORT bool StringToPreconditionerType(std::string value,
+ PreconditionerType* type);
+
+CERES_EXPORT const char* VisibilityClusteringTypeToString(
+ VisibilityClusteringType type);
+CERES_EXPORT bool StringToVisibilityClusteringType(std::string value,
+ VisibilityClusteringType* type);
+
+CERES_EXPORT const char* SparseLinearAlgebraLibraryTypeToString(
+ SparseLinearAlgebraLibraryType type);
+CERES_EXPORT bool StringToSparseLinearAlgebraLibraryType(
+ std::string value,
+ SparseLinearAlgebraLibraryType* type);
+
+CERES_EXPORT const char* DenseLinearAlgebraLibraryTypeToString(
+ DenseLinearAlgebraLibraryType type);
+CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType(
+ std::string value,
+ DenseLinearAlgebraLibraryType* type);
+
+CERES_EXPORT const char* TrustRegionStrategyTypeToString(
+ TrustRegionStrategyType type);
+CERES_EXPORT bool StringToTrustRegionStrategyType(std::string value,
+ TrustRegionStrategyType* type);
+
+CERES_EXPORT const char* DoglegTypeToString(DoglegType type);
+CERES_EXPORT bool StringToDoglegType(std::string value, DoglegType* type);
+
+CERES_EXPORT const char* MinimizerTypeToString(MinimizerType type);
+CERES_EXPORT bool StringToMinimizerType(std::string value, MinimizerType* type);
+
+CERES_EXPORT const char* LineSearchDirectionTypeToString(
+ LineSearchDirectionType type);
+CERES_EXPORT bool StringToLineSearchDirectionType(std::string value,
+ LineSearchDirectionType* type);
+
+CERES_EXPORT const char* LineSearchTypeToString(LineSearchType type);
+CERES_EXPORT bool StringToLineSearchType(std::string value, LineSearchType* type);
+
+CERES_EXPORT const char* NonlinearConjugateGradientTypeToString(
+ NonlinearConjugateGradientType type);
+CERES_EXPORT bool StringToNonlinearConjugateGradientType(
+ std::string value,
+ NonlinearConjugateGradientType* type);
+
+CERES_EXPORT const char* LineSearchInterpolationTypeToString(
+ LineSearchInterpolationType type);
+CERES_EXPORT bool StringToLineSearchInterpolationType(
+ std::string value,
+ LineSearchInterpolationType* type);
+
+CERES_EXPORT const char* CovarianceAlgorithmTypeToString(
+ CovarianceAlgorithmType type);
+CERES_EXPORT bool StringToCovarianceAlgorithmType(
+ std::string value,
+ CovarianceAlgorithmType* type);
+
+CERES_EXPORT const char* NumericDiffMethodTypeToString(
+ NumericDiffMethodType type);
+CERES_EXPORT bool StringToNumericDiffMethodType(
+ std::string value,
+ NumericDiffMethodType* type);
+
+CERES_EXPORT const char* TerminationTypeToString(TerminationType type);
+
+CERES_EXPORT bool IsSchurType(LinearSolverType type);
+CERES_EXPORT bool IsSparseLinearAlgebraLibraryTypeAvailable(
+ SparseLinearAlgebraLibraryType type);
+CERES_EXPORT bool IsDenseLinearAlgebraLibraryTypeAvailable(
+ DenseLinearAlgebraLibraryType type);
+
+} // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERES_PUBLIC_TYPES_H_
--- /dev/null
+// 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: mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_VERSION_H_
+#define CERES_PUBLIC_VERSION_H_
+
+#define CERES_VERSION_MAJOR 1
+#define CERES_VERSION_MINOR 13
+#define CERES_VERSION_REVISION 0
+
+// Classic CPP stringifcation; the extra level of indirection allows the
+// preprocessor to expand the macro before being converted to a string.
+#define CERES_TO_STRING_HELPER(x) #x
+#define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
+
+// The Ceres version as a string; for example "1.9.0".
+#define CERES_VERSION_STRING CERES_TO_STRING(CERES_VERSION_MAJOR) "." \
+ CERES_TO_STRING(CERES_VERSION_MINOR) "." \
+ CERES_TO_STRING(CERES_VERSION_REVISION)
+
+#endif // CERES_PUBLIC_VERSION_H_
--- /dev/null
+# 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: keir@google.com (Keir Mierle)
+
+set(CERES_INTERNAL_SRC
+ array_utils.cc
+ blas.cc
+ block_evaluate_preparer.cc
+ block_jacobi_preconditioner.cc
+ block_jacobian_writer.cc
+ block_random_access_dense_matrix.cc
+ block_random_access_diagonal_matrix.cc
+ block_random_access_matrix.cc
+ block_random_access_sparse_matrix.cc
+ block_sparse_matrix.cc
+ block_structure.cc
+ c_api.cc
+ canonical_views_clustering.cc
+ cgnr_solver.cc
+ callbacks.cc
+ compressed_col_sparse_matrix_utils.cc
+ compressed_row_jacobian_writer.cc
+ compressed_row_sparse_matrix.cc
+ conditioned_cost_function.cc
+ conjugate_gradients_solver.cc
+ coordinate_descent_minimizer.cc
+ corrector.cc
+ covariance.cc
+ covariance_impl.cc
+ cxsparse.cc
+ dense_normal_cholesky_solver.cc
+ dense_qr_solver.cc
+ dense_sparse_matrix.cc
+ detect_structure.cc
+ dogleg_strategy.cc
+ dynamic_compressed_row_jacobian_writer.cc
+ dynamic_compressed_row_sparse_matrix.cc
+ dynamic_sparse_normal_cholesky_solver.cc
+ evaluator.cc
+ eigensparse.cc
+ file.cc
+ function_sample.cc
+ gradient_checker.cc
+ gradient_checking_cost_function.cc
+ gradient_problem.cc
+ gradient_problem_solver.cc
+ implicit_schur_complement.cc
+ inner_product_computer.cc
+ is_close.cc
+ iterative_schur_complement_solver.cc
+ levenberg_marquardt_strategy.cc
+ lapack.cc
+ line_search.cc
+ line_search_direction.cc
+ line_search_minimizer.cc
+ line_search_preprocessor.cc
+ linear_least_squares_problems.cc
+ linear_operator.cc
+ linear_solver.cc
+ local_parameterization.cc
+ loss_function.cc
+ low_rank_inverse_hessian.cc
+ minimizer.cc
+ normal_prior.cc
+ parameter_block_ordering.cc
+ partitioned_matrix_view.cc
+ polynomial.cc
+ preconditioner.cc
+ preprocessor.cc
+ problem.cc
+ problem_impl.cc
+ program.cc
+ reorder_program.cc
+ residual_block.cc
+ residual_block_utils.cc
+ schur_complement_solver.cc
+ schur_eliminator.cc
+ schur_jacobi_preconditioner.cc
+ schur_templates.cc
+ scratch_evaluate_preparer.cc
+ single_linkage_clustering.cc
+ solver.cc
+ solver_utils.cc
+ sparse_matrix.cc
+ sparse_cholesky.cc
+ sparse_normal_cholesky_solver.cc
+ split.cc
+ stringprintf.cc
+ suitesparse.cc
+ triplet_sparse_matrix.cc
+ trust_region_preprocessor.cc
+ trust_region_minimizer.cc
+ trust_region_step_evaluator.cc
+ trust_region_strategy.cc
+ types.cc
+ visibility.cc
+ visibility_based_preconditioner.cc
+ wall_time.cc
+)
+
+# Also depend on the header files so that they appear in IDEs.
+file(GLOB CERES_INTERNAL_HDRS *.h)
+if (MINIGLOG)
+ file(GLOB MINIGLOG_HDRS miniglog/glog/*.h)
+ list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS})
+endif()
+
+# Depend also on public headers so they appear in IDEs.
+file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
+file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
+
+# Include the specialized schur solvers.
+if (SCHUR_SPECIALIZATIONS)
+ file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
+else (SCHUR_SPECIALIZATIONS)
+ # Only the fully dynamic solver. The build is much faster this way.
+ file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
+endif (SCHUR_SPECIALIZATIONS)
+
+# Build the list of dependencies for Ceres based on the current configuration.
+if (NOT MINIGLOG AND GLOG_FOUND)
+ list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
+ if (GFLAGS_FOUND)
+ # If glog & gflags are both found, we assume that glog was built with
+ # gflags, as it is awkward to perform a try_compile() to verify this
+ # when gflags is an imported target (as it is in newer versions).
+ # As glog #includes gflags/gflags.h in glog/logging.h if compiled with
+ # gflags, it is thus a public dependency for Ceres in this case.
+ list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
+ endif()
+endif (NOT MINIGLOG AND GLOG_FOUND)
+
+if (SUITESPARSE AND SUITESPARSE_FOUND)
+ # Define version information for use in Solver::FullReport.
+ add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
+endif (SUITESPARSE AND SUITESPARSE_FOUND)
+
+if (CXSPARSE AND CXSPARSE_FOUND)
+ # Define version information for use in Solver::FullReport.
+ add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
+endif (CXSPARSE AND CXSPARSE_FOUND)
+
+if (BLAS_FOUND AND LAPACK_FOUND)
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
+endif (BLAS_FOUND AND LAPACK_FOUND)
+
+if (OPENMP_FOUND)
+ # OpenMP support in Clang requires a non-GNU OpenMP library.
+ if (CMAKE_COMPILER_IS_GNUCXX)
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
+ endif()
+ if (NOT MSVC)
+ list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
+ endif()
+endif (OPENMP_FOUND)
+
+set(CERES_LIBRARY_SOURCE
+ ${CERES_INTERNAL_SRC}
+ ${CERES_INTERNAL_HDRS}
+ ${CERES_PUBLIC_HDRS}
+ ${CERES_PUBLIC_INTERNAL_HDRS}
+ ${CERES_INTERNAL_SCHUR_FILES})
+
+# Primarily for Android, but optionally for others, compile the minimal
+# glog implementation into Ceres.
+if (MINIGLOG)
+ list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
+endif (MINIGLOG)
+
+add_library(ceres ${CERES_LIBRARY_SOURCE})
+set_target_properties(ceres PROPERTIES
+ VERSION ${CERES_VERSION}
+ SOVERSION ${CERES_VERSION_MAJOR})
+
+include(AppendTargetProperty)
+# Always build position-independent code (PIC), even when building Ceres as a
+# static library so that shared libraries can link against it, not just
+# executables (PIC does not apply on Windows).
+if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
+ # Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
+ # that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
+ # additional compile definitions for the target.
+ if (CMAKE_VERSION VERSION_LESS "2.8.9")
+ append_target_property(ceres COMPILE_FLAGS "-fPIC")
+ else()
+ # Use set_target_properties() not append_target_property() here as
+ # POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
+ set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
+ endif()
+endif()
+
+if (CXX11)
+ include(AddCeresCXX11RequirementsToTarget)
+ add_ceres_cxx11_requirements_to_target(ceres)
+endif()
+
+if (BUILD_SHARED_LIBS)
+ # When building a shared library, mark all external libraries as
+ # PRIVATE so they don't show up as a dependency.
+ target_link_libraries(ceres
+ LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
+ LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
+else (BUILD_SHARED_LIBS)
+ # When building a static library, all external libraries are
+ # PUBLIC(default) since the user needs to link to them.
+ # They will be listed in CeresTargets.cmake.
+ set(CERES_LIBRARY_DEPENDENCIES
+ ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
+ ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
+ target_link_libraries(ceres ${CERES_LIBRARY_DEPENDENCIES})
+endif (BUILD_SHARED_LIBS)
+
+install(TARGETS ceres
+ EXPORT CeresExport
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib${LIB_SUFFIX}
+ ARCHIVE DESTINATION lib${LIB_SUFFIX})
+
+if (BUILD_TESTING AND GFLAGS)
+ add_library(gtest gmock_gtest_all.cc gmock_main.cc)
+ if (BUILD_SHARED_LIBS)
+ # Define gtest-specific shared library flags for compilation.
+ append_target_property(gtest COMPILE_DEFINITIONS
+ GTEST_CREATE_SHARED_LIBRARY)
+ endif()
+
+ add_library(test_util
+ evaluator_test_utils.cc
+ numeric_diff_test_utils.cc
+ test_util.cc)
+
+ if (MINIGLOG)
+ # When using miniglog, it is compiled into Ceres, thus Ceres becomes
+ # the library against which other libraries should link for logging.
+ target_link_libraries(gtest ${GFLAGS_LIBRARIES} ceres)
+ target_link_libraries(test_util ceres gtest)
+ else (MINIGLOG)
+ target_link_libraries(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
+ target_link_libraries(test_util ceres gtest ${GLOG_LIBRARIES})
+ endif (MINIGLOG)
+
+ macro (CERES_TEST NAME)
+ add_executable(${NAME}_test ${NAME}_test.cc)
+ target_link_libraries(${NAME}_test test_util ceres gtest)
+ if (BUILD_SHARED_LIBS)
+ # Define gtest-specific shared library flags for linking.
+ append_target_property(${NAME}_test COMPILE_DEFINITIONS
+ GTEST_LINKED_AS_SHARED_LIBRARY)
+ endif()
+ add_test(NAME ${NAME}_test
+ COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
+ --test_srcdir
+ ${Ceres_SOURCE_DIR}/data)
+ endmacro (CERES_TEST)
+
+ ceres_test(array_utils)
+ ceres_test(autodiff)
+ ceres_test(autodiff_cost_function)
+ ceres_test(autodiff_local_parameterization)
+ ceres_test(block_jacobi_preconditioner)
+ ceres_test(block_random_access_dense_matrix)
+ ceres_test(block_random_access_diagonal_matrix)
+ ceres_test(block_random_access_sparse_matrix)
+ ceres_test(block_sparse_matrix)
+ ceres_test(c_api)
+ ceres_test(canonical_views_clustering)
+ ceres_test(compressed_col_sparse_matrix_utils)
+ ceres_test(compressed_row_sparse_matrix)
+ ceres_test(conditioned_cost_function)
+ ceres_test(conjugate_gradients_solver)
+ ceres_test(corrector)
+ ceres_test(cost_function_to_functor)
+ ceres_test(covariance)
+ ceres_test(cubic_interpolation)
+ ceres_test(dense_linear_solver)
+ ceres_test(dense_sparse_matrix)
+ ceres_test(detect_structure)
+ ceres_test(dogleg_strategy)
+ ceres_test(dynamic_autodiff_cost_function)
+ ceres_test(dynamic_compressed_row_sparse_matrix)
+ ceres_test(dynamic_numeric_diff_cost_function)
+ ceres_test(dynamic_sparse_normal_cholesky_solver)
+ ceres_test(dynamic_sparsity)
+ ceres_test(evaluator)
+ ceres_test(gradient_checker)
+ ceres_test(gradient_checking_cost_function)
+ ceres_test(gradient_problem)
+ ceres_test(gradient_problem_solver)
+ ceres_test(graph)
+ ceres_test(graph_algorithms)
+ ceres_test(householder_vector)
+ ceres_test(implicit_schur_complement)
+ ceres_test(inner_product_computer)
+ ceres_test(invert_psd_matrix)
+ ceres_test(is_close)
+ ceres_test(iterative_schur_complement_solver)
+ ceres_test(jet)
+ ceres_test(levenberg_marquardt_strategy)
+ ceres_test(line_search_minimizer)
+ ceres_test(line_search_preprocessor)
+ ceres_test(local_parameterization)
+ ceres_test(loss_function)
+ ceres_test(minimizer)
+ ceres_test(normal_prior)
+ ceres_test(numeric_diff_cost_function)
+ ceres_test(ordered_groups)
+ ceres_test(parameter_block)
+ ceres_test(parameter_block_ordering)
+ ceres_test(partitioned_matrix_view)
+ ceres_test(polynomial)
+ ceres_test(problem)
+ ceres_test(program)
+ ceres_test(reorder_program)
+ ceres_test(residual_block)
+ ceres_test(residual_block_utils)
+ ceres_test(rotation)
+ ceres_test(schur_complement_solver)
+ ceres_test(schur_eliminator)
+ ceres_test(single_linkage_clustering)
+ ceres_test(small_blas)
+ ceres_test(solver)
+ ceres_test(sparse_cholesky)
+ ceres_test(sparse_normal_cholesky_solver)
+ ceres_test(system)
+ ceres_test(triplet_sparse_matrix)
+ ceres_test(trust_region_minimizer)
+ ceres_test(trust_region_preprocessor)
+ ceres_test(visibility)
+ ceres_test(visibility_based_preconditioner)
+
+ # Put the large end to end test last.
+ ceres_test(bundle_adjustment)
+
+endif (BUILD_TESTING AND GFLAGS)
--- /dev/null
+// 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/array_utils.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <string>
+#include <vector>
+#include "ceres/fpclassify.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+bool IsArrayValid(const int size, const double* x) {
+ if (x != NULL) {
+ for (int i = 0; i < size; ++i) {
+ if (!IsFinite(x[i]) || (x[i] == kImpossibleValue)) {
+ return false;
+ }
+ }
+ }
+ return true;
+}
+
+int FindInvalidValue(const int size, const double* x) {
+ if (x == NULL) {
+ return size;
+ }
+
+ for (int i = 0; i < size; ++i) {
+ if (!IsFinite(x[i]) || (x[i] == kImpossibleValue)) {
+ return i;
+ }
+ }
+
+ return size;
+}
+
+void InvalidateArray(const int size, double* x) {
+ if (x != NULL) {
+ for (int i = 0; i < size; ++i) {
+ x[i] = kImpossibleValue;
+ }
+ }
+}
+
+void AppendArrayToString(const int size, const double* x, string* result) {
+ for (int i = 0; i < size; ++i) {
+ if (x == NULL) {
+ StringAppendF(result, "Not Computed ");
+ } else {
+ if (x[i] == kImpossibleValue) {
+ StringAppendF(result, "Uninitialized ");
+ } else {
+ StringAppendF(result, "%12g ", x[i]);
+ }
+ }
+ }
+}
+
+void MapValuesToContiguousRange(const int size, int* array) {
+ std::vector<int> unique_values(array, array + size);
+ std::sort(unique_values.begin(), unique_values.end());
+ unique_values.erase(std::unique(unique_values.begin(),
+ unique_values.end()),
+ unique_values.end());
+
+ for (int i = 0; i < size; ++i) {
+ array[i] = std::lower_bound(unique_values.begin(),
+ unique_values.end(),
+ array[i]) - unique_values.begin();
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Utility routines for validating arrays.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of an array, but the code expects it.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_ARRAY_UTILS_H_
+#define CERES_INTERNAL_ARRAY_UTILS_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Fill the array x with an impossible value that the user code is
+// never expected to compute.
+void InvalidateArray(int size, double* x);
+
+// Check if all the entries of the array x are valid, i.e. all the
+// values in the array should be finite and none of them should be
+// equal to the "impossible" value used by InvalidateArray.
+bool IsArrayValid(int size, const double* x);
+
+// If the array contains an invalid value, return the index for it,
+// otherwise return size.
+int FindInvalidValue(const int size, const double* x);
+
+// Utility routine to print an array of doubles to a string. If the
+// array pointer is NULL, it is treated as an array of zeros.
+void AppendArrayToString(const int size, const double* x, std::string* result);
+
+// This routine takes an array of integer values, sorts and uniques
+// them and then maps each value in the array to its position in the
+// sorted+uniqued array. By doing this, if there are are k unique
+// values in the array, each value is replaced by an integer in the
+// range [0, k-1], while preserving their relative order.
+//
+// For example
+//
+// [1 0 3 5 0 1 5]
+//
+// gets mapped to
+//
+// [1 0 2 3 0 1 3]
+void MapValuesToContiguousRange(int size, int* array);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_ARRAY_UTILS_H_
--- /dev/null
+// 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/array_utils.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(ArrayUtils, IsArrayValid) {
+ double x[3];
+ x[0] = 0.0;
+ x[1] = 1.0;
+ x[2] = 2.0;
+ EXPECT_TRUE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::infinity();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::quiet_NaN();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::signaling_NaN();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ EXPECT_TRUE(IsArrayValid(1, NULL));
+ InvalidateArray(3, x);
+ EXPECT_FALSE(IsArrayValid(3, x));
+}
+
+TEST(ArrayUtils, FindInvalidIndex) {
+ double x[3];
+ x[0] = 0.0;
+ x[1] = 1.0;
+ x[2] = 2.0;
+ EXPECT_EQ(FindInvalidValue(3, x), 3);
+ x[1] = std::numeric_limits<double>::infinity();
+ EXPECT_EQ(FindInvalidValue(3, x), 1);
+ x[1] = std::numeric_limits<double>::quiet_NaN();
+ EXPECT_EQ(FindInvalidValue(3, x), 1);
+ x[1] = std::numeric_limits<double>::signaling_NaN();
+ EXPECT_EQ(FindInvalidValue(3, x), 1);
+ EXPECT_EQ(FindInvalidValue(1, NULL), 1);
+ InvalidateArray(3, x);
+ EXPECT_EQ(FindInvalidValue(3, x), 0);
+}
+
+TEST(MapValuesToContiguousRange, ContiguousEntries) {
+ vector<int> array;
+ array.push_back(0);
+ array.push_back(1);
+ vector<int> expected = array;
+ MapValuesToContiguousRange(array.size(), &array[0]);
+ EXPECT_EQ(array, expected);
+ array.clear();
+
+ array.push_back(1);
+ array.push_back(0);
+ expected = array;
+ MapValuesToContiguousRange(array.size(), &array[0]);
+ EXPECT_EQ(array, expected);
+}
+
+TEST(MapValuesToContiguousRange, NonContiguousEntries) {
+ vector<int> array;
+ array.push_back(0);
+ array.push_back(2);
+ vector<int> expected;
+ expected.push_back(0);
+ expected.push_back(1);
+ MapValuesToContiguousRange(array.size(), &array[0]);
+ EXPECT_EQ(array, expected);
+}
+
+TEST(MapValuesToContiguousRange, NonContiguousRepeatingEntries) {
+ vector<int> array;
+ array.push_back(3);
+ array.push_back(1);
+ array.push_back(0);
+ array.push_back(0);
+ array.push_back(0);
+ array.push_back(5);
+ vector<int> expected;
+ expected.push_back(2);
+ expected.push_back(1);
+ expected.push_back(0);
+ expected.push_back(0);
+ expected.push_back(0);
+ expected.push_back(3);
+ MapValuesToContiguousRange(array.size(), &array[0]);
+ EXPECT_EQ(array, expected);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 "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(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};
+
+ scoped_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
--- /dev/null
+// 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 <cmath>
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/fpclassify.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/rotation.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+struct IdentityPlus {
+ template <typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ for (int i = 0; i < 3; ++i) {
+ x_plus_delta[i] = x[i] + delta[i];
+ }
+ return true;
+ }
+};
+
+TEST(AutoDiffLocalParameterizationTest, IdentityParameterization) {
+ AutoDiffLocalParameterization<IdentityPlus, 3, 3>
+ parameterization;
+
+ double x[3] = {1.0, 2.0, 3.0};
+ double delta[3] = {0.0, 1.0, 2.0};
+ double x_plus_delta[3] = {0.0, 0.0, 0.0};
+ parameterization.Plus(x, delta, x_plus_delta);
+
+ EXPECT_EQ(x_plus_delta[0], 1.0);
+ EXPECT_EQ(x_plus_delta[1], 3.0);
+ EXPECT_EQ(x_plus_delta[2], 5.0);
+
+ double jacobian[9];
+ parameterization.ComputeJacobian(x, jacobian);
+ int k = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j, ++k) {
+ EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
+ }
+ }
+}
+
+struct ScaledPlus {
+ explicit ScaledPlus(const double &scale_factor)
+ : scale_factor_(scale_factor)
+ {}
+
+ template <typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ for (int i = 0; i < 3; ++i) {
+ x_plus_delta[i] = x[i] + T(scale_factor_) * delta[i];
+ }
+ return true;
+ }
+
+ const double scale_factor_;
+};
+
+TEST(AutoDiffLocalParameterizationTest, ScaledParameterization) {
+ const double kTolerance = 1e-14;
+
+ AutoDiffLocalParameterization<ScaledPlus, 3, 3>
+ parameterization(new ScaledPlus(1.2345));
+
+ double x[3] = {1.0, 2.0, 3.0};
+ double delta[3] = {0.0, 1.0, 2.0};
+ double x_plus_delta[3] = {0.0, 0.0, 0.0};
+ parameterization.Plus(x, delta, x_plus_delta);
+
+ EXPECT_NEAR(x_plus_delta[0], 1.0, kTolerance);
+ EXPECT_NEAR(x_plus_delta[1], 3.2345, kTolerance);
+ EXPECT_NEAR(x_plus_delta[2], 5.469, kTolerance);
+
+ double jacobian[9];
+ parameterization.ComputeJacobian(x, jacobian);
+ int k = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j, ++k) {
+ EXPECT_NEAR(jacobian[k], (i == j) ? 1.2345 : 0.0, kTolerance);
+ }
+ }
+}
+
+struct QuaternionPlus {
+ template<typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ const T squared_norm_delta =
+ delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+ T q_delta[4];
+ if (squared_norm_delta > T(0.0)) {
+ T norm_delta = sqrt(squared_norm_delta);
+ const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ } else {
+ // We do not just use q_delta = [1,0,0,0] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ q_delta[0] = T(1.0);
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+ }
+
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ return true;
+ }
+};
+
+void QuaternionParameterizationTestHelper(const double* x,
+ const double* delta) {
+ const double kTolerance = 1e-14;
+ double x_plus_delta_ref[4] = {0.0, 0.0, 0.0, 0.0};
+ double jacobian_ref[12];
+
+
+ QuaternionParameterization ref_parameterization;
+ ref_parameterization.Plus(x, delta, x_plus_delta_ref);
+ ref_parameterization.ComputeJacobian(x, jacobian_ref);
+
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ double jacobian[12];
+ AutoDiffLocalParameterization<QuaternionPlus, 4, 3> parameterization;
+ parameterization.Plus(x, delta, x_plus_delta);
+ parameterization.ComputeJacobian(x, jacobian);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_NEAR(x_plus_delta[i], x_plus_delta_ref[i], kTolerance);
+ }
+
+ const double x_plus_delta_norm =
+ sqrt(x_plus_delta[0] * x_plus_delta[0] +
+ x_plus_delta[1] * x_plus_delta[1] +
+ x_plus_delta[2] * x_plus_delta[2] +
+ x_plus_delta[3] * x_plus_delta[3]);
+
+ EXPECT_NEAR(x_plus_delta_norm, 1.0, kTolerance);
+
+ for (int i = 0; i < 12; ++i) {
+ EXPECT_TRUE(IsFinite(jacobian[i]));
+ EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
+ << "Jacobian mismatch: i = " << i
+ << "\n Expected \n" << ConstMatrixRef(jacobian_ref, 4, 3)
+ << "\n Actual \n" << ConstMatrixRef(jacobian, 4, 3);
+ }
+}
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationZeroTest) {
+ double x[4] = {0.5, 0.5, 0.5, 0.5};
+ double delta[3] = {0.0, 0.0, 0.0};
+ QuaternionParameterizationTestHelper(x, delta);
+}
+
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationNearZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ double norm_x = sqrt(x[0] * x[0] +
+ x[1] * x[1] +
+ x[2] * x[2] +
+ x[3] * x[3]);
+ for (int i = 0; i < 4; ++i) {
+ x[i] = x[i] / norm_x;
+ }
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ for (int i = 0; i < 3; ++i) {
+ delta[i] = delta[i] * 1e-14;
+ }
+
+ QuaternionParameterizationTestHelper(x, delta);
+}
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationNonZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ double norm_x = sqrt(x[0] * x[0] +
+ x[1] * x[1] +
+ x[2] * x[2] +
+ x[3] * x[3]);
+
+ for (int i = 0; i < 4; ++i) {
+ x[i] = x[i] / norm_x;
+ }
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ QuaternionParameterizationTestHelper(x, delta);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/internal/autodiff.h"
+
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename T> inline
+T &RowMajorAccess(T *base, int rows, int cols, int i, int j) {
+ return base[cols * i + j];
+}
+
+// Do (symmetric) finite differencing using the given function object 'b' of
+// type 'B' and scalar type 'T' with step size 'del'.
+//
+// The type B should have a signature
+//
+// bool operator()(T const *, T *) const;
+//
+// which maps a vector of parameters to a vector of outputs.
+template <typename B, typename T, int M, int N> inline
+bool SymmetricDiff(const B& b,
+ const T par[N],
+ T del, // step size.
+ T fun[M],
+ T jac[M * N]) { // row-major.
+ if (!b(par, fun)) {
+ return false;
+ }
+
+ // Temporary parameter vector.
+ T tmp_par[N];
+ for (int j = 0; j < N; ++j) {
+ tmp_par[j] = par[j];
+ }
+
+ // For each dimension, we do one forward step and one backward step in
+ // parameter space, and store the output vector vectors in these vectors.
+ T fwd_fun[M];
+ T bwd_fun[M];
+
+ for (int j = 0; j < N; ++j) {
+ // Forward step.
+ tmp_par[j] = par[j] + del;
+ if (!b(tmp_par, fwd_fun)) {
+ return false;
+ }
+
+ // Backward step.
+ tmp_par[j] = par[j] - del;
+ if (!b(tmp_par, bwd_fun)) {
+ return false;
+ }
+
+ // Symmetric differencing:
+ // f'(a) = (f(a + h) - f(a - h)) / (2 h)
+ for (int i = 0; i < M; ++i) {
+ RowMajorAccess(jac, M, N, i, j) =
+ (fwd_fun[i] - bwd_fun[i]) / (T(2) * del);
+ }
+
+ // Restore our temporary vector.
+ tmp_par[j] = par[j];
+ }
+
+ return true;
+}
+
+template <typename A> inline
+void QuaternionToScaledRotation(A const q[4], A R[3 * 3]) {
+ // Make convenient names for elements of q.
+ A a = q[0];
+ A b = q[1];
+ A c = q[2];
+ A d = q[3];
+ // This is not to eliminate common sub-expression, but to
+ // make the lines shorter so that they fit in 80 columns!
+ A aa = a*a;
+ A ab = a*b;
+ A ac = a*c;
+ A ad = a*d;
+ A bb = b*b;
+ A bc = b*c;
+ A bd = b*d;
+ A cc = c*c;
+ A cd = c*d;
+ A dd = d*d;
+#define R(i, j) RowMajorAccess(R, 3, 3, (i), (j))
+ R(0, 0) = aa+bb-cc-dd; R(0, 1) = A(2)*(bc-ad); R(0, 2) = A(2)*(ac+bd); // NOLINT
+ R(1, 0) = A(2)*(ad+bc); R(1, 1) = aa-bb+cc-dd; R(1, 2) = A(2)*(cd-ab); // NOLINT
+ R(2, 0) = A(2)*(bd-ac); R(2, 1) = A(2)*(ab+cd); R(2, 2) = aa-bb-cc+dd; // NOLINT
+#undef R
+}
+
+// A structure for projecting a 3x4 camera matrix and a
+// homogeneous 3D point, to a 2D inhomogeneous point.
+struct Projective {
+ // Function that takes P and X as separate vectors:
+ // P, X -> x
+ template <typename A>
+ bool operator()(A const P[12], A const X[4], A x[2]) const {
+ A PX[3];
+ for (int i = 0; i < 3; ++i) {
+ PX[i] = RowMajorAccess(P, 3, 4, i, 0) * X[0] +
+ RowMajorAccess(P, 3, 4, i, 1) * X[1] +
+ RowMajorAccess(P, 3, 4, i, 2) * X[2] +
+ RowMajorAccess(P, 3, 4, i, 3) * X[3];
+ }
+ if (PX[2] != 0.0) {
+ x[0] = PX[0] / PX[2];
+ x[1] = PX[1] / PX[2];
+ return true;
+ }
+ return false;
+ }
+
+ // Version that takes P and X packed in one vector:
+ //
+ // (P, X) -> x
+ //
+ template <typename A>
+ bool operator()(A const P_X[12 + 4], A x[2]) const {
+ return operator()(P_X + 0, P_X + 12, x);
+ }
+};
+
+// Test projective camera model projector.
+TEST(AutoDiff, ProjectiveCameraModel) {
+ srand(5);
+ double const tol = 1e-10; // floating-point tolerance.
+ double const del = 1e-4; // finite-difference step.
+ double const err = 1e-6; // finite-difference tolerance.
+
+ Projective b;
+
+ // Make random P and X, in a single vector.
+ double PX[12 + 4];
+ for (int i = 0; i < 12 + 4; ++i) {
+ PX[i] = RandDouble();
+ }
+
+ // Handy names for the P and X parts.
+ double *P = PX + 0;
+ double *X = PX + 12;
+
+ // Apply the mapping, to get image point b_x.
+ double b_x[2];
+ b(P, X, b_x);
+
+ // Use finite differencing to estimate the Jacobian.
+ double fd_x[2];
+ double fd_J[2 * (12 + 4)];
+ ASSERT_TRUE((SymmetricDiff<Projective, double, 2, 12 + 4>(b, PX, del,
+ fd_x, fd_J)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(fd_x[i], b_x[i], tol);
+ }
+
+ // Use automatic differentiation to compute the Jacobian.
+ double ad_x1[2];
+ double J_PX[2 * (12 + 4)];
+ {
+ double *parameters[] = { PX };
+ double *jacobians[] = { J_PX };
+ ASSERT_TRUE((AutoDiff<Projective, double, 12 + 4>::Differentiate(
+ b, parameters, 2, ad_x1, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x1[i], b_x[i], tol);
+ }
+ }
+
+ // Use automatic differentiation (again), with two arguments.
+ {
+ double ad_x2[2];
+ double J_P[2 * 12];
+ double J_X[2 * 4];
+ double *parameters[] = { P, X };
+ double *jacobians[] = { J_P, J_X };
+ ASSERT_TRUE((AutoDiff<Projective, double, 12, 4>::Differentiate(
+ b, parameters, 2, ad_x2, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x2[i], b_x[i], tol);
+ }
+
+ // Now compare the jacobians we got.
+ for (int i = 0; i < 2; ++i) {
+ for (int j = 0; j < 12 + 4; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + j], fd_J[(12 + 4) * i + j], err);
+ }
+
+ for (int j = 0; j < 12; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + j], J_P[12 * i + j], tol);
+ }
+ for (int j = 0; j < 4; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + 12 + j], J_X[4 * i + j], tol);
+ }
+ }
+ }
+}
+
+// Object to implement the projection by a calibrated camera.
+struct Metric {
+ // The mapping is
+ //
+ // q, c, X -> x = dehomg(R(q) (X - c))
+ //
+ // where q is a quaternion and c is the center of projection.
+ //
+ // This function takes three input vectors.
+ template <typename A>
+ bool operator()(A const q[4], A const c[3], A const X[3], A x[2]) const {
+ A R[3 * 3];
+ QuaternionToScaledRotation(q, R);
+
+ // Convert the quaternion mapping all the way to projective matrix.
+ A P[3 * 4];
+
+ // Set P(:, 1:3) = R
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ RowMajorAccess(P, 3, 4, i, j) = RowMajorAccess(R, 3, 3, i, j);
+ }
+ }
+
+ // Set P(:, 4) = - R c
+ for (int i = 0; i < 3; ++i) {
+ RowMajorAccess(P, 3, 4, i, 3) =
+ - (RowMajorAccess(R, 3, 3, i, 0) * c[0] +
+ RowMajorAccess(R, 3, 3, i, 1) * c[1] +
+ RowMajorAccess(R, 3, 3, i, 2) * c[2]);
+ }
+
+ A X1[4] = { X[0], X[1], X[2], A(1) };
+ Projective p;
+ return p(P, X1, x);
+ }
+
+ // A version that takes a single vector.
+ template <typename A>
+ bool operator()(A const q_c_X[4 + 3 + 3], A x[2]) const {
+ return operator()(q_c_X, q_c_X + 4, q_c_X + 4 + 3, x);
+ }
+};
+
+// This test is similar in structure to the previous one.
+TEST(AutoDiff, Metric) {
+ srand(5);
+ double const tol = 1e-10; // floating-point tolerance.
+ double const del = 1e-4; // finite-difference step.
+ double const err = 1e-5; // finite-difference tolerance.
+
+ Metric b;
+
+ // Make random parameter vector.
+ double qcX[4 + 3 + 3];
+ for (int i = 0; i < 4 + 3 + 3; ++i)
+ qcX[i] = RandDouble();
+
+ // Handy names.
+ double *q = qcX;
+ double *c = qcX + 4;
+ double *X = qcX + 4 + 3;
+
+ // Compute projection, b_x.
+ double b_x[2];
+ ASSERT_TRUE(b(q, c, X, b_x));
+
+ // Finite differencing estimate of Jacobian.
+ double fd_x[2];
+ double fd_J[2 * (4 + 3 + 3)];
+ ASSERT_TRUE((SymmetricDiff<Metric, double, 2, 4 + 3 + 3>(b, qcX, del,
+ fd_x, fd_J)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(fd_x[i], b_x[i], tol);
+ }
+
+ // Automatic differentiation.
+ double ad_x[2];
+ double J_q[2 * 4];
+ double J_c[2 * 3];
+ double J_X[2 * 3];
+ double *parameters[] = { q, c, X };
+ double *jacobians[] = { J_q, J_c, J_X };
+ ASSERT_TRUE((AutoDiff<Metric, double, 4, 3, 3>::Differentiate(
+ b, parameters, 2, ad_x, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x[i], b_x[i], tol);
+ }
+
+ // Compare the pieces.
+ for (int i = 0; i < 2; ++i) {
+ for (int j = 0; j < 4; ++j) {
+ ASSERT_NEAR(J_q[4 * i + j], fd_J[(4 + 3 + 3) * i + j], err);
+ }
+ for (int j = 0; j < 3; ++j) {
+ ASSERT_NEAR(J_c[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4], err);
+ }
+ for (int j = 0; j < 3; ++j) {
+ ASSERT_NEAR(J_X[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4 + 3], err);
+ }
+ }
+}
+
+struct VaryingResidualFunctor {
+ template <typename T>
+ bool operator()(const T x[2], T* y) const {
+ for (int i = 0; i < num_residuals; ++i) {
+ y[i] = T(i) * x[0] * x[1] * x[1];
+ }
+ return true;
+ }
+
+ int num_residuals;
+};
+
+TEST(AutoDiff, VaryingNumberOfResidualsForOneCostFunctorType) {
+ double x[2] = { 1.0, 5.5 };
+ double *parameters[] = { x };
+ const int kMaxResiduals = 10;
+ double J_x[2 * kMaxResiduals];
+ double residuals[kMaxResiduals];
+ double *jacobians[] = { J_x };
+
+ // Use a single functor, but tweak it to produce different numbers of
+ // residuals.
+ VaryingResidualFunctor functor;
+
+ for (int num_residuals = 1; num_residuals < kMaxResiduals; ++num_residuals) {
+ // Tweak the number of residuals to produce.
+ functor.num_residuals = num_residuals;
+
+ // Run autodiff with the new number of residuals.
+ ASSERT_TRUE((AutoDiff<VaryingResidualFunctor, double, 2>::Differentiate(
+ functor, parameters, num_residuals, residuals, jacobians)));
+
+ const double kTolerance = 1e-14;
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(J_x[2 * i + 0], i * x[1] * x[1], kTolerance) << "i: " << i;
+ EXPECT_NEAR(J_x[2 * i + 1], 2 * i * x[0] * x[1], kTolerance)
+ << "i: " << i;
+ }
+ }
+}
+
+struct Residual1Param {
+ template <typename T>
+ bool operator()(const T* x0, T* y) const {
+ y[0] = *x0;
+ return true;
+ }
+};
+
+struct Residual2Param {
+ template <typename T>
+ bool operator()(const T* x0, const T* x1, T* y) const {
+ y[0] = *x0 + pow(*x1, 2);
+ return true;
+ }
+};
+
+struct Residual3Param {
+ template <typename T>
+ bool operator()(const T* x0, const T* x1, const T* x2, T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3);
+ return true;
+ }
+};
+
+struct Residual4Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4);
+ return true;
+ }
+};
+
+struct Residual5Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5);
+ return true;
+ }
+};
+
+struct Residual6Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ const T* x5,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+ pow(*x5, 6);
+ return true;
+ }
+};
+
+struct Residual7Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ const T* x5,
+ const T* x6,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+ pow(*x5, 6) + pow(*x6, 7);
+ return true;
+ }
+};
+
+struct Residual8Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ const T* x5,
+ const T* x6,
+ const T* x7,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+ pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8);
+ return true;
+ }
+};
+
+struct Residual9Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ const T* x5,
+ const T* x6,
+ const T* x7,
+ const T* x8,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+ pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8) + pow(*x8, 9);
+ return true;
+ }
+};
+
+struct Residual10Param {
+ template <typename T>
+ bool operator()(const T* x0,
+ const T* x1,
+ const T* x2,
+ const T* x3,
+ const T* x4,
+ const T* x5,
+ const T* x6,
+ const T* x7,
+ const T* x8,
+ const T* x9,
+ T* y) const {
+ y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+ pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8) + pow(*x8, 9) + pow(*x9, 10);
+ return true;
+ }
+};
+
+TEST(AutoDiff, VariadicAutoDiff) {
+ double x[10];
+ double residual = 0;
+ double* parameters[10];
+ double jacobian_values[10];
+ double* jacobians[10];
+
+ for (int i = 0; i < 10; ++i) {
+ x[i] = 2.0;
+ parameters[i] = x + i;
+ jacobians[i] = jacobian_values + i;
+ }
+
+ {
+ Residual1Param functor;
+ int num_variables = 1;
+ EXPECT_TRUE((AutoDiff<Residual1Param, double, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual2Param functor;
+ int num_variables = 2;
+ EXPECT_TRUE((AutoDiff<Residual2Param, double, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual3Param functor;
+ int num_variables = 3;
+ EXPECT_TRUE((AutoDiff<Residual3Param, double, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual4Param functor;
+ int num_variables = 4;
+ EXPECT_TRUE((AutoDiff<Residual4Param, double, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual5Param functor;
+ int num_variables = 5;
+ EXPECT_TRUE((AutoDiff<Residual5Param, double, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual6Param functor;
+ int num_variables = 6;
+ EXPECT_TRUE((AutoDiff<Residual6Param,
+ double,
+ 1, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual7Param functor;
+ int num_variables = 7;
+ EXPECT_TRUE((AutoDiff<Residual7Param,
+ double,
+ 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual8Param functor;
+ int num_variables = 8;
+ EXPECT_TRUE((AutoDiff<
+ Residual8Param,
+ double, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual9Param functor;
+ int num_variables = 9;
+ EXPECT_TRUE((AutoDiff<
+ Residual9Param,
+ double,
+ 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+
+ {
+ Residual10Param functor;
+ int num_variables = 10;
+ EXPECT_TRUE((AutoDiff<
+ Residual10Param,
+ double,
+ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+ functor, parameters, 1, &residual, jacobians)));
+ EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+ for (int i = 0; i < num_variables; ++i) {
+ EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+ }
+ }
+}
+
+// This is fragile test that triggers the alignment bug on
+// i686-apple-darwin10-llvm-g++-4.2 (GCC) 4.2.1. It is quite possible,
+// that other combinations of operating system + compiler will
+// re-arrange the operations in this test.
+//
+// But this is the best (and only) way we know of to trigger this
+// problem for now. A more robust solution that guarantees the
+// alignment of Eigen types used for automatic differentiation would
+// be nice.
+TEST(AutoDiff, AlignedAllocationTest) {
+ // This int is needed to allocate 16 bits on the stack, so that the
+ // next allocation is not aligned by default.
+ char y = 0;
+
+ // This is needed to prevent the compiler from optimizing y out of
+ // this function.
+ y += 1;
+
+ typedef Jet<double, 2> JetT;
+ FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(3);
+
+ // Need this to makes sure that x does not get optimized out.
+ x[0] = x[0] + JetT(1.0);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/blas.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+#ifndef CERES_NO_LAPACK
+extern "C" void dsyrk_(char* uplo,
+ char* trans,
+ int* n,
+ int* k,
+ double* alpha,
+ double* a,
+ int* lda,
+ double* beta,
+ double* c,
+ int* ldc);
+#endif
+
+namespace ceres {
+namespace internal {
+
+void BLAS::SymmetricRankKUpdate(int num_rows,
+ int num_cols,
+ const double* a,
+ bool transpose,
+ double alpha,
+ double beta,
+ double* c) {
+#ifdef CERES_NO_LAPACK
+ LOG(FATAL) << "Ceres was built without a BLAS library.";
+#else
+ char uplo = 'L';
+ char trans = transpose ? 'T' : 'N';
+ int n = transpose ? num_cols : num_rows;
+ int k = transpose ? num_rows : num_cols;
+ int lda = k;
+ int ldc = n;
+ dsyrk_(&uplo,
+ &trans,
+ &n,
+ &k,
+ &alpha,
+ const_cast<double*>(a),
+ &lda,
+ &beta,
+ c,
+ &ldc);
+#endif
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Wrapper functions around BLAS functions.
+
+#ifndef CERES_INTERNAL_BLAS_H_
+#define CERES_INTERNAL_BLAS_H_
+
+namespace ceres {
+namespace internal {
+
+class BLAS {
+ public:
+ // transpose = true : c = alpha * a'a + beta * c;
+ // transpose = false : c = alpha * aa' + beta * c;
+ //
+ // Assumes column major matrices.
+ static void SymmetricRankKUpdate(int num_rows,
+ int num_cols,
+ const double* a,
+ bool transpose,
+ double alpha,
+ double beta,
+ double* c);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLAS_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/block_evaluate_preparer.h"
+
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+void BlockEvaluatePreparer::Init(int const* const* jacobian_layout,
+ int max_derivatives_per_residual_block) {
+ jacobian_layout_ = jacobian_layout;
+ scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block);
+}
+
+// Point the jacobian blocks directly into the block sparse matrix.
+void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians) {
+ // If the overall jacobian is not available, use the scratch space.
+ if (jacobian == NULL) {
+ scratch_evaluate_preparer_.Prepare(residual_block,
+ residual_block_index,
+ jacobian,
+ jacobians);
+ return;
+ }
+
+ double* jacobian_values =
+ down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
+
+ const int* jacobian_block_offset = jacobian_layout_[residual_block_index];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (!residual_block->parameter_blocks()[j]->IsConstant()) {
+ jacobians[j] = jacobian_values + *jacobian_block_offset;
+
+ // The jacobian_block_offset can't be indexed with 'j' since the code
+ // that creates the layout strips out any blocks for inactive
+ // parameters. Instead, bump the pointer for active parameters only.
+ jacobian_block_offset++;
+ } else {
+ jacobians[j] = NULL;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A evaluate preparer which puts jacobian the evaluated jacobian blocks
+// directly into their final resting place in an overall block sparse matrix.
+// The evaluator takes care to avoid evaluating the jacobian for fixed
+// parameters.
+
+#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+class SparseMatrix;
+
+class BlockEvaluatePreparer {
+ public:
+ // Using Init() instead of a constructor allows for allocating this structure
+ // with new[]. This is because C++ doesn't allow passing arguments to objects
+ // constructed with new[] (as opposed to plain 'new').
+ void Init(int const* const* jacobian_layout,
+ int max_derivatives_per_residual_block);
+
+ // EvaluatePreparer interface
+
+ // Point the jacobian blocks directly into the block sparse matrix, if
+ // jacobian is non-null. Otherwise, uses an internal per-thread buffer to
+ // store the jacobians temporarily.
+ void Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians);
+
+ private:
+ int const* const* jacobian_layout_;
+
+ // For the case that the overall jacobian is not available, but the
+ // individual jacobians are requested, use a pass-through scratch evaluate
+ // preparer.
+ ScratchEvaluatePreparer scratch_evaluate_preparer_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobi_preconditioner.h"
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+BlockJacobiPreconditioner::BlockJacobiPreconditioner(
+ const BlockSparseMatrix& A) {
+ const CompressedRowBlockStructure* bs = A.block_structure();
+ std::vector<int> blocks(bs->cols.size());
+ for (int i = 0; i < blocks.size(); ++i) {
+ blocks[i] = bs->cols[i].size;
+ }
+
+ m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+}
+
+BlockJacobiPreconditioner::~BlockJacobiPreconditioner() {}
+
+bool BlockJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+ const double* D) {
+ const CompressedRowBlockStructure* bs = A.block_structure();
+ const double* values = A.values();
+ m_->SetZero();
+ for (int i = 0; i < bs->rows.size(); ++i) {
+ const int row_block_size = bs->rows[i].block.size;
+ const std::vector<Cell>& cells = bs->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ const int block_id = cells[j].block_id;
+ const int col_block_size = bs->cols[block_id].size;
+
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = m_->GetCell(block_id, block_id,
+ &r, &c,
+ &row_stride, &col_stride);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ ConstMatrixRef b(values + cells[j].position,
+ row_block_size,
+ col_block_size);
+ m.block(r, c, col_block_size, col_block_size) += b.transpose() * b;
+ }
+ }
+
+ if (D != NULL) {
+ // Add the diagonal.
+ int position = 0;
+ for (int i = 0; i < bs->cols.size(); ++i) {
+ const int block_size = bs->cols[i].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = m_->GetCell(i, i,
+ &r, &c,
+ &row_stride, &col_stride);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block_size, block_size).diagonal() +=
+ ConstVectorRef(D + position, block_size).array().square().matrix();
+ position += block_size;
+ }
+ }
+
+ m_->Invert();
+ return true;
+}
+
+void BlockJacobiPreconditioner::RightMultiply(const double* x,
+ double* y) const {
+ m_->RightMultiply(x, y);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+#define CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/preconditioner.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+
+// A block Jacobi preconditioner. This is intended for use with
+// conjugate gradients, or other iterative symmetric solvers. To use
+// the preconditioner, create one by passing a BlockSparseMatrix "A"
+// to the constructor. This fixes the sparsity pattern to the pattern
+// of the matrix A^TA.
+//
+// Before each use of the preconditioner in a solve with conjugate gradients,
+// update the matrix by running Update(A, D). The values of the matrix A are
+// inspected to construct the preconditioner. The vector D is applied as the
+// D^TD diagonal term.
+class BlockJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+ // A must remain valid while the BlockJacobiPreconditioner is.
+ explicit BlockJacobiPreconditioner(const BlockSparseMatrix& A);
+ virtual ~BlockJacobiPreconditioner();
+
+ // Preconditioner interface
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual int num_rows() const { return m_->num_rows(); }
+ virtual int num_cols() const { return m_->num_rows(); }
+ const BlockRandomAccessDiagonalMatrix& matrix() const { return *m_; }
+
+ private:
+ virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+
+ scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
--- /dev/null
+// 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/block_jacobi_preconditioner.h"
+
+#include <vector>
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+#include "Eigen/Dense"
+
+namespace ceres {
+namespace internal {
+
+
+class BlockJacobiPreconditionerTest : public ::testing::Test {
+ protected:
+ void SetUpFromProblemId(int problem_id) {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(problem_id));
+
+ CHECK_NOTNULL(problem.get());
+ A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ D.reset(problem->D.release());
+
+ Matrix dense_a;
+ A->ToDenseMatrix(&dense_a);
+ dense_ata = dense_a.transpose() * dense_a;
+ dense_ata += VectorRef(D.get(), A->num_cols())
+ .array().square().matrix().asDiagonal();
+ }
+
+ void VerifyDiagonalBlocks(const int problem_id) {
+ SetUpFromProblemId(problem_id);
+
+ BlockJacobiPreconditioner pre(*A);
+ pre.Update(*A, D.get());
+ BlockRandomAccessDiagonalMatrix* m =
+ const_cast<BlockRandomAccessDiagonalMatrix*>(&pre.matrix());
+ EXPECT_EQ(m->num_rows(), A->num_cols());
+ EXPECT_EQ(m->num_cols(), A->num_cols());
+
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ for (int i = 0; i < bs->cols.size(); ++i) {
+ const int block_size = bs->cols[i].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = m->GetCell(i, i,
+ &r, &c,
+ &row_stride, &col_stride);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ Matrix actual_block_inverse = m.block(r, c, block_size, block_size);
+ Matrix expected_block = dense_ata.block(bs->cols[i].position,
+ bs->cols[i].position,
+ block_size,
+ block_size);
+ const double residual = (actual_block_inverse * expected_block -
+ Matrix::Identity(block_size, block_size)).norm();
+ EXPECT_NEAR(residual, 0.0, 1e-12) << "Block: " << i;
+ }
+ }
+
+ scoped_ptr<BlockSparseMatrix> A;
+ scoped_array<double> D;
+ Matrix dense_ata;
+};
+
+TEST_F(BlockJacobiPreconditionerTest, SmallProblem) {
+ VerifyDiagonalBlocks(2);
+}
+
+TEST_F(BlockJacobiPreconditionerTest, LargeProblem) {
+ VerifyDiagonalBlocks(3);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobian_writer.h"
+
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Given the residual block ordering, build a lookup table to determine which
+// per-parameter jacobian goes where in the overall program jacobian.
+//
+// Since we expect to use a Schur type linear solver to solve the LM step, take
+// extra care to place the E blocks and the F blocks contiguously. E blocks are
+// the first num_eliminate_blocks parameter blocks as indicated by the parameter
+// block ordering. The remaining parameter blocks are the F blocks.
+//
+// TODO(keir): Consider if we should use a boolean for each parameter block
+// instead of num_eliminate_blocks.
+void BuildJacobianLayout(const Program& program,
+ int num_eliminate_blocks,
+ vector<int*>* jacobian_layout,
+ vector<int>* jacobian_layout_storage) {
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+
+ // Iterate over all the active residual blocks and determine how many E blocks
+ // are there. This will determine where the F blocks start in the jacobian
+ // matrix. Also compute the number of jacobian blocks.
+ int f_block_pos = 0;
+ int num_jacobian_blocks = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Advance f_block_pos over each E block for this residual.
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ // Only count blocks for active parameters.
+ num_jacobian_blocks++;
+ if (parameter_block->index() < num_eliminate_blocks) {
+ f_block_pos += num_residuals * parameter_block->LocalSize();
+ }
+ }
+ }
+ }
+
+ // We now know that the E blocks are laid out starting at zero, and the F
+ // blocks are laid out starting at f_block_pos. Iterate over the residual
+ // blocks again, and this time fill the jacobian_layout array with the
+ // position information.
+
+ jacobian_layout->resize(program.NumResidualBlocks());
+ jacobian_layout_storage->resize(num_jacobian_blocks);
+
+ int e_block_pos = 0;
+ int* jacobian_pos = &(*jacobian_layout_storage)[0];
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ (*jacobian_layout)[i] = jacobian_pos;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ const int parameter_block_index = parameter_block->index();
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+ const int jacobian_block_size =
+ num_residuals * parameter_block->LocalSize();
+ if (parameter_block_index < num_eliminate_blocks) {
+ *jacobian_pos = e_block_pos;
+ e_block_pos += jacobian_block_size;
+ } else {
+ *jacobian_pos = f_block_pos;
+ f_block_pos += jacobian_block_size;
+ }
+ jacobian_pos++;
+ }
+ }
+}
+
+} // namespace
+
+BlockJacobianWriter::BlockJacobianWriter(const Evaluator::Options& options,
+ Program* program)
+ : program_(program) {
+ CHECK_GE(options.num_eliminate_blocks, 0)
+ << "num_eliminate_blocks must be greater than 0.";
+
+ BuildJacobianLayout(*program,
+ options.num_eliminate_blocks,
+ &jacobian_layout_,
+ &jacobian_layout_storage_);
+}
+
+// Create evaluate prepareres that point directly into the final jacobian. This
+// makes the final Write() a nop.
+BlockEvaluatePreparer* BlockJacobianWriter::CreateEvaluatePreparers(
+ int num_threads) {
+ int max_derivatives_per_residual_block =
+ program_->MaxDerivativesPerResidualBlock();
+
+ BlockEvaluatePreparer* preparers = new BlockEvaluatePreparer[num_threads];
+ for (int i = 0; i < num_threads; i++) {
+ preparers[i].Init(&jacobian_layout_[0], max_derivatives_per_residual_block);
+ }
+ return preparers;
+}
+
+SparseMatrix* BlockJacobianWriter::CreateJacobian() const {
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+
+ const vector<ParameterBlock*>& parameter_blocks =
+ program_->parameter_blocks();
+
+ // Construct the column blocks.
+ bs->cols.resize(parameter_blocks.size());
+ for (int i = 0, cursor = 0; i < parameter_blocks.size(); ++i) {
+ CHECK_NE(parameter_blocks[i]->index(), -1);
+ CHECK(!parameter_blocks[i]->IsConstant());
+ bs->cols[i].size = parameter_blocks[i]->LocalSize();
+ bs->cols[i].position = cursor;
+ cursor += bs->cols[i].size;
+ }
+
+ // Construct the cells in each row.
+ const vector<ResidualBlock*>& residual_blocks = program_->residual_blocks();
+ int row_block_position = 0;
+ bs->rows.resize(residual_blocks.size());
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ CompressedRow* row = &bs->rows[i];
+
+ row->block.size = residual_block->NumResiduals();
+ row->block.position = row_block_position;
+ row_block_position += row->block.size;
+
+ // Size the row by the number of active parameters in this residual.
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ int num_active_parameter_blocks = 0;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (residual_block->parameter_blocks()[j]->index() != -1) {
+ num_active_parameter_blocks++;
+ }
+ }
+ row->cells.resize(num_active_parameter_blocks);
+
+ // Add layout information for the active parameters in this row.
+ for (int j = 0, k = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ Cell& cell = row->cells[k];
+ cell.block_id = parameter_block->index();
+ cell.position = jacobian_layout_[i][k];
+
+ // Only increment k for active parameters, since there is only layout
+ // information for active parameters.
+ k++;
+ }
+ }
+
+ sort(row->cells.begin(), row->cells.end(), CellLessThan);
+ }
+
+ BlockSparseMatrix* jacobian = new BlockSparseMatrix(bs);
+ CHECK_NOTNULL(jacobian);
+ return jacobian;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to block sparse matrices. The "writer" name is
+// misleading, since the Write() operation on the block jacobian writer does not
+// write anything. Instead, the Prepare() method on the BlockEvaluatePreparers
+// makes a jacobians array which has direct pointers into the block sparse
+// jacobian. When the cost function is evaluated, the jacobian blocks get placed
+// directly in their final location.
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockEvaluatePreparer;
+class Program;
+class SparseMatrix;
+
+// TODO(sameeragarwal): This class needs documemtation.
+class BlockJacobianWriter {
+ public:
+ BlockJacobianWriter(const Evaluator::Options& options,
+ Program* program);
+
+ // JacobianWriter interface.
+
+ // Create evaluate prepareres that point directly into the final jacobian.
+ // This makes the final Write() a nop.
+ BlockEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+
+ SparseMatrix* CreateJacobian() const;
+
+ void Write(int /* residual_id */,
+ int /* residual_offset */,
+ double** /* jacobians */,
+ SparseMatrix* /* jacobian */) {
+ // This is a noop since the blocks were written directly into their final
+ // position by the outside evaluate call, thanks to the jacobians array
+ // prepared by the BlockEvaluatePreparers.
+ }
+
+ private:
+ Program* program_;
+
+ // Stores the position of each residual / parameter jacobian.
+ //
+ // The block sparse matrix that this writer writes to is stored as a set of
+ // contiguos dense blocks, one after each other; see BlockSparseMatrix. The
+ // "double* values_" member of the block sparse matrix contains all of these
+ // blocks. Given a pointer to the first element of a block and the size of
+ // that block, it's possible to write to it.
+ //
+ // In the case of a block sparse jacobian, the jacobian writer needs a way to
+ // find the offset in the values_ array of each residual/parameter jacobian
+ // block.
+ //
+ // That is the purpose of jacobian_layout_.
+ //
+ // In particular, jacobian_layout_[i][j] is the offset in the values_ array of
+ // the derivative of residual block i with respect to the parameter block at
+ // active argument position j.
+ //
+ // The active qualifier means that non-active parameters do not count. Care
+ // must be taken when indexing into jacobian_layout_ to account for this.
+ // Consider a single residual example:
+ //
+ // r(x, y, z)
+ //
+ // with r in R^3, x in R^4, y in R^2, and z in R^5.
+ // Take y as a constant (non-active) parameter.
+ // Take r as residual number 0.
+ //
+ // In this case, the active arguments are only (x, z), so the active argument
+ // position for x is 0, and the active argument position for z is 1. This is
+ // similar to thinking of r as taking only 2 parameters:
+ //
+ // r(x, z)
+ //
+ // There are only 2 jacobian blocks: dr/dx and dr/dz. jacobian_layout_ would
+ // have the following contents:
+ //
+ // jacobian_layout_[0] = { 0, 12 }
+ //
+ // which indicates that dr/dx is located at values_[0], and dr/dz is at
+ // values_[12]. See BlockEvaluatePreparer::Prepare()'s comments about 'j'.
+ std::vector<int*> jacobian_layout_;
+
+ // The pointers in jacobian_layout_ point directly into this vector.
+ std::vector<int> jacobian_layout_storage_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
--- /dev/null
+// 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/block_random_access_dense_matrix.h"
+
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
+ const std::vector<int>& blocks) {
+ const int num_blocks = blocks.size();
+ block_layout_.resize(num_blocks, 0);
+ num_rows_ = 0;
+ for (int i = 0; i < num_blocks; ++i) {
+ block_layout_[i] = num_rows_;
+ num_rows_ += blocks[i];
+ }
+
+ values_.reset(new double[num_rows_ * num_rows_]);
+
+ cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
+ for (int i = 0; i < num_blocks * num_blocks; ++i) {
+ cell_infos_[i].values = values_.get();
+ }
+
+ SetZero();
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
+}
+
+CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
+ const int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ *row = block_layout_[row_block_id];
+ *col = block_layout_[col_block_id];
+ *row_stride = num_rows_;
+ *col_stride = num_rows_;
+ return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessDenseMatrix::SetZero() {
+ if (num_rows_) {
+ VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+
+#include "ceres/block_random_access_matrix.h"
+
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// A square block random accessible matrix with the same row and
+// column block structure. All cells are stored in the same single
+// array, so that its also accessible as a dense matrix of size
+// num_rows x num_cols.
+//
+// This class is NOT thread safe. Since all n^2 cells are stored,
+// GetCell never returns NULL for any (row_block_id, col_block_id)
+// pair.
+//
+// ReturnCell is a nop.
+class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix {
+ public:
+ // blocks is a vector of block sizes. The resulting matrix has
+ // blocks.size() * blocks.size() cells.
+ explicit BlockRandomAccessDenseMatrix(const std::vector<int>& blocks);
+
+ // The destructor is not thread safe. It assumes that no one is
+ // modifying any cells when the matrix is being destroyed.
+ virtual ~BlockRandomAccessDenseMatrix();
+
+ // BlockRandomAccessMatrix interface.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride);
+
+ // This is not a thread safe method, it assumes that no cell is
+ // locked.
+ virtual void SetZero();
+
+ // Since the matrix is square with the same row and column block
+ // structure, num_rows() = num_cols().
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_rows_; }
+
+ // The underlying matrix storing the cells.
+ const double* values() const { return values_.get(); }
+ double* mutable_values() { return values_.get(); }
+
+ private:
+ int num_rows_;
+ std::vector<int> block_layout_;
+ scoped_array<double> values_;
+ scoped_array<CellInfo> cell_infos_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
--- /dev/null
+// 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 <vector>
+#include "gtest/gtest.h"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(BlockRandomAccessDenseMatrix, GetCell) {
+ std::vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+ BlockRandomAccessDenseMatrix m(blocks);
+ EXPECT_EQ(m.num_rows(), num_rows);
+ EXPECT_EQ(m.num_cols(), num_rows);
+
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell =
+ m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
+
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, row_idx);
+ EXPECT_EQ(col, col_idx);
+ EXPECT_EQ(row_stride, 3 + 4 + 5);
+ EXPECT_EQ(col_stride, 3 + 4 + 5);
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+TEST(BlockRandomAccessDenseMatrix, WriteCell) {
+ std::vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+
+ BlockRandomAccessDenseMatrix m(blocks);
+
+ // Fill the cell (i,j) with (i + 1) * (j + 1)
+ for (int i = 0; i < blocks.size(); ++i) {
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell = m.GetCell(
+ i, j, &row, &col, &row_stride, &col_stride);
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[i], blocks[j]) =
+ (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
+ }
+ }
+
+ // Check the values in the array are correct by going over the
+ // entries of each block manually.
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ // Check the values of this block.
+ for (int r = 0; r < blocks[i]; ++r) {
+ for (int c = 0; c < blocks[j]; ++c) {
+ int pos = row_idx * num_rows + col_idx;
+ EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
+ }
+ }
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/block_random_access_diagonal_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stl_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// TODO(sameeragarwal): Drop the dependence on TripletSparseMatrix.
+
+BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix(
+ const vector<int>& blocks)
+ : blocks_(blocks) {
+ // Build the row/column layout vector and count the number of scalar
+ // rows/columns.
+ int num_cols = 0;
+ int num_nonzeros = 0;
+ vector<int> block_positions;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ block_positions.push_back(num_cols);
+ num_cols += blocks_[i];
+ num_nonzeros += blocks_[i] * blocks_[i];
+ }
+
+ VLOG(1) << "Matrix Size [" << num_cols
+ << "," << num_cols
+ << "] " << num_nonzeros;
+
+ tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
+ tsm_->set_num_nonzeros(num_nonzeros);
+ int* rows = tsm_->mutable_rows();
+ int* cols = tsm_->mutable_cols();
+ double* values = tsm_->mutable_values();
+
+ int pos = 0;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ const int block_size = blocks_[i];
+ layout_.push_back(new CellInfo(values + pos));
+ const int block_begin = block_positions[i];
+ for (int r = 0; r < block_size; ++r) {
+ for (int c = 0; c < block_size; ++c, ++pos) {
+ rows[pos] = block_begin + r;
+ cols[pos] = block_begin + c;
+ }
+ }
+ }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessDiagonalMatrix::~BlockRandomAccessDiagonalMatrix() {
+ STLDeleteContainerPointers(layout_.begin(), layout_.end());
+}
+
+CellInfo* BlockRandomAccessDiagonalMatrix::GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ if (row_block_id != col_block_id) {
+ return NULL;
+ }
+ const int stride = blocks_[row_block_id];
+
+ // Each cell is stored contiguously as its own little dense matrix.
+ *row = 0;
+ *col = 0;
+ *row_stride = stride;
+ *col_stride = stride;
+ return layout_[row_block_id];
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessDiagonalMatrix::SetZero() {
+ if (tsm_->num_nonzeros()) {
+ VectorRef(tsm_->mutable_values(),
+ tsm_->num_nonzeros()).setZero();
+ }
+}
+
+void BlockRandomAccessDiagonalMatrix::Invert() {
+ double* values = tsm_->mutable_values();
+ for (int i = 0; i < blocks_.size(); ++i) {
+ const int block_size = blocks_[i];
+ MatrixRef block(values, block_size, block_size);
+ block =
+ block
+ .selfadjointView<Eigen::Upper>()
+ .llt()
+ .solve(Matrix::Identity(block_size, block_size));
+ values += block_size * block_size;
+ }
+}
+
+void BlockRandomAccessDiagonalMatrix::RightMultiply(const double* x,
+ double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+ const double* values = tsm_->values();
+ for (int i = 0; i < blocks_.size(); ++i) {
+ const int block_size = blocks_[i];
+ ConstMatrixRef block(values, block_size, block_size);
+ VectorRef(y, block_size).noalias() += block * ConstVectorRef(x, block_size);
+ x += block_size;
+ y += block_size;
+ values += block_size * block_size;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// A thread safe block diagonal matrix implementation of
+// BlockRandomAccessMatrix.
+class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix {
+ public:
+ // blocks is an array of block sizes.
+ explicit BlockRandomAccessDiagonalMatrix(const std::vector<int>& blocks);
+
+ // The destructor is not thread safe. It assumes that no one is
+ // modifying any cells when the matrix is being destroyed.
+ virtual ~BlockRandomAccessDiagonalMatrix();
+
+ // BlockRandomAccessMatrix Interface.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride);
+
+ // This is not a thread safe method, it assumes that no cell is
+ // locked.
+ virtual void SetZero();
+
+ // Invert the matrix assuming that each block is positive definite.
+ void Invert();
+
+ // y += S * x
+ void RightMultiply(const double* x, double* y) const;
+
+ // Since the matrix is square, num_rows() == num_cols().
+ virtual int num_rows() const { return tsm_->num_rows(); }
+ virtual int num_cols() const { return tsm_->num_cols(); }
+
+ const TripletSparseMatrix* matrix() const { return tsm_.get(); }
+ TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
+
+ private:
+ // row/column block sizes.
+ const std::vector<int> blocks_;
+ std::vector<CellInfo*> layout_;
+
+ // The underlying matrix object which actually stores the cells.
+ scoped_ptr<TripletSparseMatrix> tsm_;
+
+ friend class BlockRandomAccessDiagonalMatrixTest;
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDiagonalMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
--- /dev/null
+// 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 <limits>
+#include <vector>
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessDiagonalMatrixTest : public ::testing::Test {
+ public:
+ void SetUp() {
+ std::vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+ num_nonzeros_ = 3 * 3 + 4 * 4 + 5 * 5;
+
+ m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+
+ EXPECT_EQ(m_->num_rows(), num_rows);
+ EXPECT_EQ(m_->num_cols(), num_rows);
+
+ for (int i = 0; i < blocks.size(); ++i) {
+ const int row_block_id = i;
+ int col_block_id;
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+
+ for (int j = 0; j < blocks.size(); ++j) {
+ col_block_id = j;
+ CellInfo* cell = m_->GetCell(row_block_id, col_block_id,
+ &row, &col,
+ &row_stride, &col_stride);
+ // Off diagonal entries are not present.
+ if (i != j) {
+ EXPECT_TRUE(cell == NULL);
+ continue;
+ }
+
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, 0);
+ EXPECT_EQ(col, 0);
+ EXPECT_EQ(row_stride, blocks[row_block_id]);
+ EXPECT_EQ(col_stride, blocks[col_block_id]);
+
+ // Write into the block
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[row_block_id], blocks[col_block_id]) =
+ (row_block_id + 1) * (col_block_id +1) *
+ Matrix::Ones(blocks[row_block_id], blocks[col_block_id])
+ + Matrix::Identity(blocks[row_block_id], blocks[row_block_id]);
+ }
+ }
+ }
+
+ protected:
+ int num_nonzeros_;
+ scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+};
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, MatrixContents) {
+ const TripletSparseMatrix* tsm = m_->matrix();
+ EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros_);
+ EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros_);
+
+ Matrix dense;
+ tsm->ToDenseMatrix(&dense);
+
+ double kTolerance = 1e-14;
+
+ // (0,0)
+ EXPECT_NEAR((dense.block(0, 0, 3, 3) -
+ (Matrix::Ones(3, 3) + Matrix::Identity(3, 3))).norm(),
+ 0.0,
+ kTolerance);
+
+ // (1,1)
+ EXPECT_NEAR((dense.block(3, 3, 4, 4) -
+ (2 * 2 * Matrix::Ones(4, 4) + Matrix::Identity(4, 4))).norm(),
+ 0.0,
+ kTolerance);
+
+ // (1,1)
+ EXPECT_NEAR((dense.block(7, 7, 5, 5) -
+ (3 * 3 * Matrix::Ones(5, 5) + Matrix::Identity(5, 5))).norm(),
+ 0.0,
+ kTolerance);
+
+ // There is nothing else in the matrix besides these four blocks.
+ EXPECT_NEAR(dense.norm(),
+ sqrt(6 * 1.0 + 3 * 4.0 +
+ 12 * 16.0 + 4 * 25.0 +
+ 20 * 81.0 + 5 * 100.0), kTolerance);
+}
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, RightMultiply) {
+ double kTolerance = 1e-14;
+ const TripletSparseMatrix* tsm = m_->matrix();
+ Matrix dense;
+ tsm->ToDenseMatrix(&dense);
+ Vector x = Vector::Random(dense.rows());
+ Vector expected_y = dense * x;
+ Vector actual_y = Vector::Zero(dense.rows());
+ m_->RightMultiply(x.data(), actual_y.data());
+ EXPECT_NEAR((expected_y - actual_y).norm(), 0, kTolerance);
+}
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, Invert) {
+ double kTolerance = 1e-14;
+ const TripletSparseMatrix* tsm = m_->matrix();
+ Matrix dense;
+ tsm->ToDenseMatrix(&dense);
+ Matrix expected_inverse =
+ dense.llt().solve(Matrix::Identity(dense.rows(), dense.rows()));
+
+ m_->Invert();
+ tsm->ToDenseMatrix(&dense);
+
+ EXPECT_NEAR((expected_inverse - dense).norm(), 0.0, kTolerance);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/block_random_access_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessMatrix::~BlockRandomAccessMatrix() {
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Interface for matrices that allow block based random access.
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+// A matrix implementing the BlockRandomAccessMatrix interface is a
+// matrix whose rows and columns are divided into blocks. For example
+// the matrix A:
+//
+// 3 4 5
+// A = 5 [c_11 c_12 c_13]
+// 4 [c_21 c_22 c_23]
+//
+// has row blocks of size 5 and 4, and column blocks of size 3, 4 and
+// 5. It has six cells corresponding to the six row-column block
+// combinations.
+//
+// BlockRandomAccessMatrix objects provide access to cells c_ij using
+// the GetCell method. when a cell is present, GetCell will return a
+// CellInfo object containing a pointer to an array which contains the
+// cell as a submatrix and a mutex that guards this submatrix. If the
+// user is accessing the matrix concurrently, it is his responsibility
+// to use the mutex to exclude other writers from writing to the cell
+// concurrently.
+//
+// There is no requirement that all cells be present, i.e. the matrix
+// itself can be block sparse. When a cell is not present, the GetCell
+// method will return a NULL pointer.
+//
+// There is no requirement about how the cells are stored beyond that
+// form a dense submatrix of a larger dense matrix. Like everywhere
+// else in Ceres, RowMajor storage assumed.
+//
+// Example usage:
+//
+// BlockRandomAccessMatrix* A = new BlockRandomAccessMatrixSubClass(...)
+//
+// int row, col, row_stride, col_stride;
+// CellInfo* cell = A->GetCell(row_block_id, col_block_id,
+// &row, &col,
+// &row_stride, &col_stride);
+//
+// if (cell != NULL) {
+// MatrixRef m(cell->values, row_stride, col_stride);
+// CeresMutexLock l(&cell->m);
+// m.block(row, col, row_block_size, col_block_size) = ...
+// }
+
+// Structure to carry a pointer to the array containing a cell and the
+// Mutex guarding it.
+struct CellInfo {
+ CellInfo()
+ : values(NULL) {
+ }
+
+ explicit CellInfo(double* ptr)
+ : values(ptr) {
+ }
+
+ double* values;
+ Mutex m;
+};
+
+class BlockRandomAccessMatrix {
+ public:
+ virtual ~BlockRandomAccessMatrix();
+
+ // If the cell (row_block_id, col_block_id) is present, then return
+ // a CellInfo with a pointer to the dense matrix containing it,
+ // otherwise return NULL. The dense matrix containing this cell has
+ // size row_stride, col_stride and the cell is located at position
+ // (row, col) within this matrix.
+ //
+ // The size of the cell is row_block_size x col_block_size is
+ // assumed known to the caller. row_block_size less than or equal to
+ // row_stride and col_block_size is upper bounded by col_stride.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) = 0;
+
+ // Zero out the values of the array. The structure of the matrix
+ // (size and sparsity) is preserved.
+ virtual void SetZero() = 0;
+
+ // Number of scalar rows and columns in the matrix, i.e the sum of
+ // all row blocks and column block sizes respectively.
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
--- /dev/null
+// 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/block_random_access_sparse_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/mutex.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix(
+ const vector<int>& blocks,
+ const set<pair<int, int> >& block_pairs)
+ : kMaxRowBlocks(10 * 1000 * 1000),
+ blocks_(blocks) {
+ CHECK_LT(blocks.size(), kMaxRowBlocks);
+
+ // Build the row/column layout vector and count the number of scalar
+ // rows/columns.
+ int num_cols = 0;
+ block_positions_.reserve(blocks_.size());
+ for (int i = 0; i < blocks_.size(); ++i) {
+ block_positions_.push_back(num_cols);
+ num_cols += blocks_[i];
+ }
+
+ // Count the number of scalar non-zero entries and build the layout
+ // object for looking into the values array of the
+ // TripletSparseMatrix.
+ int num_nonzeros = 0;
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ num_nonzeros += row_block_size * col_block_size;
+ }
+
+ VLOG(1) << "Matrix Size [" << num_cols
+ << "," << num_cols
+ << "] " << num_nonzeros;
+
+ tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
+ tsm_->set_num_nonzeros(num_nonzeros);
+ int* rows = tsm_->mutable_rows();
+ int* cols = tsm_->mutable_cols();
+ double* values = tsm_->mutable_values();
+
+ int pos = 0;
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ cell_values_.push_back(make_pair(make_pair(it->first, it->second),
+ values + pos));
+ layout_[IntPairToLong(it->first, it->second)] =
+ new CellInfo(values + pos);
+ pos += row_block_size * col_block_size;
+ }
+
+ // Fill the sparsity pattern of the underlying matrix.
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_id = it->first;
+ const int col_block_id = it->second;
+ const int row_block_size = blocks_[row_block_id];
+ const int col_block_size = blocks_[col_block_id];
+ int pos =
+ layout_[IntPairToLong(row_block_id, col_block_id)]->values - values;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c, ++pos) {
+ rows[pos] = block_positions_[row_block_id] + r;
+ cols[pos] = block_positions_[col_block_id] + c;
+ values[pos] = 1.0;
+ DCHECK_LT(rows[pos], tsm_->num_rows());
+ DCHECK_LT(cols[pos], tsm_->num_rows());
+ }
+ }
+ }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() {
+ for (LayoutType::iterator it = layout_.begin();
+ it != layout_.end();
+ ++it) {
+ delete it->second;
+ }
+}
+
+CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ const LayoutType::iterator it =
+ layout_.find(IntPairToLong(row_block_id, col_block_id));
+ if (it == layout_.end()) {
+ return NULL;
+ }
+
+ // Each cell is stored contiguously as its own little dense matrix.
+ *row = 0;
+ *col = 0;
+ *row_stride = blocks_[row_block_id];
+ *col_stride = blocks_[col_block_id];
+ return it->second;
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessSparseMatrix::SetZero() {
+ if (tsm_->num_nonzeros()) {
+ VectorRef(tsm_->mutable_values(),
+ tsm_->num_nonzeros()).setZero();
+ }
+}
+
+void BlockRandomAccessSparseMatrix::SymmetricRightMultiply(const double* x,
+ double* y) const {
+ vector< pair<pair<int, int>, double*> >::const_iterator it =
+ cell_values_.begin();
+ for (; it != cell_values_.end(); ++it) {
+ const int row = it->first.first;
+ const int row_block_size = blocks_[row];
+ const int row_block_pos = block_positions_[row];
+
+ const int col = it->first.second;
+ const int col_block_size = blocks_[col];
+ const int col_block_pos = block_positions_[col];
+
+ MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ it->second, row_block_size, col_block_size,
+ x + col_block_pos,
+ y + row_block_pos);
+
+ // Since the matrix is symmetric, but only the upper triangular
+ // part is stored, if the block being accessed is not a diagonal
+ // block, then use the same block to do the corresponding lower
+ // triangular multiply also.
+ if (row != col) {
+ MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ it->second, row_block_size, col_block_size,
+ x + row_block_pos,
+ y + col_block_pos);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/small_blas.h"
+
+namespace ceres {
+namespace internal {
+
+// A thread safe square block sparse implementation of
+// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
+// for doing the actual storage. This class augments this matrix with
+// an unordered_map that allows random read/write access.
+class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix {
+ public:
+ // blocks is an array of block sizes. block_pairs is a set of
+ // <row_block_id, col_block_id> pairs to identify the non-zero cells
+ // of this matrix.
+ BlockRandomAccessSparseMatrix(
+ const std::vector<int>& blocks,
+ const std::set<std::pair<int, int> >& block_pairs);
+
+ // The destructor is not thread safe. It assumes that no one is
+ // modifying any cells when the matrix is being destroyed.
+ virtual ~BlockRandomAccessSparseMatrix();
+
+ // BlockRandomAccessMatrix Interface.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride);
+
+ // This is not a thread safe method, it assumes that no cell is
+ // locked.
+ virtual void SetZero();
+
+ // Assume that the matrix is symmetric and only one half of the
+ // matrix is stored.
+ //
+ // y += S * x
+ void SymmetricRightMultiply(const double* x, double* y) const;
+
+ // Since the matrix is square, num_rows() == num_cols().
+ virtual int num_rows() const { return tsm_->num_rows(); }
+ virtual int num_cols() const { return tsm_->num_cols(); }
+
+ // Access to the underlying matrix object.
+ const TripletSparseMatrix* matrix() const { return tsm_.get(); }
+ TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
+
+ private:
+ int64 IntPairToLong(int row, int col) const {
+ return row * kMaxRowBlocks + col;
+ }
+
+ void LongToIntPair(int64 index, int* row, int* col) const {
+ *row = index / kMaxRowBlocks;
+ *col = index % kMaxRowBlocks;
+ }
+
+ const int64 kMaxRowBlocks;
+
+ // row/column block sizes.
+ const std::vector<int> blocks_;
+ std::vector<int> block_positions_;
+
+ // A mapping from <row_block_id, col_block_id> to the position in
+ // the values array of tsm_ where the block is stored.
+ typedef HashMap<long int, CellInfo* > LayoutType;
+ LayoutType layout_;
+
+ // In order traversal of contents of the matrix. This allows us to
+ // implement a matrix-vector which is 20% faster than using the
+ // iterator in the Layout object instead.
+ std::vector<std::pair<std::pair<int, int>, double*> > cell_values_;
+ // The underlying matrix object which actually stores the cells.
+ scoped_ptr<TripletSparseMatrix> tsm_;
+
+ friend class BlockRandomAccessSparseMatrixTest;
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
--- /dev/null
+// 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 <limits>
+#include <vector>
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+TEST(BlockRandomAccessSparseMatrix, GetCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+
+ set< pair<int, int> > block_pairs;
+ int num_nonzeros = 0;
+ block_pairs.insert(make_pair(0, 0));
+ num_nonzeros += blocks[0] * blocks[0];
+
+ block_pairs.insert(make_pair(1, 1));
+ num_nonzeros += blocks[1] * blocks[1];
+
+ block_pairs.insert(make_pair(1, 2));
+ num_nonzeros += blocks[1] * blocks[2];
+
+ block_pairs.insert(make_pair(0, 2));
+ num_nonzeros += blocks[2] * blocks[0];
+
+ BlockRandomAccessSparseMatrix m(blocks, block_pairs);
+ EXPECT_EQ(m.num_rows(), num_rows);
+ EXPECT_EQ(m.num_cols(), num_rows);
+
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_id = it->first;
+ const int col_block_id = it->second;
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell = m.GetCell(row_block_id, col_block_id,
+ &row, &col,
+ &row_stride, &col_stride);
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, 0);
+ EXPECT_EQ(col, 0);
+ EXPECT_EQ(row_stride, blocks[row_block_id]);
+ EXPECT_EQ(col_stride, blocks[col_block_id]);
+
+ // Write into the block
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[row_block_id], blocks[col_block_id]) =
+ (row_block_id + 1) * (col_block_id +1) *
+ Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
+ }
+
+ const TripletSparseMatrix* tsm = m.matrix();
+ EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
+ EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
+
+ Matrix dense;
+ tsm->ToDenseMatrix(&dense);
+
+ double kTolerance = 1e-14;
+
+ // (0, 0)
+ EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
+ 0.0,
+ kTolerance);
+ // (1, 1)
+ EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
+ 0.0,
+ kTolerance);
+ // (1, 2)
+ EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
+ 0.0,
+ kTolerance);
+ // (0, 2)
+ EXPECT_NEAR((dense.block(0, 3 + 4, 3, 5) - 3 * 1 * Matrix::Ones(3, 5)).norm(),
+ 0.0,
+ kTolerance);
+
+ // There is nothing else in the matrix besides these four blocks.
+ EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
+ kTolerance);
+
+ Vector x = Vector::Ones(dense.rows());
+ Vector actual_y = Vector::Zero(dense.rows());
+ Vector expected_y = Vector::Zero(dense.rows());
+
+ expected_y += dense.selfadjointView<Eigen::Upper>() * x;
+ m.SymmetricRightMultiply(x.data(), actual_y.data());
+ EXPECT_NEAR((expected_y - actual_y).norm(), 0.0, kTolerance)
+ << "actual: " << actual_y.transpose() << "\n"
+ << "expected: " << expected_y.transpose()
+ << "matrix: \n " << dense;
+}
+
+// IntPairToLong is private, thus this fixture is needed to access and
+// test it.
+class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
+ public:
+ virtual void SetUp() {
+ vector<int> blocks;
+ blocks.push_back(1);
+ set< pair<int, int> > block_pairs;
+ block_pairs.insert(make_pair(0, 0));
+ m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
+ }
+
+ void CheckIntPairToLong(int a, int b) {
+ int64 value = m_->IntPairToLong(a, b);
+ EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
+ EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
+ EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
+ }
+
+ void CheckLongToIntPair() {
+ uint64 max_rows = m_->kMaxRowBlocks;
+ for (int row = max_rows - 10; row < max_rows; ++row) {
+ for (int col = 0; col < 10; ++col) {
+ int row_computed;
+ int col_computed;
+ m_->LongToIntPair(m_->IntPairToLong(row, col),
+ &row_computed,
+ &col_computed);
+ EXPECT_EQ(row, row_computed);
+ EXPECT_EQ(col, col_computed);
+ }
+ }
+ }
+
+ private:
+ scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+};
+
+TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
+ CheckIntPairToLong(std::numeric_limits<int>::max(),
+ std::numeric_limits<int>::max());
+}
+
+TEST_F(BlockRandomAccessSparseMatrixTest, LongToIntPair) {
+ CheckLongToIntPair();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/block_sparse_matrix.h"
+
+#include <cstddef>
+#include <algorithm>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/random.h"
+#include "ceres/small_blas.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+BlockSparseMatrix::~BlockSparseMatrix() {}
+
+BlockSparseMatrix::BlockSparseMatrix(
+ CompressedRowBlockStructure* block_structure)
+ : num_rows_(0),
+ num_cols_(0),
+ num_nonzeros_(0),
+ values_(NULL),
+ block_structure_(block_structure) {
+ CHECK_NOTNULL(block_structure_.get());
+
+ // Count the number of columns in the matrix.
+ for (int i = 0; i < block_structure_->cols.size(); ++i) {
+ num_cols_ += block_structure_->cols[i].size;
+ }
+
+ // Count the number of non-zero entries and the number of rows in
+ // the matrix.
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ num_rows_ += row_block_size;
+
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ num_nonzeros_ += col_block_size * row_block_size;
+ }
+ }
+
+ CHECK_GE(num_rows_, 0);
+ CHECK_GE(num_cols_, 0);
+ CHECK_GE(num_nonzeros_, 0);
+ VLOG(2) << "Allocating values array with "
+ << num_nonzeros_ * sizeof(double) << " bytes."; // NOLINT
+ values_.reset(new double[num_nonzeros_]);
+ max_num_nonzeros_ = num_nonzeros_;
+ CHECK_NOTNULL(values_.get());
+}
+
+void BlockSparseMatrix::SetZero() {
+ std::fill(values_.get(), values_.get() + num_nonzeros_, 0.0);
+}
+
+void BlockSparseMatrix::RightMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values_.get() + cells[j].position, row_block_size, col_block_size,
+ x + col_block_pos,
+ y + row_block_pos);
+ }
+ }
+}
+
+void BlockSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values_.get() + cells[j].position, row_block_size, col_block_size,
+ x + row_block_pos,
+ y + col_block_pos);
+ }
+ }
+}
+
+void BlockSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+ VectorRef(x, num_cols_).setZero();
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ const MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ VectorRef(x + col_block_pos, col_block_size) += m.colwise().squaredNorm();
+ }
+ }
+}
+
+void BlockSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ m *= ConstVectorRef(scale + col_block_pos, col_block_size).asDiagonal();
+ }
+ }
+}
+
+void BlockSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ CHECK_NOTNULL(dense_matrix);
+
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+ Matrix& m = *dense_matrix;
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ m.block(row_block_pos, col_block_pos, row_block_size, col_block_size)
+ += MatrixRef(values_.get() + jac_pos, row_block_size, col_block_size);
+ }
+ }
+}
+
+void BlockSparseMatrix::ToTripletSparseMatrix(
+ TripletSparseMatrix* matrix) const {
+ CHECK_NOTNULL(matrix);
+
+ matrix->Reserve(num_nonzeros_);
+ matrix->Resize(num_rows_, num_cols_);
+ matrix->SetZero();
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c, ++jac_pos) {
+ matrix->mutable_rows()[jac_pos] = row_block_pos + r;
+ matrix->mutable_cols()[jac_pos] = col_block_pos + c;
+ matrix->mutable_values()[jac_pos] = values_[jac_pos];
+ }
+ }
+ }
+ }
+ matrix->set_num_nonzeros(num_nonzeros_);
+}
+
+// Return a pointer to the block structure. We continue to hold
+// ownership of the object though.
+const CompressedRowBlockStructure* BlockSparseMatrix::block_structure()
+ const {
+ return block_structure_.get();
+}
+
+void BlockSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ const int row_block_pos = block_structure_->rows[i].block.position;
+ const int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ const int col_block_id = cells[j].block_id;
+ const int col_block_size = block_structure_->cols[col_block_id].size;
+ const int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c) {
+ fprintf(file, "% 10d % 10d %17f\n",
+ row_block_pos + r,
+ col_block_pos + c,
+ values_[jac_pos++]);
+ }
+ }
+ }
+ }
+}
+
+BlockSparseMatrix* BlockSparseMatrix::CreateDiagonalMatrix(
+ const double* diagonal, const std::vector<Block>& column_blocks) {
+ // Create the block structure for the diagonal matrix.
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+ bs->cols = column_blocks;
+ int position = 0;
+ bs->rows.resize(column_blocks.size(), CompressedRow(1));
+ for (int i = 0; i < column_blocks.size(); ++i) {
+ CompressedRow& row = bs->rows[i];
+ row.block = column_blocks[i];
+ Cell& cell = row.cells[0];
+ cell.block_id = i;
+ cell.position = position;
+ position += row.block.size * row.block.size;
+ }
+
+ // Create the BlockSparseMatrix with the given block structure.
+ BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+ matrix->SetZero();
+
+ // Fill the values array of the block sparse matrix.
+ double* values = matrix->mutable_values();
+ for (int i = 0; i < column_blocks.size(); ++i) {
+ const int size = column_blocks[i].size;
+ for (int j = 0; j < size; ++j) {
+ // (j + 1) * size is compact way of accessing the (j,j) entry.
+ values[j * (size + 1)] = diagonal[j];
+ }
+ diagonal += size;
+ values += size * size;
+ }
+
+ return matrix;
+}
+
+void BlockSparseMatrix::AppendRows(const BlockSparseMatrix& m) {
+ const int old_num_nonzeros = num_nonzeros_;
+ const int old_num_row_blocks = block_structure_->rows.size();
+ const CompressedRowBlockStructure* m_bs = m.block_structure();
+ block_structure_->rows.resize(old_num_row_blocks + m_bs->rows.size());
+
+ for (int i = 0; i < m_bs->rows.size(); ++i) {
+ const CompressedRow& m_row = m_bs->rows[i];
+ CompressedRow& row = block_structure_->rows[old_num_row_blocks + i];
+ row.block.size = m_row.block.size;
+ row.block.position = num_rows_;
+ num_rows_ += m_row.block.size;
+ row.cells.resize(m_row.cells.size());
+ for (int c = 0; c < m_row.cells.size(); ++c) {
+ const int block_id = m_row.cells[c].block_id;
+ row.cells[c].block_id = block_id;
+ row.cells[c].position = num_nonzeros_;
+ num_nonzeros_ += m_row.block.size * m_bs->cols[block_id].size;
+ }
+ }
+
+ if (num_nonzeros_ > max_num_nonzeros_) {
+ double* new_values = new double[num_nonzeros_];
+ std::copy(values_.get(), values_.get() + old_num_nonzeros, new_values);
+ values_.reset(new_values);
+ max_num_nonzeros_ = num_nonzeros_;
+ }
+
+ std::copy(m.values(),
+ m.values() + m.num_nonzeros(),
+ values_.get() + old_num_nonzeros);
+}
+
+void BlockSparseMatrix::DeleteRowBlocks(const int delta_row_blocks) {
+ const int num_row_blocks = block_structure_->rows.size();
+ int delta_num_nonzeros = 0;
+ int delta_num_rows = 0;
+ const std::vector<Block>& column_blocks = block_structure_->cols;
+ for (int i = 0; i < delta_row_blocks; ++i) {
+ const CompressedRow& row = block_structure_->rows[num_row_blocks - i - 1];
+ delta_num_rows += row.block.size;
+ for (int c = 0; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ delta_num_nonzeros += row.block.size * column_blocks[cell.block_id].size;
+ }
+ }
+ num_nonzeros_ -= delta_num_nonzeros;
+ num_rows_ -= delta_num_rows;
+ block_structure_->rows.resize(num_row_blocks - delta_row_blocks);
+}
+
+BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
+ const BlockSparseMatrix::RandomMatrixOptions& options) {
+ CHECK_GT(options.num_row_blocks, 0);
+ CHECK_GT(options.min_row_block_size, 0);
+ CHECK_GT(options.max_row_block_size, 0);
+ CHECK_LE(options.min_row_block_size, options.max_row_block_size);
+ CHECK_GT(options.num_col_blocks, 0);
+ CHECK_GT(options.min_col_block_size, 0);
+ CHECK_GT(options.max_col_block_size, 0);
+ CHECK_LE(options.min_col_block_size, options.max_col_block_size);
+ CHECK_GT(options.block_density, 0.0);
+ CHECK_LE(options.block_density, 1.0);
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+ // Generate the col block structure.
+ int col_block_position = 0;
+ for (int i = 0; i < options.num_col_blocks; ++i) {
+ // Generate a random integer in [min_col_block_size, max_col_block_size]
+ const int delta_block_size =
+ Uniform(options.max_col_block_size - options.min_col_block_size);
+ const int col_block_size = options.min_col_block_size + delta_block_size;
+ bs->cols.push_back(Block(col_block_size, col_block_position));
+ col_block_position += col_block_size;
+ }
+
+
+ bool matrix_has_blocks = false;
+ while (!matrix_has_blocks) {
+ LOG(INFO) << "clearing";
+ bs->rows.clear();
+ int row_block_position = 0;
+ int value_position = 0;
+ for (int r = 0; r < options.num_row_blocks; ++r) {
+
+ const int delta_block_size =
+ Uniform(options.max_row_block_size - options.min_row_block_size);
+ const int row_block_size = options.min_row_block_size + delta_block_size;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = row_block_size;
+ row.block.position = row_block_position;
+ row_block_position += row_block_size;
+ for (int c = 0; c < options.num_col_blocks; ++c) {
+ if (RandDouble() > options.block_density) continue;
+
+ row.cells.push_back(Cell());
+ Cell& cell = row.cells.back();
+ cell.block_id = c;
+ cell.position = value_position;
+ value_position += row_block_size * bs->cols[c].size;
+ matrix_has_blocks = true;
+ }
+ }
+ }
+
+ BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+ double* values = matrix->mutable_values();
+ for (int i = 0; i < matrix->num_nonzeros(); ++i) {
+ values[i] = RandNormal();
+ }
+
+ return matrix;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Implementation of the SparseMatrix interface for block sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+
+#include "ceres/block_structure.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class TripletSparseMatrix;
+
+// This class implements the SparseMatrix interface for storing and
+// manipulating block sparse matrices. The block structure is stored
+// in the CompressedRowBlockStructure object and one is needed to
+// initialize the matrix. For details on how the blocks structure of
+// the matrix is stored please see the documentation
+//
+// internal/ceres/block_structure.h
+//
+class BlockSparseMatrix : public SparseMatrix {
+ public:
+ // Construct a block sparse matrix with a fully initialized
+ // CompressedRowBlockStructure objected. The matrix takes over
+ // ownership of this object and destroys it upon destruction.
+ //
+ // TODO(sameeragarwal): Add a function which will validate legal
+ // CompressedRowBlockStructure objects.
+ explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
+
+ BlockSparseMatrix();
+ virtual ~BlockSparseMatrix();
+
+ // Implementation of SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+ virtual void ToTextFile(FILE* file) const;
+
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+
+ void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
+ const CompressedRowBlockStructure* block_structure() const;
+
+ // Append the contents of m to the bottom of this matrix. m must
+ // have the same column blocks structure as this matrix.
+ void AppendRows(const BlockSparseMatrix& m);
+
+ // Delete the bottom delta_rows_blocks.
+ void DeleteRowBlocks(int delta_row_blocks);
+
+ static BlockSparseMatrix* CreateDiagonalMatrix(
+ const double* diagonal,
+ const std::vector<Block>& column_blocks);
+
+ struct RandomMatrixOptions {
+ RandomMatrixOptions()
+ : num_row_blocks(0),
+ min_row_block_size(0),
+ max_row_block_size(0),
+ num_col_blocks(0),
+ min_col_block_size(0),
+ max_col_block_size(0),
+ block_density(0.0) {
+ }
+
+ int num_row_blocks;
+ int min_row_block_size;
+ int max_row_block_size;
+ int num_col_blocks;
+ int min_col_block_size;
+ int max_col_block_size;
+
+ // 0 < block_density <= 1 is the probability of a block being
+ // present in the matrix. A given random matrix will not have
+ // precisely this density.
+ double block_density;
+ };
+
+ // Create a random BlockSparseMatrix whose entries are normally
+ // distributed and whose structure is determined by
+ // RandomMatrixOptions.
+ //
+ // Caller owns the result.
+ static BlockSparseMatrix* CreateRandomMatrix(
+ const RandomMatrixOptions& options);
+
+ private:
+ int num_rows_;
+ int num_cols_;
+ int num_nonzeros_;
+ int max_num_nonzeros_;
+ scoped_array<double> values_;
+ scoped_ptr<CompressedRowBlockStructure> block_structure_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
--- /dev/null
+// 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/block_sparse_matrix.h"
+
+#include <string>
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrixTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+
+ problem.reset(CreateLinearLeastSquaresProblemFromId(1));
+ CHECK_NOTNULL(problem.get());
+ B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+
+ CHECK_EQ(A_->num_rows(), B_->num_rows());
+ CHECK_EQ(A_->num_cols(), B_->num_cols());
+ CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros());
+ }
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_ptr<TripletSparseMatrix> B_;
+};
+
+TEST_F(BlockSparseMatrixTest, SetZeroTest) {
+ A_->SetZero();
+ EXPECT_EQ(13, A_->num_nonzeros());
+}
+
+TEST_F(BlockSparseMatrixTest, RightMultiplyTest) {
+ Vector y_a = Vector::Zero(A_->num_rows());
+ Vector y_b = Vector::Zero(A_->num_rows());
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ Vector x = Vector::Zero(A_->num_cols());
+ x[i] = 1.0;
+ A_->RightMultiply(x.data(), y_a.data());
+ B_->RightMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) {
+ Vector y_a = Vector::Zero(A_->num_cols());
+ Vector y_b = Vector::Zero(A_->num_cols());
+ for (int i = 0; i < A_->num_rows(); ++i) {
+ Vector x = Vector::Zero(A_->num_rows());
+ x[i] = 1.0;
+ A_->LeftMultiply(x.data(), y_a.data());
+ B_->LeftMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) {
+ Vector y_a = Vector::Zero(A_->num_cols());
+ Vector y_b = Vector::Zero(A_->num_cols());
+ A_->SquaredColumnNorm(y_a.data());
+ B_->SquaredColumnNorm(y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+}
+
+TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) {
+ Matrix m_a;
+ Matrix m_b;
+ A_->ToDenseMatrix(&m_a);
+ B_->ToDenseMatrix(&m_b);
+ EXPECT_LT((m_a - m_b).norm(), 1e-12);
+}
+
+TEST_F(BlockSparseMatrixTest, AppendRows) {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+ scoped_ptr<BlockSparseMatrix> m(
+ down_cast<BlockSparseMatrix*>(problem->A.release()));
+ A_->AppendRows(*m);
+ EXPECT_EQ(A_->num_rows(), 2 * m->num_rows());
+ EXPECT_EQ(A_->num_cols(), m->num_cols());
+
+ problem.reset(CreateLinearLeastSquaresProblemFromId(1));
+ scoped_ptr<TripletSparseMatrix> m2(
+ down_cast<TripletSparseMatrix*>(problem->A.release()));
+ B_->AppendRows(*m2);
+
+ Vector y_a = Vector::Zero(A_->num_rows());
+ Vector y_b = Vector::Zero(A_->num_rows());
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ Vector x = Vector::Zero(A_->num_cols());
+ x[i] = 1.0;
+ y_a.setZero();
+ y_b.setZero();
+
+ A_->RightMultiply(x.data(), y_a.data());
+ B_->RightMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST_F(BlockSparseMatrixTest, AppendAndDeleteBlockDiagonalMatrix) {
+ const std::vector<Block>& column_blocks = A_->block_structure()->cols;
+ const int num_cols =
+ column_blocks.back().size + column_blocks.back().position;
+ Vector diagonal(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ diagonal(i) = 2 * i * i + 1;
+ }
+ scoped_ptr<BlockSparseMatrix> appendage(
+ BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
+
+ A_->AppendRows(*appendage);
+ Vector y_a, y_b;
+ y_a.resize(A_->num_rows());
+ y_b.resize(A_->num_rows());
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ Vector x = Vector::Zero(A_->num_cols());
+ x[i] = 1.0;
+ y_a.setZero();
+ y_b.setZero();
+
+ A_->RightMultiply(x.data(), y_a.data());
+ B_->RightMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a.head(B_->num_rows()) - y_b.head(B_->num_rows())).norm(), 1e-12);
+ Vector expected_tail = Vector::Zero(A_->num_cols());
+ expected_tail(i) = diagonal(i);
+ EXPECT_LT((y_a.tail(A_->num_cols()) - expected_tail).norm(), 1e-12);
+ }
+
+
+ A_->DeleteRowBlocks(column_blocks.size());
+ EXPECT_EQ(A_->num_rows(), B_->num_rows());
+ EXPECT_EQ(A_->num_cols(), B_->num_cols());
+
+ y_a.resize(A_->num_rows());
+ y_b.resize(A_->num_rows());
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ Vector x = Vector::Zero(A_->num_cols());
+ x[i] = 1.0;
+ y_a.setZero();
+ y_b.setZero();
+
+ A_->RightMultiply(x.data(), y_a.data());
+ B_->RightMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST(BlockSparseMatrix, CreateDiagonalMatrix) {
+ std::vector<Block> column_blocks;
+ column_blocks.push_back(Block(2, 0));
+ column_blocks.push_back(Block(1, 2));
+ column_blocks.push_back(Block(3, 3));
+ const int num_cols =
+ column_blocks.back().size + column_blocks.back().position;
+ Vector diagonal(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ diagonal(i) = 2 * i * i + 1;
+ }
+
+ scoped_ptr<BlockSparseMatrix> m(
+ BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
+ const CompressedRowBlockStructure* bs = m->block_structure();
+ EXPECT_EQ(bs->cols.size(), column_blocks.size());
+ for (int i = 0; i < column_blocks.size(); ++i) {
+ EXPECT_EQ(bs->cols[i].size, column_blocks[i].size);
+ EXPECT_EQ(bs->cols[i].position, column_blocks[i].position);
+ }
+ EXPECT_EQ(m->num_rows(), m->num_cols());
+ Vector x = Vector::Ones(num_cols);
+ Vector y = Vector::Zero(num_cols);
+ m->RightMultiply(x.data(), y.data());
+ for (int i = 0; i < num_cols; ++i) {
+ EXPECT_NEAR(y[i], diagonal[i], std::numeric_limits<double>::epsilon());
+ }
+}
+
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/block_structure.h"
+
+namespace ceres {
+namespace internal {
+
+bool CellLessThan(const Cell& lhs, const Cell& rhs) {
+ if (lhs.block_id == rhs.block_id) {
+ return (lhs.position < rhs.position);
+ }
+ return (lhs.block_id < rhs.block_id);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Block structure objects are used to carry information about the
+// dense block structure of sparse matrices. The BlockSparseMatrix
+// object uses the BlockStructure objects to keep track of the matrix
+// structure and operate upon it. This allows us to use more cache
+// friendly block oriented linear algebra operations on the matrix
+// instead of accessing it one scalar entry at a time.
+
+#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
+#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+typedef int32 BlockSize;
+
+struct Block {
+ Block() : size(-1), position(-1) {}
+ Block(int size_, int position_) : size(size_), position(position_) {}
+
+ BlockSize size;
+ int position; // Position along the row/column.
+};
+
+struct Cell {
+ Cell() : block_id(-1), position(-1) {}
+ Cell(int block_id_, int position_)
+ : block_id(block_id_), position(position_) {}
+
+ // Column or row block id as the case maybe.
+ int block_id;
+ // Where in the values array of the jacobian is this cell located.
+ int position;
+};
+
+// Order cell by their block_id;
+bool CellLessThan(const Cell& lhs, const Cell& rhs);
+
+struct CompressedList {
+ CompressedList() {}
+
+ // Construct a CompressedList with the cells containing num_cells
+ // entries.
+ CompressedList(int num_cells) : cells(num_cells) {}
+ Block block;
+ std::vector<Cell> cells;
+};
+
+typedef CompressedList CompressedRow;
+typedef CompressedList CompressedColumn;
+
+struct CompressedRowBlockStructure {
+ std::vector<Block> cols;
+ std::vector<CompressedRow> rows;
+};
+
+struct CompressedColumnBlockStructure {
+ std::vector<Block> rows;
+ std::vector<CompressedColumn> cols;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// End-to-end bundle adjustment tests for Ceres. It uses a bundle
+// adjustment problem with 16 cameras and two thousand points.
+
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+
+#include "ceres/internal/port.h"
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/rotation.h"
+#include "ceres/solver.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+const bool kAutomaticOrdering = true;
+const bool kUserOrdering = false;
+
+// This class implements the SystemTestProblem interface and provides
+// access to a bundle adjustment problem. It is based on
+// examples/bundle_adjustment_example.cc. Currently a small 16 camera
+// problem is hard coded in the constructor.
+class BundleAdjustmentProblem {
+ public:
+ BundleAdjustmentProblem() {
+ const string input_file = TestFileAbsolutePath("problem-16-22106-pre.txt");
+ ReadData(input_file);
+ BuildProblem();
+ }
+
+ ~BundleAdjustmentProblem() {
+ delete []point_index_;
+ delete []camera_index_;
+ delete []observations_;
+ delete []parameters_;
+ }
+
+ Problem* mutable_problem() { return &problem_; }
+ Solver::Options* mutable_solver_options() { return &options_; }
+
+ int num_cameras() const { return num_cameras_; }
+ int num_points() const { return num_points_; }
+ int num_observations() const { return num_observations_; }
+ const int* point_index() const { return point_index_; }
+ const int* camera_index() const { return camera_index_; }
+ const double* observations() const { return observations_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() { return parameters_ + 9 * num_cameras_; }
+
+ static double kResidualTolerance;
+
+ private:
+ void ReadData(const string& filename) {
+ FILE * fptr = fopen(filename.c_str(), "r");
+
+ if (!fptr) {
+ LOG(FATAL) << "File Error: unable to open file " << filename;
+ }
+
+ // This will die horribly on invalid files. Them's the breaks.
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ VLOG(1) << "Header: " << num_cameras_
+ << " " << num_points_
+ << " " << num_observations_;
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+ }
+
+ void BuildProblem() {
+ double* points = mutable_points();
+ double* cameras = mutable_cameras();
+
+ for (int i = 0; i < num_observations(); ++i) {
+ // Each Residual block takes a point and a camera as input and
+ // outputs a 2 dimensional residual.
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
+ new BundlerResidual(observations_[2*i + 0],
+ observations_[2*i + 1]));
+
+ // Each observation correponds to a pair of a camera and a point
+ // which are identified by camera_index()[i] and
+ // point_index()[i] respectively.
+ double* camera = cameras + 9 * camera_index_[i];
+ double* point = points + 3 * point_index()[i];
+ problem_.AddResidualBlock(cost_function, NULL, camera, point);
+ }
+
+ options_.linear_solver_ordering.reset(new ParameterBlockOrdering);
+
+ // The points come before the cameras.
+ for (int i = 0; i < num_points_; ++i) {
+ options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
+ }
+
+ for (int i = 0; i < num_cameras_; ++i) {
+ options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
+ }
+
+ options_.linear_solver_type = DENSE_SCHUR;
+ options_.max_num_iterations = 25;
+ options_.function_tolerance = 1e-10;
+ options_.gradient_tolerance = 1e-10;
+ options_.parameter_tolerance = 1e-10;
+ }
+
+ template<typename T>
+ void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+ }
+
+ // Templated pinhole camera model. The camera is parameterized
+ // using 9 parameters. 3 for rotation, 3 for translation, 1 for
+ // focal length and 2 for radial distortion. The principal point is
+ // not modeled (i.e. it is assumed to be located at the image
+ // center).
+ struct BundlerResidual {
+ // (u, v): the position of the observation with respect to the image
+ // center point.
+ BundlerResidual(double u, double v): u(u), v(v) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ T p[3];
+ AngleAxisRotatePoint(camera, point, p);
+
+ // Add the translation vector
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ const T& focal = camera[6];
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - focal * p[0] / p[2];
+ T yp = - focal * p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ residuals[0] = distortion * xp - u;
+ residuals[1] = distortion * yp - v;
+
+ return true;
+ }
+
+ double u;
+ double v;
+ };
+
+ Problem problem_;
+ Solver::Options options_;
+
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ // The parameter vector is laid out as follows
+ // [camera_1, ..., camera_n, point_1, ..., point_m]
+ double* parameters_;
+};
+
+double BundleAdjustmentProblem::kResidualTolerance = 1e-4;
+typedef SystemTest<BundleAdjustmentProblem> BundleAdjustmentTest;
+
+TEST_F(BundleAdjustmentTest, DenseSchurWithAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, DenseSchurWithUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kAutomaticOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ IterativeSchurWithSchurJacobiAndAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR,
+ NO_SPARSE,
+ kAutomaticOrdering,
+ SCHUR_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithSchurJacobiAndUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, SCHUR_JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ SparseSchurWithAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ IterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kAutomaticOrdering,
+ CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ IterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kUserOrdering,
+ CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ IterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kAutomaticOrdering,
+ CLUSTER_TRIDIAGONAL));
+}
+
+TEST_F(BundleAdjustmentTest,
+ IterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kUserOrdering,
+ CLUSTER_TRIDIAGONAL));
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithUserOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithAutomaticOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
+}
+#endif // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ SparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ SparseSchurWithAutomaticOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
+}
+#endif // CERES_USE_EIGEN_SPARSE
+
+#ifdef CERES_USE_OPENMP
+
+TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithJacobiAndAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ NO_SPARSE,
+ kAutomaticOrdering,
+ JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithJacobiAndUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithSchurJacobiAndAutomaticOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ NO_SPARSE,
+ kAutomaticOrdering,
+ SCHUR_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithSchurJacobiAndUserOrdering) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ NO_SPARSE,
+ kUserOrdering,
+ SCHUR_JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+ SUITE_SPARSE,
+ kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+ SUITE_SPARSE,
+ kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithAutomaticOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR,
+ SUITE_SPARSE,
+ kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithUserOrderingUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) { // NOLINT
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kAutomaticOrdering,
+ CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) { // NOLINT
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kUserOrdering,
+ CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) { // NOLINT
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kAutomaticOrdering,
+ CLUSTER_TRIDIAGONAL));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedIterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) { // NOTLINT
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(ITERATIVE_SCHUR,
+ SUITE_SPARSE,
+ kUserOrdering,
+ CLUSTER_TRIDIAGONAL));
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+ CX_SPARSE,
+ kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithUserOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithAutomaticOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithUserOrderingUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
+}
+#endif // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+ EIGEN_SPARSE,
+ kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+ EIGEN_SPARSE,
+ kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithAutomaticOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+ MultiThreadedSparseSchurWithUserOrderingUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
+}
+#endif // CERES_USE_EIGEN_SPARSE
+#endif // CERES_USE_OPENMP
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: mierle@gmail.com (Keir Mierle)
+//
+// An incomplete C API for Ceres.
+//
+// TODO(keir): Figure out why logging does not seem to work.
+
+#include "ceres/c_api.h"
+
+#include <vector>
+#include <iostream>
+#include <string>
+#include "ceres/cost_function.h"
+#include "ceres/loss_function.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/types.h" // for std
+#include "glog/logging.h"
+
+using ceres::Problem;
+
+void ceres_init() {
+ // This is not ideal, but it's not clear what to do if there is no gflags and
+ // no access to command line arguments.
+ char message[] = "<unknown>";
+ google::InitGoogleLogging(message);
+}
+
+ceres_problem_t* ceres_create_problem() {
+ return reinterpret_cast<ceres_problem_t*>(new Problem);
+}
+
+void ceres_free_problem(ceres_problem_t* problem) {
+ delete reinterpret_cast<Problem*>(problem);
+}
+
+// This cost function wraps a C-level function pointer from the user, to bridge
+// between C and C++.
+class CallbackCostFunction : public ceres::CostFunction {
+ public:
+ CallbackCostFunction(ceres_cost_function_t cost_function,
+ void* user_data,
+ int num_residuals,
+ int num_parameter_blocks,
+ int* parameter_block_sizes)
+ : cost_function_(cost_function),
+ user_data_(user_data) {
+ set_num_residuals(num_residuals);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ mutable_parameter_block_sizes()->push_back(parameter_block_sizes[i]);
+ }
+ }
+
+ virtual ~CallbackCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return (*cost_function_)(user_data_,
+ const_cast<double**>(parameters),
+ residuals,
+ jacobians);
+ }
+
+ private:
+ ceres_cost_function_t cost_function_;
+ void* user_data_;
+};
+
+// This loss function wraps a C-level function pointer from the user, to bridge
+// between C and C++.
+class CallbackLossFunction : public ceres::LossFunction {
+ public:
+ explicit CallbackLossFunction(ceres_loss_function_t loss_function,
+ void* user_data)
+ : loss_function_(loss_function), user_data_(user_data) {}
+ virtual void Evaluate(double sq_norm, double* rho) const {
+ (*loss_function_)(user_data_, sq_norm, rho);
+ }
+
+ private:
+ ceres_loss_function_t loss_function_;
+ void* user_data_;
+};
+
+// Wrappers for the stock loss functions.
+void* ceres_create_huber_loss_function_data(double a) {
+ return new ceres::HuberLoss(a);
+}
+void* ceres_create_softl1_loss_function_data(double a) {
+ return new ceres::SoftLOneLoss(a);
+}
+void* ceres_create_cauchy_loss_function_data(double a) {
+ return new ceres::CauchyLoss(a);
+}
+void* ceres_create_arctan_loss_function_data(double a) {
+ return new ceres::ArctanLoss(a);
+}
+void* ceres_create_tolerant_loss_function_data(double a, double b) {
+ return new ceres::TolerantLoss(a, b);
+}
+
+void ceres_free_stock_loss_function_data(void* loss_function_data) {
+ delete reinterpret_cast<ceres::LossFunction*>(loss_function_data);
+}
+
+void ceres_stock_loss_function(void* user_data,
+ double squared_norm,
+ double out[3]) {
+ reinterpret_cast<ceres::LossFunction*>(user_data)
+ ->Evaluate(squared_norm, out);
+}
+
+ceres_residual_block_id_t* ceres_problem_add_residual_block(
+ ceres_problem_t* problem,
+ ceres_cost_function_t cost_function,
+ void* cost_function_data,
+ ceres_loss_function_t loss_function,
+ void* loss_function_data,
+ int num_residuals,
+ int num_parameter_blocks,
+ int* parameter_block_sizes,
+ double** parameters) {
+ Problem* ceres_problem = reinterpret_cast<Problem*>(problem);
+
+ ceres::CostFunction* callback_cost_function =
+ new CallbackCostFunction(cost_function,
+ cost_function_data,
+ num_residuals,
+ num_parameter_blocks,
+ parameter_block_sizes);
+
+ ceres::LossFunction* callback_loss_function = NULL;
+ if (loss_function != NULL) {
+ callback_loss_function = new CallbackLossFunction(loss_function,
+ loss_function_data);
+ }
+
+ std::vector<double*> parameter_blocks(parameters,
+ parameters + num_parameter_blocks);
+ return reinterpret_cast<ceres_residual_block_id_t*>(
+ ceres_problem->AddResidualBlock(callback_cost_function,
+ callback_loss_function,
+ parameter_blocks));
+}
+
+void ceres_solve(ceres_problem_t* c_problem) {
+ Problem* problem = reinterpret_cast<Problem*>(c_problem);
+
+ // TODO(keir): Obviously, this way of setting options won't scale or last.
+ // Instead, figure out a way to specify some of the options without
+ // duplicating everything.
+ ceres::Solver::Options options;
+ options.max_num_iterations = 100;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+}
--- /dev/null
+// 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: mierle@gmail.com (Keir Mierle)
+
+#include "ceres/c_api.h"
+
+#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+// Duplicated from curve_fitting.cc.
+int num_observations = 67;
+double data[] = {
+ 0.000000e+00, 1.133898e+00,
+ 7.500000e-02, 1.334902e+00,
+ 1.500000e-01, 1.213546e+00,
+ 2.250000e-01, 1.252016e+00,
+ 3.000000e-01, 1.392265e+00,
+ 3.750000e-01, 1.314458e+00,
+ 4.500000e-01, 1.472541e+00,
+ 5.250000e-01, 1.536218e+00,
+ 6.000000e-01, 1.355679e+00,
+ 6.750000e-01, 1.463566e+00,
+ 7.500000e-01, 1.490201e+00,
+ 8.250000e-01, 1.658699e+00,
+ 9.000000e-01, 1.067574e+00,
+ 9.750000e-01, 1.464629e+00,
+ 1.050000e+00, 1.402653e+00,
+ 1.125000e+00, 1.713141e+00,
+ 1.200000e+00, 1.527021e+00,
+ 1.275000e+00, 1.702632e+00,
+ 1.350000e+00, 1.423899e+00,
+ 1.425000e+00, 1.543078e+00,
+ 1.500000e+00, 1.664015e+00,
+ 1.575000e+00, 1.732484e+00,
+ 1.650000e+00, 1.543296e+00,
+ 1.725000e+00, 1.959523e+00,
+ 1.800000e+00, 1.685132e+00,
+ 1.875000e+00, 1.951791e+00,
+ 1.950000e+00, 2.095346e+00,
+ 2.025000e+00, 2.361460e+00,
+ 2.100000e+00, 2.169119e+00,
+ 2.175000e+00, 2.061745e+00,
+ 2.250000e+00, 2.178641e+00,
+ 2.325000e+00, 2.104346e+00,
+ 2.400000e+00, 2.584470e+00,
+ 2.475000e+00, 1.914158e+00,
+ 2.550000e+00, 2.368375e+00,
+ 2.625000e+00, 2.686125e+00,
+ 2.700000e+00, 2.712395e+00,
+ 2.775000e+00, 2.499511e+00,
+ 2.850000e+00, 2.558897e+00,
+ 2.925000e+00, 2.309154e+00,
+ 3.000000e+00, 2.869503e+00,
+ 3.075000e+00, 3.116645e+00,
+ 3.150000e+00, 3.094907e+00,
+ 3.225000e+00, 2.471759e+00,
+ 3.300000e+00, 3.017131e+00,
+ 3.375000e+00, 3.232381e+00,
+ 3.450000e+00, 2.944596e+00,
+ 3.525000e+00, 3.385343e+00,
+ 3.600000e+00, 3.199826e+00,
+ 3.675000e+00, 3.423039e+00,
+ 3.750000e+00, 3.621552e+00,
+ 3.825000e+00, 3.559255e+00,
+ 3.900000e+00, 3.530713e+00,
+ 3.975000e+00, 3.561766e+00,
+ 4.050000e+00, 3.544574e+00,
+ 4.125000e+00, 3.867945e+00,
+ 4.200000e+00, 4.049776e+00,
+ 4.275000e+00, 3.885601e+00,
+ 4.350000e+00, 4.110505e+00,
+ 4.425000e+00, 4.345320e+00,
+ 4.500000e+00, 4.161241e+00,
+ 4.575000e+00, 4.363407e+00,
+ 4.650000e+00, 4.161576e+00,
+ 4.725000e+00, 4.619728e+00,
+ 4.800000e+00, 4.737410e+00,
+ 4.875000e+00, 4.727863e+00,
+ 4.950000e+00, 4.669206e+00,
+};
+
+// A test cost function, similar to the one in curve_fitting.c.
+int exponential_residual(void* user_data,
+ double** parameters,
+ double* residuals,
+ double** jacobians) {
+ double* measurement = (double*) user_data;
+ double x = measurement[0];
+ double y = measurement[1];
+ double m = parameters[0][0];
+ double c = parameters[1][0];
+
+ residuals[0] = y - exp(m * x + c);
+ if (jacobians == NULL) {
+ return 1;
+ }
+ if (jacobians[0] != NULL) {
+ jacobians[0][0] = - x * exp(m * x + c); // dr/dm
+ }
+ if (jacobians[1] != NULL) {
+ jacobians[1][0] = - exp(m * x + c); // dr/dc
+ }
+ return 1;
+}
+
+namespace ceres {
+namespace internal {
+
+TEST(C_API, SimpleEndToEndTest) {
+ double m = 0.0;
+ double c = 0.0;
+ double *parameter_pointers[] = { &m, &c };
+ int parameter_sizes[] = { 1, 1 };
+
+ ceres_problem_t* problem = ceres_create_problem();
+ for (int i = 0; i < num_observations; ++i) {
+ ceres_problem_add_residual_block(
+ problem,
+ exponential_residual, // Cost function
+ &data[2 * i], // Points to the (x,y) measurement
+ NULL, // Loss function
+ NULL, // Loss function user data
+ 1, // Number of residuals
+ 2, // Number of parameter blocks
+ parameter_sizes,
+ parameter_pointers);
+ }
+
+ ceres_solve(problem);
+
+ EXPECT_NEAR(0.3, m, 0.02);
+ EXPECT_NEAR(0.1, c, 0.04);
+
+ ceres_free_problem(problem);
+}
+
+template<typename T>
+class ScopedSetValue {
+ public:
+ ScopedSetValue(T* variable, T new_value)
+ : variable_(variable), old_value_(*variable) {
+ *variable = new_value;
+ }
+ ~ScopedSetValue() {
+ *variable_ = old_value_;
+ }
+
+ private:
+ T* variable_;
+ T old_value_;
+};
+
+TEST(C_API, LossFunctions) {
+ double m = 0.2;
+ double c = 0.03;
+ double *parameter_pointers[] = { &m, &c };
+ int parameter_sizes[] = { 1, 1 };
+
+ // Create two outliers, but be careful to leave the data intact.
+ ScopedSetValue<double> outlier1x(&data[12], 2.5);
+ ScopedSetValue<double> outlier1y(&data[13], 1.0e3);
+ ScopedSetValue<double> outlier2x(&data[14], 3.2);
+ ScopedSetValue<double> outlier2y(&data[15], 30e3);
+
+ // Create a cauchy cost function, and reuse it many times.
+ void* cauchy_loss_data =
+ ceres_create_cauchy_loss_function_data(5.0);
+
+ ceres_problem_t* problem = ceres_create_problem();
+ for (int i = 0; i < num_observations; ++i) {
+ ceres_problem_add_residual_block(
+ problem,
+ exponential_residual, // Cost function
+ &data[2 * i], // Points to the (x,y) measurement
+ ceres_stock_loss_function,
+ cauchy_loss_data, // Loss function user data
+ 1, // Number of residuals
+ 2, // Number of parameter blocks
+ parameter_sizes,
+ parameter_pointers);
+ }
+
+ ceres_solve(problem);
+
+ EXPECT_NEAR(0.3, m, 0.02);
+ EXPECT_NEAR(0.1, c, 0.04);
+
+ ceres_free_stock_loss_function_data(cauchy_loss_data);
+ ceres_free_problem(problem);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 <iostream> // NO LINT
+#include "ceres/callbacks.h"
+#include "ceres/program.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+StateUpdatingCallback::StateUpdatingCallback(Program* program,
+ double* parameters)
+ : program_(program), parameters_(parameters) {}
+
+StateUpdatingCallback::~StateUpdatingCallback() {}
+
+CallbackReturnType StateUpdatingCallback::operator()(
+ const IterationSummary& summary) {
+ if (summary.step_is_successful) {
+ program_->StateVectorToParameterBlocks(parameters_);
+ program_->CopyParameterBlockStateToUserState();
+ }
+ return SOLVER_CONTINUE;
+}
+
+LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
+ const bool log_to_stdout)
+ : minimizer_type(minimizer_type),
+ log_to_stdout_(log_to_stdout) {}
+
+LoggingCallback::~LoggingCallback() {}
+
+CallbackReturnType LoggingCallback::operator()(
+ const IterationSummary& summary) {
+ string output;
+ if (minimizer_type == LINE_SEARCH) {
+ const char* kReportRowFormat =
+ "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+ "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
+ output = StringPrintf(kReportRowFormat,
+ summary.iteration,
+ summary.cost,
+ summary.cost_change,
+ summary.gradient_max_norm,
+ summary.step_norm,
+ summary.step_size,
+ summary.line_search_function_evaluations,
+ summary.iteration_time_in_seconds,
+ summary.cumulative_time_in_seconds);
+ } else if (minimizer_type == TRUST_REGION) {
+ if (summary.iteration == 0) {
+ output = "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n"; // NOLINT
+ }
+ const char* kReportRowFormat =
+ "% 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 4d % 3.2e % 3.2e"; // NOLINT
+ output += StringPrintf(kReportRowFormat,
+ summary.iteration,
+ summary.cost,
+ summary.cost_change,
+ summary.gradient_max_norm,
+ summary.step_norm,
+ summary.relative_decrease,
+ summary.trust_region_radius,
+ summary.linear_solver_iterations,
+ summary.iteration_time_in_seconds,
+ summary.cumulative_time_in_seconds);
+ } else {
+ LOG(FATAL) << "Unknown minimizer type.";
+ }
+
+ if (log_to_stdout_) {
+ std::cout << output << std::endl;
+ } else {
+ VLOG(1) << output;
+ }
+ return SOLVER_CONTINUE;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_CALLBACKS_H_
+#define CERES_INTERNAL_CALLBACKS_H_
+
+#include <string>
+#include "ceres/iteration_callback.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+
+// Callback for updating the externally visible state of parameter
+// blocks.
+class StateUpdatingCallback : public IterationCallback {
+ public:
+ StateUpdatingCallback(Program* program, double* parameters);
+ virtual ~StateUpdatingCallback();
+ virtual CallbackReturnType operator()(const IterationSummary& summary);
+ private:
+ Program* program_;
+ double* parameters_;
+};
+
+// Callback for logging the state of the minimizer to STDERR or
+// STDOUT depending on the user's preferences and logging level.
+class LoggingCallback : public IterationCallback {
+ public:
+ LoggingCallback(MinimizerType minimizer_type, bool log_to_stdout);
+ virtual ~LoggingCallback();
+ virtual CallbackReturnType operator()(const IterationSummary& summary);
+
+ private:
+ const MinimizerType minimizer_type;
+ const bool log_to_stdout_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CALLBACKS_H_
--- /dev/null
+// 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: David Gallup (dgallup@google.com)
+// Sameer Agarwal (sameeragarwal@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/macros.h"
+#include "ceres/map_util.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+typedef HashMap<int, int> IntMap;
+typedef HashSet<int> IntSet;
+
+class CanonicalViewsClustering {
+ public:
+ CanonicalViewsClustering() {}
+
+ // Compute the canonical views clustering of the vertices of the
+ // graph. centers will contain the vertices that are the identified
+ // as the canonical views/cluster centers, and membership is a map
+ // from vertices to cluster_ids. The i^th cluster center corresponds
+ // to the i^th cluster. It is possible depending on the
+ // configuration of the clustering algorithm that some of the
+ // vertices may not be assigned to any cluster. In this case they
+ // are assigned to a cluster with id = kInvalidClusterId.
+ void ComputeClustering(const CanonicalViewsClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ vector<int>* centers,
+ IntMap* membership);
+
+ private:
+ void FindValidViews(IntSet* valid_views) const;
+ double ComputeClusteringQualityDifference(const int candidate,
+ const vector<int>& centers) const;
+ void UpdateCanonicalViewAssignments(const int canonical_view);
+ void ComputeClusterMembership(const vector<int>& centers,
+ IntMap* membership) const;
+
+ CanonicalViewsClusteringOptions options_;
+ const WeightedGraph<int>* graph_;
+ // Maps a view to its representative canonical view (its cluster
+ // center).
+ IntMap view_to_canonical_view_;
+ // Maps a view to its similarity to its current cluster center.
+ HashMap<int, double> view_to_canonical_view_similarity_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CanonicalViewsClustering);
+};
+
+void ComputeCanonicalViewsClustering(
+ const CanonicalViewsClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ vector<int>* centers,
+ IntMap* membership) {
+ time_t start_time = time(NULL);
+ CanonicalViewsClustering cv;
+ cv.ComputeClustering(options, graph, centers, membership);
+ VLOG(2) << "Canonical views clustering time (secs): "
+ << time(NULL) - start_time;
+}
+
+// Implementation of CanonicalViewsClustering
+void CanonicalViewsClustering::ComputeClustering(
+ const CanonicalViewsClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ vector<int>* centers,
+ IntMap* membership) {
+ options_ = options;
+ CHECK_NOTNULL(centers)->clear();
+ CHECK_NOTNULL(membership)->clear();
+ graph_ = &graph;
+
+ IntSet valid_views;
+ FindValidViews(&valid_views);
+ while (valid_views.size() > 0) {
+ // Find the next best canonical view.
+ double best_difference = -std::numeric_limits<double>::max();
+ int best_view = 0;
+
+ // TODO(sameeragarwal): Make this loop multi-threaded.
+ for (IntSet::const_iterator view = valid_views.begin();
+ view != valid_views.end();
+ ++view) {
+ const double difference =
+ ComputeClusteringQualityDifference(*view, *centers);
+ if (difference > best_difference) {
+ best_difference = difference;
+ best_view = *view;
+ }
+ }
+
+ CHECK_GT(best_difference, -std::numeric_limits<double>::max());
+
+ // Add canonical view if quality improves, or if minimum is not
+ // yet met, otherwise break.
+ if ((best_difference <= 0) &&
+ (centers->size() >= options_.min_views)) {
+ break;
+ }
+
+ centers->push_back(best_view);
+ valid_views.erase(best_view);
+ UpdateCanonicalViewAssignments(best_view);
+ }
+
+ ComputeClusterMembership(*centers, membership);
+}
+
+// Return the set of vertices of the graph which have valid vertex
+// weights.
+void CanonicalViewsClustering::FindValidViews(
+ IntSet* valid_views) const {
+ const IntSet& views = graph_->vertices();
+ for (IntSet::const_iterator view = views.begin();
+ view != views.end();
+ ++view) {
+ if (graph_->VertexWeight(*view) != WeightedGraph<int>::InvalidWeight()) {
+ valid_views->insert(*view);
+ }
+ }
+}
+
+// Computes the difference in the quality score if 'candidate' were
+// added to the set of canonical views.
+double CanonicalViewsClustering::ComputeClusteringQualityDifference(
+ const int candidate,
+ const vector<int>& centers) const {
+ // View score.
+ double difference =
+ options_.view_score_weight * graph_->VertexWeight(candidate);
+
+ // Compute how much the quality score changes if the candidate view
+ // was added to the list of canonical views and its nearest
+ // neighbors became members of its cluster.
+ const IntSet& neighbors = graph_->Neighbors(candidate);
+ for (IntSet::const_iterator neighbor = neighbors.begin();
+ neighbor != neighbors.end();
+ ++neighbor) {
+ const double old_similarity =
+ FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+ const double new_similarity = graph_->EdgeWeight(*neighbor, candidate);
+ if (new_similarity > old_similarity) {
+ difference += new_similarity - old_similarity;
+ }
+ }
+
+ // Number of views penalty.
+ difference -= options_.size_penalty_weight;
+
+ // Orthogonality.
+ for (int i = 0; i < centers.size(); ++i) {
+ difference -= options_.similarity_penalty_weight *
+ graph_->EdgeWeight(centers[i], candidate);
+ }
+
+ return difference;
+}
+
+// Reassign views if they're more similar to the new canonical view.
+void CanonicalViewsClustering::UpdateCanonicalViewAssignments(
+ const int canonical_view) {
+ const IntSet& neighbors = graph_->Neighbors(canonical_view);
+ for (IntSet::const_iterator neighbor = neighbors.begin();
+ neighbor != neighbors.end();
+ ++neighbor) {
+ const double old_similarity =
+ FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+ const double new_similarity =
+ graph_->EdgeWeight(*neighbor, canonical_view);
+ if (new_similarity > old_similarity) {
+ view_to_canonical_view_[*neighbor] = canonical_view;
+ view_to_canonical_view_similarity_[*neighbor] = new_similarity;
+ }
+ }
+}
+
+// Assign a cluster id to each view.
+void CanonicalViewsClustering::ComputeClusterMembership(
+ const vector<int>& centers,
+ IntMap* membership) const {
+ CHECK_NOTNULL(membership)->clear();
+
+ // The i^th cluster has cluster id i.
+ IntMap center_to_cluster_id;
+ for (int i = 0; i < centers.size(); ++i) {
+ center_to_cluster_id[centers[i]] = i;
+ }
+
+ static const int kInvalidClusterId = -1;
+
+ const IntSet& views = graph_->vertices();
+ for (IntSet::const_iterator view = views.begin();
+ view != views.end();
+ ++view) {
+ IntMap::const_iterator it =
+ view_to_canonical_view_.find(*view);
+ int cluster_id = kInvalidClusterId;
+ if (it != view_to_canonical_view_.end()) {
+ cluster_id = FindOrDie(center_to_cluster_id, it->second);
+ }
+
+ InsertOrDie(membership, *view, cluster_id);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// An implementation of the Canonical Views clustering algorithm from
+// "Scene Summarization for Online Image Collections", Ian Simon, Noah
+// Snavely, Steven M. Seitz, ICCV 2007.
+//
+// More details can be found at
+// http://grail.cs.washington.edu/projects/canonview/
+//
+// Ceres uses this algorithm to perform view clustering for
+// constructing visibility based preconditioners.
+
+#ifndef CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+#define CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+
+#include <vector>
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct CanonicalViewsClusteringOptions;
+
+// Compute a partitioning of the vertices of the graph using the
+// canonical views clustering algorithm.
+//
+// In the following we will use the terms vertices and views
+// interchangably. Given a weighted Graph G(V,E), the canonical views
+// of G are the the set of vertices that best "summarize" the content
+// of the graph. If w_ij i s the weight connecting the vertex i to
+// vertex j, and C is the set of canonical views. Then the objective
+// of the canonical views algorithm is
+//
+// E[C] = sum_[i in V] max_[j in C] w_ij
+// - size_penalty_weight * |C|
+// - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+//
+// alpha is the size penalty that penalizes large number of canonical
+// views.
+//
+// beta is the similarity penalty that penalizes canonical views that
+// are too similar to other canonical views.
+//
+// Thus the canonical views algorithm tries to find a canonical view
+// for each vertex in the graph which best explains it, while trying
+// to minimize the number of canonical views and the overlap between
+// them.
+//
+// We further augment the above objective function by allowing for per
+// vertex weights, higher weights indicating a higher preference for
+// being chosen as a canonical view. Thus if w_i is the vertex weight
+// for vertex i, the objective function is then
+//
+// E[C] = sum_[i in V] max_[j in C] w_ij
+// - size_penalty_weight * |C|
+// - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+// + view_score_weight * sum_[i in C] w_i
+//
+// centers will contain the vertices that are the identified
+// as the canonical views/cluster centers, and membership is a map
+// from vertices to cluster_ids. The i^th cluster center corresponds
+// to the i^th cluster.
+//
+// It is possible depending on the configuration of the clustering
+// algorithm that some of the vertices may not be assigned to any
+// cluster. In this case they are assigned to a cluster with id = -1;
+void ComputeCanonicalViewsClustering(
+ const CanonicalViewsClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ std::vector<int>* centers,
+ HashMap<int, int>* membership);
+
+struct CanonicalViewsClusteringOptions {
+ CanonicalViewsClusteringOptions()
+ : min_views(3),
+ size_penalty_weight(5.75),
+ similarity_penalty_weight(100.0),
+ view_score_weight(0.0) {
+ }
+ // The minimum number of canonical views to compute.
+ int min_views;
+
+ // Penalty weight for the number of canonical views. A higher
+ // number will result in fewer canonical views.
+ double size_penalty_weight;
+
+ // Penalty weight for the diversity (orthogonality) of the
+ // canonical views. A higher number will encourage less similar
+ // canonical views.
+ double similarity_penalty_weight;
+
+ // Weight for per-view scores. Lower weight places less
+ // confidence in the view scores.
+ double view_score_weight;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
--- /dev/null
+// 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: Sameer Agarwal (sameeragarwal@google.com)
+// David Gallup (dgallup@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const int kVertexIds[] = {0, 1, 2, 3};
+class CanonicalViewsTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ // The graph structure is as follows.
+ //
+ // Vertex weights: 0 2 2 0
+ // V0-----V1-----V2-----V3
+ // Edge weights: 0.8 0.9 0.3
+ const double kVertexWeights[] = {0.0, 2.0, 2.0, -1.0};
+ for (int i = 0; i < 4; ++i) {
+ graph_.AddVertex(i, kVertexWeights[i]);
+ }
+ // Create self edges.
+ // CanonicalViews requires that every view "sees" itself.
+ for (int i = 0; i < 4; ++i) {
+ graph_.AddEdge(i, i, 1.0);
+ }
+
+ // Create three edges.
+ const double kEdgeWeights[] = {0.8, 0.9, 0.3};
+ for (int i = 0; i < 3; ++i) {
+ // The graph interface is directed, so remember to create both
+ // edges.
+ graph_.AddEdge(kVertexIds[i], kVertexIds[i + 1], kEdgeWeights[i]);
+ }
+ }
+
+ void ComputeClustering() {
+ ComputeCanonicalViewsClustering(options_, graph_, ¢ers_, &membership_);
+ }
+
+ WeightedGraph<int> graph_;
+
+ CanonicalViewsClusteringOptions options_;
+ std::vector<int> centers_;
+ HashMap<int, int> membership_;
+};
+
+TEST_F(CanonicalViewsTest, ComputeCanonicalViewsTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 0.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 2);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+ EXPECT_EQ(centers_[1], kVertexIds[3]);
+
+ // Check cluster membership.
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[0]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[1]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[2]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[3]), 1);
+}
+
+// Increases size penalty so the second canonical view won't be
+// chosen.
+TEST_F(CanonicalViewsTest, SizePenaltyTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 2.0;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 0.0;
+ ComputeClustering();
+
+ // 1 canonical view.
+ EXPECT_EQ(centers_.size(), 1);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+
+// Increases view score weight so vertex 2 will be chosen.
+TEST_F(CanonicalViewsTest, ViewScoreTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 1.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 2);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+ EXPECT_EQ(centers_[1], kVertexIds[2]);
+}
+
+// Increases similarity penalty so vertex 2 won't be chosen despite
+// it's view score.
+TEST_F(CanonicalViewsTest, SimilarityPenaltyTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 3.0;
+ options_.view_score_weight = 1.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 1);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CASTS_H_
+#define CERES_INTERNAL_CASTS_H_
+
+#include <cassert>
+#include <cstddef> // For NULL.
+
+namespace ceres {
+
+// Identity metafunction.
+template <class T>
+struct identity_ {
+ typedef T type;
+};
+
+// Use implicit_cast as a safe version of static_cast or const_cast
+// for implicit conversions. For example:
+// - Upcasting in a type hierarchy.
+// - Performing arithmetic conversions (int32 to int64, int to double, etc.).
+// - Adding const or volatile qualifiers.
+//
+// In general, implicit_cast can be used to convert this code
+// To to = from;
+// DoSomething(to);
+// to this
+// DoSomething(implicit_cast<To>(from));
+//
+// base::identity_ is used to make a non-deduced context, which
+// forces all callers to explicitly specify the template argument.
+template<typename To>
+inline To implicit_cast(typename identity_<To>::type to) {
+ return to;
+}
+
+// This version of implicit_cast is used when two template arguments
+// are specified. It's obsolete and should not be used.
+template<typename To, typename From>
+inline To implicit_cast(typename identity_<From>::type const &f) {
+ return f;
+}
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use implicit_cast<>, since upcasts
+// always succeed. When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo? It
+// could be a bare Foo, or of type DifferentSubclassOfFoo. Thus,
+// when you downcast, you should use this macro. In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not). In normal mode, we do the efficient static_cast<>
+// instead. Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+// This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+// if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+// if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+
+template<typename To, typename From> // use like this: down_cast<T*>(foo);
+inline To down_cast(From* f) { // so we only accept pointers
+ // Ensures that To is a sub-type of From *. This test is here only
+ // for compile-time type checking, and has no overhead in an
+ // optimized build at run-time, as it will be optimized away
+ // completely.
+
+ // TODO(csilvers): This should use COMPILE_ASSERT.
+ if (false) {
+ implicit_cast<From*, To>(NULL);
+ }
+
+ // uses RTTI in dbg and fastbuild. asserts are disabled in opt builds.
+ assert(f == NULL || dynamic_cast<To>(f) != NULL); // NOLINT
+ return static_cast<To>(f);
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CASTS_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+
+#include <algorithm>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrix;
+
+// A linear operator which takes a matrix A and a diagonal vector D and
+// performs products of the form
+//
+// (A^T A + D^T D)x
+//
+// This is used to implement iterative general sparse linear solving with
+// conjugate gradients, where A is the Jacobian and D is a regularizing
+// parameter. A brief proof that D^T D is the correct regularizer:
+//
+// Given a regularized least squares problem:
+//
+// min ||Ax - b||^2 + ||Dx||^2
+// x
+//
+// First expand into matrix notation:
+//
+// (Ax - b)^T (Ax - b) + xD^TDx
+//
+// Then multiply out to get:
+//
+// = xA^TAx - 2b^T Ax + b^Tb + xD^TDx
+//
+// Take the derivative:
+//
+// 0 = 2A^TAx - 2A^T b + 2 D^TDx
+// 0 = A^TAx - A^T b + D^TDx
+// 0 = (A^TA + D^TD)x - A^T b
+//
+// Thus, the symmetric system we need to solve for CGNR is
+//
+// Sx = z
+//
+// with S = A^TA + D^TD
+// and z = A^T b
+//
+// Note: This class is not thread safe, since it uses some temporary storage.
+class CgnrLinearOperator : public LinearOperator {
+ public:
+ CgnrLinearOperator(const LinearOperator& A, const double *D)
+ : A_(A), D_(D), z_(new double[A.num_rows()]) {
+ }
+ virtual ~CgnrLinearOperator() {}
+
+ virtual void RightMultiply(const double* x, double* y) const {
+ std::fill(z_.get(), z_.get() + A_.num_rows(), 0.0);
+
+ // z = Ax
+ A_.RightMultiply(x, z_.get());
+
+ // y = y + Atz
+ A_.LeftMultiply(z_.get(), y);
+
+ // y = y + DtDx
+ if (D_ != NULL) {
+ int n = A_.num_cols();
+ VectorRef(y, n).array() += ConstVectorRef(D_, n).array().square() *
+ ConstVectorRef(x, n).array();
+ }
+ }
+
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+
+ virtual int num_rows() const { return A_.num_cols(); }
+ virtual int num_cols() const { return A_.num_cols(); }
+
+ private:
+ const LinearOperator& A_;
+ const double* D_;
+ scoped_array<double> z_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/cgnr_solver.h"
+
+#include "ceres/block_jacobi_preconditioner.h"
+#include "ceres/cgnr_linear_operator.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+CgnrSolver::CgnrSolver(const LinearSolver::Options& options)
+ : options_(options),
+ preconditioner_(NULL) {
+ if (options_.preconditioner_type != JACOBI &&
+ options_.preconditioner_type != IDENTITY) {
+ LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
+ }
+}
+
+LinearSolver::Summary CgnrSolver::SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("CgnrSolver::Solve");
+
+ // Form z = Atb.
+ Vector z(A->num_cols());
+ z.setZero();
+ A->LeftMultiply(b, z.data());
+
+ // Precondition if necessary.
+ LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
+ if (options_.preconditioner_type == JACOBI) {
+ if (preconditioner_.get() == NULL) {
+ preconditioner_.reset(new BlockJacobiPreconditioner(*A));
+ }
+ preconditioner_->Update(*A, per_solve_options.D);
+ cg_per_solve_options.preconditioner = preconditioner_.get();
+ }
+
+ // Solve (AtA + DtD)x = z (= Atb).
+ VectorRef(x, A->num_cols()).setZero();
+ CgnrLinearOperator lhs(*A, per_solve_options.D);
+ event_logger.AddEvent("Setup");
+
+ ConjugateGradientsSolver conjugate_gradient_solver(options_);
+ LinearSolver::Summary summary =
+ conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x);
+ event_logger.AddEvent("Solve");
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_SOLVER_H_
+#define CERES_INTERNAL_CGNR_SOLVER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Preconditioner;
+
+class BlockJacobiPreconditioner;
+
+// A conjugate gradients on the normal equations solver. This directly solves
+// for the solution to
+//
+// (A^T A + D^T D)x = A^T b
+//
+// as required for solving for x in the least squares sense. Currently only
+// block diagonal preconditioning is supported.
+class CgnrSolver : public BlockSparseMatrixSolver {
+ public:
+ explicit CgnrSolver(const LinearSolver::Options& options);
+ virtual Summary SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ private:
+ const LinearSolver::Options options_;
+ scoped_ptr<Preconditioner> preconditioner_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CgnrSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CGNR_SOLVER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Portable HashMap and HashSet, and a specialized overload for hashing pairs.
+
+#ifndef CERES_INTERNAL_COLLECTIONS_PORT_H_
+#define CERES_INTERNAL_COLLECTIONS_PORT_H_
+
+#include "ceres/internal/port.h"
+
+#if defined(CERES_NO_UNORDERED_MAP)
+# include <map>
+# include <set>
+#endif
+
+#if defined(CERES_TR1_UNORDERED_MAP)
+# include <tr1/unordered_map>
+# include <tr1/unordered_set>
+# define CERES_HASH_NAMESPACE_START namespace std { namespace tr1 {
+# define CERES_HASH_NAMESPACE_END } }
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP)
+# include <unordered_map>
+# include <unordered_set>
+# define CERES_HASH_NAMESPACE_START namespace std {
+# define CERES_HASH_NAMESPACE_END }
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+# include <unordered_map>
+# include <unordered_set>
+# define CERES_HASH_NAMESPACE_START namespace std { namespace tr1 {
+# define CERES_HASH_NAMESPACE_END } }
+#endif
+
+#if !defined(CERES_NO_UNORDERED_MAP) && !defined(CERES_TR1_UNORDERED_MAP) && \
+ !defined(CERES_STD_UNORDERED_MAP) && !defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE) // NOLINT
+# error One of: CERES_NO_UNORDERED_MAP, CERES_TR1_UNORDERED_MAP,\
+ CERES_STD_UNORDERED_MAP, CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE must be defined! // NOLINT
+#endif
+
+#include <utility>
+#include "ceres/integral_types.h"
+
+// Some systems don't have access to unordered_map/unordered_set. In
+// that case, substitute the hash map/set with normal map/set. The
+// price to pay is slower speed for some operations.
+#if defined(CERES_NO_UNORDERED_MAP)
+
+namespace ceres {
+namespace internal {
+
+template<typename K, typename V>
+struct HashMap : map<K, V> {};
+
+template<typename K>
+struct HashSet : set<K> {};
+
+} // namespace internal
+} // namespace ceres
+
+#else
+
+namespace ceres {
+namespace internal {
+
+#if defined(CERES_TR1_UNORDERED_MAP) || \
+ defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+template<typename K, typename V>
+struct HashMap : std::tr1::unordered_map<K, V> {};
+template<typename K>
+struct HashSet : std::tr1::unordered_set<K> {};
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP)
+template<typename K, typename V>
+struct HashMap : std::unordered_map<K, V> {};
+template<typename K>
+struct HashSet : std::unordered_set<K> {};
+#endif
+
+#if defined(_WIN32) && !defined(__MINGW64__) && !defined(__MINGW32__)
+#define GG_LONGLONG(x) x##I64
+#define GG_ULONGLONG(x) x##UI64
+#else
+#define GG_LONGLONG(x) x##LL
+#define GG_ULONGLONG(x) x##ULL
+#endif
+
+// The hash function is due to Bob Jenkins (see
+// http://burtleburtle.net/bob/hash/index.html). Each mix takes 36 instructions,
+// in 18 cycles if you're lucky. On x86 architectures, this requires 45
+// instructions in 27 cycles, if you're lucky.
+//
+// 32bit version
+inline void hash_mix(uint32& a, uint32& b, uint32& c) {
+ a -= b; a -= c; a ^= (c>>13);
+ b -= c; b -= a; b ^= (a<<8);
+ c -= a; c -= b; c ^= (b>>13);
+ a -= b; a -= c; a ^= (c>>12);
+ b -= c; b -= a; b ^= (a<<16);
+ c -= a; c -= b; c ^= (b>>5);
+ a -= b; a -= c; a ^= (c>>3);
+ b -= c; b -= a; b ^= (a<<10);
+ c -= a; c -= b; c ^= (b>>15);
+}
+
+// 64bit version
+inline void hash_mix(uint64& a, uint64& b, uint64& c) {
+ a -= b; a -= c; a ^= (c>>43);
+ b -= c; b -= a; b ^= (a<<9);
+ c -= a; c -= b; c ^= (b>>8);
+ a -= b; a -= c; a ^= (c>>38);
+ b -= c; b -= a; b ^= (a<<23);
+ c -= a; c -= b; c ^= (b>>5);
+ a -= b; a -= c; a ^= (c>>35);
+ b -= c; b -= a; b ^= (a<<49);
+ c -= a; c -= b; c ^= (b>>11);
+}
+
+inline uint32 Hash32NumWithSeed(uint32 num, uint32 c) {
+ // The golden ratio; an arbitrary value.
+ uint32 b = 0x9e3779b9UL;
+ hash_mix(num, b, c);
+ return c;
+}
+
+inline uint64 Hash64NumWithSeed(uint64 num, uint64 c) {
+ // More of the golden ratio.
+ uint64 b = GG_ULONGLONG(0xe08c1d668b756f82);
+ hash_mix(num, b, c);
+ return c;
+}
+
+} // namespace internal
+} // namespace ceres
+
+// Since on some platforms this is a doubly-nested namespace (std::tr1) and
+// others it is not, the entire namespace line must be in a macro.
+CERES_HASH_NAMESPACE_START
+
+// The outrageously annoying specializations below are for portability reasons.
+// In short, it's not possible to have two overloads of hash<pair<T1, T2>
+
+// Hasher for STL pairs. Requires hashers for both members to be defined.
+template<typename T>
+struct hash<pair<T, T> > {
+ size_t operator()(const pair<T, T>& p) const {
+ size_t h1 = hash<T>()(p.first);
+ size_t h2 = hash<T>()(p.second);
+ // The decision below is at compile time
+ return (sizeof(h1) <= sizeof(ceres::internal::uint32)) ?
+ ceres::internal::Hash32NumWithSeed(h1, h2) :
+ ceres::internal::Hash64NumWithSeed(h1, h2);
+ }
+ // Less than operator for MSVC.
+ bool operator()(const pair<T, T>& a,
+ const pair<T, T>& b) const {
+ return a < b;
+ }
+ static const size_t bucket_size = 4; // These are required by MSVC
+ static const size_t min_buckets = 8; // 4 and 8 are defaults.
+};
+
+CERES_HASH_NAMESPACE_END
+
+#endif // CERES_NO_UNORDERED_MAP
+#endif // CERES_INTERNAL_COLLECTIONS_PORT_H_
--- /dev/null
+// 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/compressed_col_sparse_matrix_utils.h"
+
+#include <vector>
+#include <algorithm>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+void CompressedColumnScalarMatrixToBlockMatrix(
+ const int* scalar_rows,
+ const int* scalar_cols,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* block_rows,
+ vector<int>* block_cols) {
+ CHECK_NOTNULL(block_rows)->clear();
+ CHECK_NOTNULL(block_cols)->clear();
+ const int num_row_blocks = row_blocks.size();
+ const int num_col_blocks = col_blocks.size();
+
+ vector<int> row_block_starts(num_row_blocks);
+ for (int i = 0, cursor = 0; i < num_row_blocks; ++i) {
+ row_block_starts[i] = cursor;
+ cursor += row_blocks[i];
+ }
+
+ // This loop extracts the block sparsity of the scalar sparse matrix
+ // It does so by iterating over the columns, but only considering
+ // the columns corresponding to the first element of each column
+ // block. Within each column, the inner loop iterates over the rows,
+ // and detects the presence of a row block by checking for the
+ // presence of a non-zero entry corresponding to its first element.
+ block_cols->push_back(0);
+ int c = 0;
+ for (int col_block = 0; col_block < num_col_blocks; ++col_block) {
+ int column_size = 0;
+ for (int idx = scalar_cols[c]; idx < scalar_cols[c + 1]; ++idx) {
+ vector<int>::const_iterator it =
+ std::lower_bound(row_block_starts.begin(),
+ row_block_starts.end(),
+ scalar_rows[idx]);
+ // Since we are using lower_bound, it will return the row id
+ // where the row block starts. For everything but the first row
+ // of the block, where these values will be the same, we can
+ // skip, as we only need the first row to detect the presence of
+ // the block.
+ //
+ // For rows all but the first row in the last row block,
+ // lower_bound will return row_block_starts.end(), but those can
+ // be skipped like the rows in other row blocks too.
+ if (it == row_block_starts.end() || *it != scalar_rows[idx]) {
+ continue;
+ }
+
+ block_rows->push_back(it - row_block_starts.begin());
+ ++column_size;
+ }
+ block_cols->push_back(block_cols->back() + column_size);
+ c += col_blocks[col_block];
+ }
+}
+
+void BlockOrderingToScalarOrdering(const vector<int>& blocks,
+ const vector<int>& block_ordering,
+ vector<int>* scalar_ordering) {
+ CHECK_EQ(blocks.size(), block_ordering.size());
+ const int num_blocks = blocks.size();
+
+ // block_starts = [0, block1, block1 + block2 ..]
+ vector<int> block_starts(num_blocks);
+ for (int i = 0, cursor = 0; i < num_blocks ; ++i) {
+ block_starts[i] = cursor;
+ cursor += blocks[i];
+ }
+
+ scalar_ordering->resize(block_starts.back() + blocks.back());
+ int cursor = 0;
+ for (int i = 0; i < num_blocks; ++i) {
+ const int block_id = block_ordering[i];
+ const int block_size = blocks[block_id];
+ int block_position = block_starts[block_id];
+ for (int j = 0; j < block_size; ++j) {
+ (*scalar_ordering)[cursor++] = block_position++;
+ }
+ }
+}
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
+#define CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Extract the block sparsity pattern of the scalar compressed columns
+// matrix and return it in compressed column form. The compressed
+// column form is stored in two vectors block_rows, and block_cols,
+// which correspond to the row and column arrays in a compressed
+// column sparse matrix.
+//
+// If c_ij is the block in the matrix A corresponding to row block i
+// and column block j, then it is expected that A contains at least
+// one non-zero entry corresponding to the top left entry of c_ij,
+// as that entry is used to detect the presence of a non-zero c_ij.
+void CompressedColumnScalarMatrixToBlockMatrix(
+ const int* scalar_rows,
+ const int* scalar_cols,
+ const std::vector<int>& row_blocks,
+ const std::vector<int>& col_blocks,
+ std::vector<int>* block_rows,
+ std::vector<int>* block_cols);
+
+// Given a set of blocks and a permutation of these blocks, compute
+// the corresponding "scalar" ordering, where the scalar ordering of
+// size sum(blocks).
+void BlockOrderingToScalarOrdering(
+ const std::vector<int>& blocks,
+ const std::vector<int>& block_ordering,
+ std::vector<int>* scalar_ordering);
+
+// Solve the linear system
+//
+// R * solution = rhs
+//
+// Where R is an upper triangular compressed column sparse matrix.
+template <typename IntegerType>
+void SolveUpperTriangularInPlace(IntegerType num_cols,
+ const IntegerType* rows,
+ const IntegerType* cols,
+ const double* values,
+ double* rhs_and_solution) {
+ for (IntegerType c = num_cols - 1; c >= 0; --c) {
+ rhs_and_solution[c] /= values[cols[c + 1] - 1];
+ for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+ const IntegerType r = rows[idx];
+ const double v = values[idx];
+ rhs_and_solution[r] -= v * rhs_and_solution[c];
+ }
+ }
+}
+
+// Solve the linear system
+//
+// R' * solution = rhs
+//
+// Where R is an upper triangular compressed column sparse matrix.
+template <typename IntegerType>
+void SolveUpperTriangularTransposeInPlace(IntegerType num_cols,
+ const IntegerType* rows,
+ const IntegerType* cols,
+ const double* values,
+ double* rhs_and_solution) {
+ for (IntegerType c = 0; c < num_cols; ++c) {
+ for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+ const IntegerType r = rows[idx];
+ const double v = values[idx];
+ rhs_and_solution[c] -= v * rhs_and_solution[r];
+ }
+ rhs_and_solution[c] = rhs_and_solution[c] / values[cols[c + 1] - 1];
+ }
+}
+
+// Given a upper triangular matrix R in compressed column form, solve
+// the linear system,
+//
+// R'R x = b
+//
+// Where b is all zeros except for rhs_nonzero_index, where it is
+// equal to one.
+//
+// The function exploits this knowledge to reduce the number of
+// floating point operations.
+template <typename IntegerType>
+void SolveRTRWithSparseRHS(IntegerType num_cols,
+ const IntegerType* rows,
+ const IntegerType* cols,
+ const double* values,
+ const int rhs_nonzero_index,
+ double* solution) {
+ std::fill(solution, solution + num_cols, 0.0);
+ solution[rhs_nonzero_index] = 1.0 / values[cols[rhs_nonzero_index + 1] - 1];
+
+ for (IntegerType c = rhs_nonzero_index + 1; c < num_cols; ++c) {
+ for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+ const IntegerType r = rows[idx];
+ if (r < rhs_nonzero_index) continue;
+ const double v = values[idx];
+ solution[c] -= v * solution[r];
+ }
+ solution[c] = solution[c] / values[cols[c + 1] - 1];
+ }
+
+ SolveUpperTriangularInPlace(num_cols, rows, cols, values, solution);
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
--- /dev/null
+// 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 <algorithm>
+#include <numeric>
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/internal/port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(_, BlockPermutationToScalarPermutation) {
+ vector<int> blocks;
+ // Block structure
+ // 0 --1- ---2--- ---3--- 4
+ // [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+ blocks.push_back(1);
+ blocks.push_back(2);
+ blocks.push_back(3);
+ blocks.push_back(3);
+ blocks.push_back(1);
+
+ // Block ordering
+ // [1, 0, 2, 4, 5]
+ vector<int> block_ordering;
+ block_ordering.push_back(1);
+ block_ordering.push_back(0);
+ block_ordering.push_back(2);
+ block_ordering.push_back(4);
+ block_ordering.push_back(3);
+
+ // Expected ordering
+ // [1, 2, 0, 3, 4, 5, 9, 6, 7, 8]
+ vector<int> expected_scalar_ordering;
+ expected_scalar_ordering.push_back(1);
+ expected_scalar_ordering.push_back(2);
+ expected_scalar_ordering.push_back(0);
+ expected_scalar_ordering.push_back(3);
+ expected_scalar_ordering.push_back(4);
+ expected_scalar_ordering.push_back(5);
+ expected_scalar_ordering.push_back(9);
+ expected_scalar_ordering.push_back(6);
+ expected_scalar_ordering.push_back(7);
+ expected_scalar_ordering.push_back(8);
+
+ vector<int> scalar_ordering;
+ BlockOrderingToScalarOrdering(blocks,
+ block_ordering,
+ &scalar_ordering);
+ EXPECT_EQ(scalar_ordering.size(), expected_scalar_ordering.size());
+ for (int i = 0; i < expected_scalar_ordering.size(); ++i) {
+ EXPECT_EQ(scalar_ordering[i], expected_scalar_ordering[i]);
+ }
+}
+
+void FillBlock(const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ const int row_block_id,
+ const int col_block_id,
+ vector<Eigen::Triplet<double> >* triplets) {
+ const int row_offset = std::accumulate(&row_blocks[0], &row_blocks[row_block_id], 0);
+ const int col_offset = std::accumulate(&col_blocks[0], &col_blocks[col_block_id], 0);
+ for (int r = 0; r < row_blocks[row_block_id]; ++r) {
+ for (int c = 0; c < col_blocks[col_block_id]; ++c) {
+ triplets->push_back(Eigen::Triplet<double>(row_offset + r, col_offset + c, 1.0));
+ }
+ }
+}
+
+TEST(_, ScalarMatrixToBlockMatrix) {
+ // Block sparsity.
+ //
+ // [1 2 3 2]
+ // [1] x x
+ // [2] x x
+ // [2] x x
+ // num_nonzeros = 1 + 3 + 4 + 4 + 1 + 2 = 15
+
+
+ vector<int> col_blocks;
+ col_blocks.push_back(1);
+ col_blocks.push_back(2);
+ col_blocks.push_back(3);
+ col_blocks.push_back(2);
+
+ vector<int> row_blocks;
+ row_blocks.push_back(1);
+ row_blocks.push_back(2);
+ row_blocks.push_back(2);
+
+ const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0.0);
+ const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0.0);
+
+ vector<Eigen::Triplet<double> > triplets;
+ FillBlock(row_blocks, col_blocks, 0, 0, &triplets);
+ FillBlock(row_blocks, col_blocks, 2, 0, &triplets);
+ FillBlock(row_blocks, col_blocks, 1, 1, &triplets);
+ FillBlock(row_blocks, col_blocks, 2, 1, &triplets);
+ FillBlock(row_blocks, col_blocks, 0, 2, &triplets);
+ FillBlock(row_blocks, col_blocks, 1, 3, &triplets);
+ Eigen::SparseMatrix<double> sparse_matrix(num_rows, num_cols);
+ sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
+
+ vector<int> expected_compressed_block_rows;
+ expected_compressed_block_rows.push_back(0);
+ expected_compressed_block_rows.push_back(2);
+ expected_compressed_block_rows.push_back(1);
+ expected_compressed_block_rows.push_back(2);
+ expected_compressed_block_rows.push_back(0);
+ expected_compressed_block_rows.push_back(1);
+
+ vector<int> expected_compressed_block_cols;
+ expected_compressed_block_cols.push_back(0);
+ expected_compressed_block_cols.push_back(2);
+ expected_compressed_block_cols.push_back(4);
+ expected_compressed_block_cols.push_back(5);
+ expected_compressed_block_cols.push_back(6);
+
+ vector<int> compressed_block_rows;
+ vector<int> compressed_block_cols;
+ CompressedColumnScalarMatrixToBlockMatrix(
+ sparse_matrix.innerIndexPtr(),
+ sparse_matrix.outerIndexPtr(),
+ row_blocks,
+ col_blocks,
+ &compressed_block_rows,
+ &compressed_block_cols);
+
+ EXPECT_EQ(compressed_block_rows, expected_compressed_block_rows);
+ EXPECT_EQ(compressed_block_cols, expected_compressed_block_cols);
+}
+
+class SolveUpperTriangularTest : public ::testing::Test {
+ protected:
+ void SetUp() {
+ cols.resize(5);
+ rows.resize(7);
+ values.resize(7);
+
+ cols[0] = 0;
+ rows[0] = 0;
+ values[0] = 0.50754;
+
+ cols[1] = 1;
+ rows[1] = 1;
+ values[1] = 0.80483;
+
+ cols[2] = 2;
+ rows[2] = 1;
+ values[2] = 0.14120;
+ rows[3] = 2;
+ values[3] = 0.3;
+
+ cols[3] = 4;
+ rows[4] = 0;
+ values[4] = 0.77696;
+ rows[5] = 1;
+ values[5] = 0.41860;
+ rows[6] = 3;
+ values[6] = 0.88979;
+
+ cols[4] = 7;
+ }
+
+ vector<int> cols;
+ vector<int> rows;
+ vector<double> values;
+};
+
+TEST_F(SolveUpperTriangularTest, SolveInPlace) {
+ double rhs_and_solution[] = {1.0, 1.0, 2.0, 2.0};
+ const double expected[] = { -1.4706, -1.0962, 6.6667, 2.2477};
+
+ SolveUpperTriangularInPlace<int>(cols.size() - 1,
+ &rows[0],
+ &cols[0],
+ &values[0],
+ rhs_and_solution);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_NEAR(rhs_and_solution[i], expected[i], 1e-4) << i;
+ }
+}
+
+TEST_F(SolveUpperTriangularTest, TransposeSolveInPlace) {
+ double rhs_and_solution[] = {1.0, 1.0, 2.0, 2.0};
+ double expected[] = {1.970288, 1.242498, 6.081864, -0.057255};
+
+ SolveUpperTriangularTransposeInPlace<int>(cols.size() - 1,
+ &rows[0],
+ &cols[0],
+ &values[0],
+ rhs_and_solution);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_NEAR(rhs_and_solution[i], expected[i], 1e-4) << i;
+ }
+}
+
+TEST_F(SolveUpperTriangularTest, RTRSolveWithSparseRHS) {
+ double solution[4];
+ double expected[] = { 6.8420e+00, 1.0057e+00, -1.4907e-16, -1.9335e+00,
+ 1.0057e+00, 2.2275e+00, -1.9493e+00, -6.5693e-01,
+ -1.4907e-16, -1.9493e+00, 1.1111e+01, 9.7381e-17,
+ -1.9335e+00, -6.5693e-01, 9.7381e-17, 1.2631e+00 };
+
+ for (int i = 0; i < 4; ++i) {
+ SolveRTRWithSparseRHS<int>(cols.size() - 1,
+ &rows[0],
+ &cols[0],
+ &values[0],
+ i,
+ solution);
+ for (int j = 0; j < 4; ++j) {
+ EXPECT_NEAR(solution[j], expected[4 * i + j], 1e-3) << i;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/compressed_row_jacobian_writer.h"
+
+#include <iterator>
+#include <utility>
+#include <vector>
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::vector;
+using std::adjacent_find;
+
+void CompressedRowJacobianWriter::PopulateJacobianRowAndColumnBlockVectors(
+ const Program* program, CompressedRowSparseMatrix* jacobian) {
+ const vector<ParameterBlock*>& parameter_blocks =
+ program->parameter_blocks();
+ vector<int>& col_blocks = *(jacobian->mutable_col_blocks());
+ col_blocks.resize(parameter_blocks.size());
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ col_blocks[i] = parameter_blocks[i]->LocalSize();
+ }
+
+ const vector<ResidualBlock*>& residual_blocks =
+ program->residual_blocks();
+ vector<int>& row_blocks = *(jacobian->mutable_row_blocks());
+ row_blocks.resize(residual_blocks.size());
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ row_blocks[i] = residual_blocks[i]->NumResiduals();
+ }
+}
+
+void CompressedRowJacobianWriter::GetOrderedParameterBlocks(
+ const Program* program,
+ int residual_id,
+ vector<pair<int, int> >* evaluated_jacobian_blocks) {
+ const ResidualBlock* residual_block =
+ program->residual_blocks()[residual_id];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ evaluated_jacobian_blocks->push_back(
+ make_pair(parameter_block->index(), j));
+ }
+ }
+ sort(evaluated_jacobian_blocks->begin(), evaluated_jacobian_blocks->end());
+}
+
+SparseMatrix* CompressedRowJacobianWriter::CreateJacobian() const {
+ const vector<ResidualBlock*>& residual_blocks =
+ program_->residual_blocks();
+
+ int total_num_residuals = program_->NumResiduals();
+ int total_num_effective_parameters = program_->NumEffectiveParameters();
+
+ // Count the number of jacobian nonzeros.
+ int num_jacobian_nonzeros = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ num_jacobian_nonzeros += num_residuals * parameter_block->LocalSize();
+ }
+ }
+ }
+
+ // Allocate storage for the jacobian with some extra space at the end.
+ // Allocate more space than needed to store the jacobian so that when the LM
+ // algorithm adds the diagonal, no reallocation is necessary. This reduces
+ // peak memory usage significantly.
+ CompressedRowSparseMatrix* jacobian =
+ new CompressedRowSparseMatrix(
+ total_num_residuals,
+ total_num_effective_parameters,
+ num_jacobian_nonzeros + total_num_effective_parameters);
+
+ // At this stage, the CompressedRowSparseMatrix is an invalid state. But this
+ // seems to be the only way to construct it without doing a memory copy.
+ int* rows = jacobian->mutable_rows();
+ int* cols = jacobian->mutable_cols();
+
+ int row_pos = 0;
+ rows[0] = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Count the number of derivatives for a row of this residual block and
+ // build a list of active parameter block indices.
+ int num_derivatives = 0;
+ vector<int> parameter_indices;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ parameter_indices.push_back(parameter_block->index());
+ num_derivatives += parameter_block->LocalSize();
+ }
+ }
+
+ // Sort the parameters by their position in the state vector.
+ sort(parameter_indices.begin(), parameter_indices.end());
+ if (adjacent_find(parameter_indices.begin(), parameter_indices.end()) !=
+ parameter_indices.end()) {
+ std::string parameter_block_description;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ parameter_block_description +=
+ parameter_block->ToString() + "\n";
+ }
+ LOG(FATAL) << "Ceres internal error: "
+ << "Duplicate parameter blocks detected in a cost function. "
+ << "This should never happen. Please report this to "
+ << "the Ceres developers.\n"
+ << "Residual Block: " << residual_block->ToString() << "\n"
+ << "Parameter Blocks: " << parameter_block_description;
+ }
+
+ // Update the row indices.
+ const int num_residuals = residual_block->NumResiduals();
+ for (int j = 0; j < num_residuals; ++j) {
+ rows[row_pos + j + 1] = rows[row_pos + j] + num_derivatives;
+ }
+
+ // Iterate over parameter blocks in the order which they occur in the
+ // parameter vector. This code mirrors that in Write(), where jacobian
+ // values are updated.
+ int col_pos = 0;
+ for (int j = 0; j < parameter_indices.size(); ++j) {
+ ParameterBlock* parameter_block =
+ program_->parameter_blocks()[parameter_indices[j]];
+ const int parameter_block_size = parameter_block->LocalSize();
+
+ for (int r = 0; r < num_residuals; ++r) {
+ // This is the position in the values array of the jacobian where this
+ // row of the jacobian block should go.
+ const int column_block_begin = rows[row_pos + r] + col_pos;
+
+ for (int c = 0; c < parameter_block_size; ++c) {
+ cols[column_block_begin + c] = parameter_block->delta_offset() + c;
+ }
+ }
+ col_pos += parameter_block_size;
+ }
+ row_pos += num_residuals;
+ }
+ CHECK_EQ(num_jacobian_nonzeros, rows[total_num_residuals]);
+
+ PopulateJacobianRowAndColumnBlockVectors(program_, jacobian);
+
+ return jacobian;
+}
+
+void CompressedRowJacobianWriter::Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian) {
+ CompressedRowSparseMatrix* jacobian =
+ down_cast<CompressedRowSparseMatrix*>(base_jacobian);
+
+ double* jacobian_values = jacobian->mutable_values();
+ const int* jacobian_rows = jacobian->rows();
+
+ const ResidualBlock* residual_block =
+ program_->residual_blocks()[residual_id];
+ const int num_residuals = residual_block->NumResiduals();
+
+ vector<pair<int, int> > evaluated_jacobian_blocks;
+ GetOrderedParameterBlocks(program_, residual_id, &evaluated_jacobian_blocks);
+
+ // Where in the current row does the jacobian for a parameter block begin.
+ int col_pos = 0;
+
+ // Iterate over the jacobian blocks in increasing order of their
+ // positions in the reduced parameter vector.
+ for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
+ const ParameterBlock* parameter_block =
+ program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
+ const int argument = evaluated_jacobian_blocks[i].second;
+ const int parameter_block_size = parameter_block->LocalSize();
+
+ // Copy one row of the jacobian block at a time.
+ for (int r = 0; r < num_residuals; ++r) {
+ // Position of the r^th row of the current jacobian block.
+ const double* block_row_begin =
+ jacobians[argument] + r * parameter_block_size;
+
+ // Position in the values array of the jacobian where this
+ // row of the jacobian block should go.
+ double* column_block_begin =
+ jacobian_values + jacobian_rows[residual_offset + r] + col_pos;
+
+ std::copy(block_row_begin,
+ block_row_begin + parameter_block_size,
+ column_block_begin);
+ }
+ col_pos += parameter_block_size;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that directly writes to compressed row sparse matrices.
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include <utility>
+#include <vector>
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class Program;
+class SparseMatrix;
+
+class CompressedRowJacobianWriter {
+ public:
+ CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
+ // row_blocks for a CompressedRowSparseMatrix, based on the
+ // parameter block sizes and residual sizes respectively from the
+ // program. This is useful when Solver::Options::use_block_amd =
+ // true;
+ //
+ // This function is static so that it is available to other jacobian
+ // writers which use CompressedRowSparseMatrix (or derived types).
+ // (Jacobian writers do not fall under any type hierarchy; they only
+ // have to provide an interface as specified in program_evaluator.h).
+ static void PopulateJacobianRowAndColumnBlockVectors(
+ const Program* program,
+ CompressedRowSparseMatrix* jacobian);
+
+ // It is necessary to determine the order of the jacobian blocks
+ // before copying them into a CompressedRowSparseMatrix (or derived
+ // type). Just because a cost function uses parameter blocks 1
+ // after 2 in its arguments does not mean that the block 1 occurs
+ // before block 2 in the column layout of the jacobian. Thus,
+ // GetOrderedParameterBlocks determines the order by sorting the
+ // jacobian blocks by their position in the state vector.
+ //
+ // This function is static so that it is available to other jacobian
+ // writers which use CompressedRowSparseMatrix (or derived types).
+ // (Jacobian writers do not fall under any type hierarchy; they only
+ // have to provide an interface as specified in
+ // program_evaluator.h).
+ static void GetOrderedParameterBlocks(
+ const Program* program,
+ int residual_id,
+ std::vector<std::pair<int, int> >* evaluated_jacobian_blocks);
+
+ // JacobianWriter interface.
+
+ // Since the compressed row matrix has different layout than that
+ // assumed by the cost functions, use scratch space to store the
+ // jacobians temporarily then copy them over to the larger jacobian
+ // in the Write() function.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+ }
+
+ SparseMatrix* CreateJacobian() const;
+
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian);
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/compressed_row_sparse_matrix.h"
+
+#include <algorithm>
+#include <numeric>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Helper functor used by the constructor for reordering the contents
+// of a TripletSparseMatrix. This comparator assumes thay there are no
+// duplicates in the pair of arrays rows and cols, i.e., there is no
+// indices i and j (not equal to each other) s.t.
+//
+// rows[i] == rows[j] && cols[i] == cols[j]
+//
+// If this is the case, this functor will not be a StrictWeakOrdering.
+struct RowColLessThan {
+ RowColLessThan(const int* rows, const int* cols) : rows(rows), cols(cols) {}
+
+ bool operator()(const int x, const int y) const {
+ if (rows[x] == rows[y]) {
+ return (cols[x] < cols[y]);
+ }
+ return (rows[x] < rows[y]);
+ }
+
+ const int* rows;
+ const int* cols;
+};
+
+void TransposeForCompressedRowSparseStructure(const int num_rows,
+ const int num_cols,
+ const int num_nonzeros,
+ const int* rows,
+ const int* cols,
+ const double* values,
+ int* transpose_rows,
+ int* transpose_cols,
+ double* transpose_values) {
+ // Explicitly zero out transpose_rows.
+ std::fill(transpose_rows, transpose_rows + num_cols + 1, 0);
+
+ // Count the number of entries in each column of the original matrix
+ // and assign to transpose_rows[col + 1].
+ for (int idx = 0; idx < num_nonzeros; ++idx) {
+ ++transpose_rows[cols[idx] + 1];
+ }
+
+ // Compute the starting position for each row in the transpose by
+ // computing the cumulative sum of the entries of transpose_rows.
+ for (int i = 1; i < num_cols + 1; ++i) {
+ transpose_rows[i] += transpose_rows[i - 1];
+ }
+
+ // Populate transpose_cols and (optionally) transpose_values by
+ // walking the entries of the source matrices. For each entry that
+ // is added, the value of transpose_row is incremented allowing us
+ // to keep track of where the next entry for that row should go.
+ //
+ // As a result transpose_row is shifted to the left by one entry.
+ for (int r = 0; r < num_rows; ++r) {
+ for (int idx = rows[r]; idx < rows[r + 1]; ++idx) {
+ const int c = cols[idx];
+ const int transpose_idx = transpose_rows[c]++;
+ transpose_cols[transpose_idx] = r;
+ if (values != NULL && transpose_values != NULL) {
+ transpose_values[transpose_idx] = values[idx];
+ }
+ }
+ }
+
+ // This loop undoes the left shift to transpose_rows introduced by
+ // the previous loop.
+ for (int i = num_cols - 1; i > 0; --i) {
+ transpose_rows[i] = transpose_rows[i - 1];
+ }
+ transpose_rows[0] = 0;
+}
+
+void AddRandomBlock(const int num_rows,
+ const int num_cols,
+ const int row_block_begin,
+ const int col_block_begin,
+ std::vector<int>* rows,
+ std::vector<int>* cols,
+ std::vector<double>* values) {
+ for (int r = 0; r < num_rows; ++r) {
+ for (int c = 0; c < num_cols; ++c) {
+ rows->push_back(row_block_begin + r);
+ cols->push_back(col_block_begin + c);
+ values->push_back(RandNormal());
+ }
+ }
+}
+
+} // namespace
+
+// This constructor gives you a semi-initialized CompressedRowSparseMatrix.
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros) {
+ num_rows_ = num_rows;
+ num_cols_ = num_cols;
+ storage_type_ = UNSYMMETRIC;
+ rows_.resize(num_rows + 1, 0);
+ cols_.resize(max_num_nonzeros, 0);
+ values_.resize(max_num_nonzeros, 0.0);
+
+ VLOG(1) << "# of rows: " << num_rows_ << " # of columns: " << num_cols_
+ << " max_num_nonzeros: " << cols_.size() << ". Allocating "
+ << (num_rows_ + 1) * sizeof(int) + // NOLINT
+ cols_.size() * sizeof(int) + // NOLINT
+ cols_.size() * sizeof(double); // NOLINT
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix(
+ const TripletSparseMatrix& input) {
+ return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, false);
+}
+
+CompressedRowSparseMatrix*
+CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(
+ const TripletSparseMatrix& input) {
+ return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, true);
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix(
+ const TripletSparseMatrix& input, bool transpose) {
+ int num_rows = input.num_rows();
+ int num_cols = input.num_cols();
+ const int* rows = input.rows();
+ const int* cols = input.cols();
+ const double* values = input.values();
+
+ if (transpose) {
+ std::swap(num_rows, num_cols);
+ std::swap(rows, cols);
+ }
+
+ // index is the list of indices into the TripletSparseMatrix input.
+ vector<int> index(input.num_nonzeros(), 0);
+ for (int i = 0; i < input.num_nonzeros(); ++i) {
+ index[i] = i;
+ }
+
+ // Sort index such that the entries of m are ordered by row and ties
+ // are broken by column.
+ std::sort(index.begin(), index.end(), RowColLessThan(rows, cols));
+
+ VLOG(1) << "# of rows: " << num_rows << " # of columns: " << num_cols
+ << " num_nonzeros: " << input.num_nonzeros() << ". Allocating "
+ << ((num_rows + 1) * sizeof(int) + // NOLINT
+ input.num_nonzeros() * sizeof(int) + // NOLINT
+ input.num_nonzeros() * sizeof(double)); // NOLINT
+
+ CompressedRowSparseMatrix* output =
+ new CompressedRowSparseMatrix(num_rows, num_cols, input.num_nonzeros());
+
+ // Copy the contents of the cols and values array in the order given
+ // by index and count the number of entries in each row.
+ int* output_rows = output->mutable_rows();
+ int* output_cols = output->mutable_cols();
+ double* output_values = output->mutable_values();
+
+ output_rows[0] = 0;
+ for (int i = 0; i < index.size(); ++i) {
+ const int idx = index[i];
+ ++output_rows[rows[idx] + 1];
+ output_cols[i] = cols[idx];
+ output_values[i] = values[idx];
+ }
+
+ // Find the cumulative sum of the row counts.
+ for (int i = 1; i < num_rows + 1; ++i) {
+ output_rows[i] += output_rows[i - 1];
+ }
+
+ CHECK_EQ(output->num_nonzeros(), input.num_nonzeros());
+ return output;
+}
+
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(const double* diagonal,
+ int num_rows) {
+ CHECK_NOTNULL(diagonal);
+
+ num_rows_ = num_rows;
+ num_cols_ = num_rows;
+ storage_type_ = UNSYMMETRIC;
+ rows_.resize(num_rows + 1);
+ cols_.resize(num_rows);
+ values_.resize(num_rows);
+
+ rows_[0] = 0;
+ for (int i = 0; i < num_rows_; ++i) {
+ cols_[i] = i;
+ values_[i] = diagonal[i];
+ rows_[i + 1] = i + 1;
+ }
+
+ CHECK_EQ(num_nonzeros(), num_rows);
+}
+
+CompressedRowSparseMatrix::~CompressedRowSparseMatrix() {}
+
+void CompressedRowSparseMatrix::SetZero() {
+ std::fill(values_.begin(), values_.end(), 0);
+}
+
+void CompressedRowSparseMatrix::RightMultiply(const double* x,
+ double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ y[r] += values_[idx] * x[cols_[idx]];
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ y[cols_[idx]] += values_[idx] * x[r];
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+
+ std::fill(x, x + num_cols_, 0.0);
+ for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+ x[cols_[idx]] += values_[idx] * values_[idx];
+ }
+}
+
+void CompressedRowSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+
+ for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+ values_[idx] *= scale[cols_[idx]];
+ }
+}
+
+void CompressedRowSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ CHECK_NOTNULL(dense_matrix);
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ (*dense_matrix)(r, cols_[idx]) = values_[idx];
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::DeleteRows(int delta_rows) {
+ CHECK_GE(delta_rows, 0);
+ CHECK_LE(delta_rows, num_rows_);
+
+ num_rows_ -= delta_rows;
+ rows_.resize(num_rows_ + 1);
+
+ // The rest of the code updates the block information. Immediately
+ // return in case of no block information.
+ if (row_blocks_.empty()) {
+ return;
+ }
+
+ // Walk the list of row blocks until we reach the new number of rows
+ // and the drop the rest of the row blocks.
+ int num_row_blocks = 0;
+ int num_rows = 0;
+ while (num_row_blocks < row_blocks_.size() && num_rows < num_rows_) {
+ num_rows += row_blocks_[num_row_blocks];
+ ++num_row_blocks;
+ }
+
+ row_blocks_.resize(num_row_blocks);
+}
+
+void CompressedRowSparseMatrix::AppendRows(const CompressedRowSparseMatrix& m) {
+ CHECK_EQ(m.num_cols(), num_cols_);
+
+ CHECK((row_blocks_.empty() && m.row_blocks().empty()) ||
+ (!row_blocks_.empty() && !m.row_blocks().empty()))
+ << "Cannot append a matrix with row blocks to one without and vice versa."
+ << "This matrix has : " << row_blocks_.size() << " row blocks."
+ << "The matrix being appended has: " << m.row_blocks().size()
+ << " row blocks.";
+
+ if (m.num_rows() == 0) {
+ return;
+ }
+
+ if (cols_.size() < num_nonzeros() + m.num_nonzeros()) {
+ cols_.resize(num_nonzeros() + m.num_nonzeros());
+ values_.resize(num_nonzeros() + m.num_nonzeros());
+ }
+
+ // Copy the contents of m into this matrix.
+ DCHECK_LT(num_nonzeros(), cols_.size());
+ if (m.num_nonzeros() > 0) {
+ std::copy(m.cols(), m.cols() + m.num_nonzeros(), &cols_[num_nonzeros()]);
+ std::copy(
+ m.values(), m.values() + m.num_nonzeros(), &values_[num_nonzeros()]);
+ }
+
+ rows_.resize(num_rows_ + m.num_rows() + 1);
+ // new_rows = [rows_, m.row() + rows_[num_rows_]]
+ std::fill(rows_.begin() + num_rows_,
+ rows_.begin() + num_rows_ + m.num_rows() + 1,
+ rows_[num_rows_]);
+
+ for (int r = 0; r < m.num_rows() + 1; ++r) {
+ rows_[num_rows_ + r] += m.rows()[r];
+ }
+
+ num_rows_ += m.num_rows();
+
+ // The rest of the code updates the block information. Immediately
+ // return in case of no block information.
+ if (row_blocks_.empty()) {
+ return;
+ }
+
+ row_blocks_.insert(
+ row_blocks_.end(), m.row_blocks().begin(), m.row_blocks().end());
+}
+
+void CompressedRowSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ fprintf(file, "% 10d % 10d %17f\n", r, cols_[idx], values_[idx]);
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::ToCRSMatrix(CRSMatrix* matrix) const {
+ matrix->num_rows = num_rows_;
+ matrix->num_cols = num_cols_;
+ matrix->rows = rows_;
+ matrix->cols = cols_;
+ matrix->values = values_;
+
+ // Trim.
+ matrix->rows.resize(matrix->num_rows + 1);
+ matrix->cols.resize(matrix->rows[matrix->num_rows]);
+ matrix->values.resize(matrix->rows[matrix->num_rows]);
+}
+
+void CompressedRowSparseMatrix::SetMaxNumNonZeros(int num_nonzeros) {
+ CHECK_GE(num_nonzeros, 0);
+
+ cols_.resize(num_nonzeros);
+ values_.resize(num_nonzeros);
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+ const double* diagonal, const vector<int>& blocks) {
+ int num_rows = 0;
+ int num_nonzeros = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ num_rows += blocks[i];
+ num_nonzeros += blocks[i] * blocks[i];
+ }
+
+ CompressedRowSparseMatrix* matrix =
+ new CompressedRowSparseMatrix(num_rows, num_rows, num_nonzeros);
+
+ int* rows = matrix->mutable_rows();
+ int* cols = matrix->mutable_cols();
+ double* values = matrix->mutable_values();
+ std::fill(values, values + num_nonzeros, 0.0);
+
+ int idx_cursor = 0;
+ int col_cursor = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ const int block_size = blocks[i];
+ for (int r = 0; r < block_size; ++r) {
+ *(rows++) = idx_cursor;
+ values[idx_cursor + r] = diagonal[col_cursor + r];
+ for (int c = 0; c < block_size; ++c, ++idx_cursor) {
+ *(cols++) = col_cursor + c;
+ }
+ }
+ col_cursor += block_size;
+ }
+ *rows = idx_cursor;
+
+ *matrix->mutable_row_blocks() = blocks;
+ *matrix->mutable_col_blocks() = blocks;
+
+ CHECK_EQ(idx_cursor, num_nonzeros);
+ CHECK_EQ(col_cursor, num_rows);
+ return matrix;
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::Transpose() const {
+ CompressedRowSparseMatrix* transpose =
+ new CompressedRowSparseMatrix(num_cols_, num_rows_, num_nonzeros());
+
+ switch (storage_type_) {
+ case UNSYMMETRIC:
+ transpose->set_storage_type(UNSYMMETRIC);
+ break;
+ case LOWER_TRIANGULAR:
+ transpose->set_storage_type(UPPER_TRIANGULAR);
+ break;
+ case UPPER_TRIANGULAR:
+ transpose->set_storage_type(LOWER_TRIANGULAR);
+ break;
+ default:
+ LOG(FATAL) << "Unknown storage type: " << storage_type_;
+ };
+
+ TransposeForCompressedRowSparseStructure(num_rows(),
+ num_cols(),
+ num_nonzeros(),
+ rows(),
+ cols(),
+ values(),
+ transpose->mutable_rows(),
+ transpose->mutable_cols(),
+ transpose->mutable_values());
+
+ // The rest of the code updates the block information. Immediately
+ // return in case of no block information.
+ if (row_blocks_.empty()) {
+ return transpose;
+ }
+
+ *(transpose->mutable_row_blocks()) = col_blocks_;
+ *(transpose->mutable_col_blocks()) = row_blocks_;
+ return transpose;
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateRandomMatrix(
+ const CompressedRowSparseMatrix::RandomMatrixOptions& options) {
+ CHECK_GT(options.num_row_blocks, 0);
+ CHECK_GT(options.min_row_block_size, 0);
+ CHECK_GT(options.max_row_block_size, 0);
+ CHECK_LE(options.min_row_block_size, options.max_row_block_size);
+ CHECK_GT(options.num_col_blocks, 0);
+ CHECK_GT(options.min_col_block_size, 0);
+ CHECK_GT(options.max_col_block_size, 0);
+ CHECK_LE(options.min_col_block_size, options.max_col_block_size);
+ CHECK_GT(options.block_density, 0.0);
+ CHECK_LE(options.block_density, 1.0);
+
+ vector<int> row_blocks;
+ vector<int> col_blocks;
+
+ // Generate the row block structure.
+ for (int i = 0; i < options.num_row_blocks; ++i) {
+ // Generate a random integer in [min_row_block_size, max_row_block_size]
+ const int delta_block_size =
+ Uniform(options.max_row_block_size - options.min_row_block_size);
+ row_blocks.push_back(options.min_row_block_size + delta_block_size);
+ }
+
+ // Generate the col block structure.
+ for (int i = 0; i < options.num_col_blocks; ++i) {
+ // Generate a random integer in [min_col_block_size, max_col_block_size]
+ const int delta_block_size =
+ Uniform(options.max_col_block_size - options.min_col_block_size);
+ col_blocks.push_back(options.min_col_block_size + delta_block_size);
+ }
+
+ vector<int> tsm_rows;
+ vector<int> tsm_cols;
+ vector<double> tsm_values;
+
+ // For ease of construction, we are going to generate the
+ // CompressedRowSparseMatrix by generating it as a
+ // TripletSparseMatrix and then converting it to a
+ // CompressedRowSparseMatrix.
+
+ // It is possible that the random matrix is empty which is likely
+ // not what the user wants, so do the matrix generation till we have
+ // at least one non-zero entry.
+ while (tsm_values.empty()) {
+ tsm_rows.clear();
+ tsm_cols.clear();
+ tsm_values.clear();
+
+ int row_block_begin = 0;
+ for (int r = 0; r < options.num_row_blocks; ++r) {
+ int col_block_begin = 0;
+ for (int c = 0; c < options.num_col_blocks; ++c) {
+ // Randomly determine if this block is present or not.
+ if (RandDouble() <= options.block_density) {
+ AddRandomBlock(row_blocks[r],
+ col_blocks[c],
+ row_block_begin,
+ col_block_begin,
+ &tsm_rows,
+ &tsm_cols,
+ &tsm_values);
+ }
+ col_block_begin += col_blocks[c];
+ }
+ row_block_begin += row_blocks[r];
+ }
+ }
+
+ const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0);
+ const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0);
+ const bool kDoNotTranspose = false;
+ CompressedRowSparseMatrix* matrix =
+ CompressedRowSparseMatrix::FromTripletSparseMatrix(
+ TripletSparseMatrix(
+ num_rows, num_cols, tsm_rows, tsm_cols, tsm_values),
+ kDoNotTranspose);
+ (*matrix->mutable_row_blocks()) = row_blocks;
+ (*matrix->mutable_col_blocks()) = col_blocks;
+ matrix->set_storage_type(CompressedRowSparseMatrix::UNSYMMETRIC);
+ return matrix;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class TripletSparseMatrix;
+
+class CompressedRowSparseMatrix : public SparseMatrix {
+ public:
+ enum StorageType {
+ UNSYMMETRIC,
+ // Matrix is assumed to be symmetric but only the lower triangular
+ // part of the matrix is stored.
+ LOWER_TRIANGULAR,
+ // Matrix is assumed to be symmetric but only the upper triangular
+ // part of the matrix is stored.
+ UPPER_TRIANGULAR
+ };
+
+ // Create a matrix with the same content as the TripletSparseMatrix
+ // input. We assume that input does not have any repeated
+ // entries.
+ //
+ // The storage type of the matrix is set to UNSYMMETRIC.
+ //
+ // Caller owns the result.
+ static CompressedRowSparseMatrix* FromTripletSparseMatrix(
+ const TripletSparseMatrix& input);
+
+ // Create a matrix with the same content as the TripletSparseMatrix
+ // input transposed. We assume that input does not have any repeated
+ // entries.
+ //
+ // The storage type of the matrix is set to UNSYMMETRIC.
+ //
+ // Caller owns the result.
+ static CompressedRowSparseMatrix* FromTripletSparseMatrixTransposed(
+ const TripletSparseMatrix& input);
+
+ // Use this constructor only if you know what you are doing. This
+ // creates a "blank" matrix with the appropriate amount of memory
+ // allocated. However, the object itself is in an inconsistent state
+ // as the rows and cols matrices do not match the values of
+ // num_rows, num_cols and max_num_nonzeros.
+ //
+ // The use case for this constructor is that when the user knows the
+ // size of the matrix to begin with and wants to update the layout
+ // manually, instead of going via the indirect route of first
+ // constructing a TripletSparseMatrix, which leads to more than
+ // double the peak memory usage.
+ //
+ // The storage type is set to UNSYMMETRIC.
+ CompressedRowSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros);
+
+ // Build a square sparse diagonal matrix with num_rows rows and
+ // columns. The diagonal m(i,i) = diagonal(i);
+ //
+ // The storage type is set to UNSYMMETRIC
+ CompressedRowSparseMatrix(const double* diagonal, int num_rows);
+
+ // SparseMatrix interface.
+ virtual ~CompressedRowSparseMatrix();
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return rows_[num_rows_]; }
+ virtual const double* values() const { return &values_[0]; }
+ virtual double* mutable_values() { return &values_[0]; }
+
+ // Delete the bottom delta_rows.
+ // num_rows -= delta_rows
+ void DeleteRows(int delta_rows);
+
+ // Append the contents of m to the bottom of this matrix. m must
+ // have the same number of columns as this matrix.
+ void AppendRows(const CompressedRowSparseMatrix& m);
+
+ void ToCRSMatrix(CRSMatrix* matrix) const;
+
+ CompressedRowSparseMatrix* Transpose() const;
+
+ // Destructive array resizing method.
+ void SetMaxNumNonZeros(int num_nonzeros);
+
+ // Non-destructive array resizing method.
+ void set_num_rows(const int num_rows) { num_rows_ = num_rows; }
+ void set_num_cols(const int num_cols) { num_cols_ = num_cols; }
+
+ // Low level access methods that expose the structure of the matrix.
+ const int* cols() const { return &cols_[0]; }
+ int* mutable_cols() { return &cols_[0]; }
+
+ const int* rows() const { return &rows_[0]; }
+ int* mutable_rows() { return &rows_[0]; }
+
+ const StorageType storage_type() const { return storage_type_; }
+ void set_storage_type(const StorageType storage_type) {
+ storage_type_ = storage_type;
+ }
+
+ const std::vector<int>& row_blocks() const { return row_blocks_; }
+ std::vector<int>* mutable_row_blocks() { return &row_blocks_; }
+
+ const std::vector<int>& col_blocks() const { return col_blocks_; }
+ std::vector<int>* mutable_col_blocks() { return &col_blocks_; }
+
+ // Create a block diagonal CompressedRowSparseMatrix with the given
+ // block structure. The individual blocks are assumed to be laid out
+ // contiguously in the diagonal array, one block at a time.
+ //
+ // Caller owns the result.
+ static CompressedRowSparseMatrix* CreateBlockDiagonalMatrix(
+ const double* diagonal,
+ const std::vector<int>& blocks);
+
+ // Options struct to control the generation of random block sparse
+ // matrices in compressed row sparse format.
+ //
+ // The random matrix generation proceeds as follows.
+ //
+ // First the row and column block structure is determined by
+ // generating random row and column block sizes that lie within the
+ // given bounds.
+ //
+ // Then we walk the block structure of the resulting matrix, and with
+ // probability block_density detemine whether they are structurally
+ // zero or not. If the answer is no, then we generate entries for the
+ // block which are distributed normally.
+ struct RandomMatrixOptions {
+ RandomMatrixOptions()
+ : num_row_blocks(0),
+ min_row_block_size(0),
+ max_row_block_size(0),
+ num_col_blocks(0),
+ min_col_block_size(0),
+ max_col_block_size(0),
+ block_density(0.0) {
+ }
+
+ int num_row_blocks;
+ int min_row_block_size;
+ int max_row_block_size;
+ int num_col_blocks;
+ int min_col_block_size;
+ int max_col_block_size;
+
+ // 0 < block_density <= 1 is the probability of a block being
+ // present in the matrix. A given random matrix will not have
+ // precisely this density.
+ double block_density;
+ };
+
+ // Create a random CompressedRowSparseMatrix whose entries are
+ // normally distributed and whose structure is determined by
+ // RandomMatrixOptions.
+ //
+ // Caller owns the result.
+ static CompressedRowSparseMatrix* CreateRandomMatrix(
+ const RandomMatrixOptions& options);
+
+ private:
+ static CompressedRowSparseMatrix* FromTripletSparseMatrix(
+ const TripletSparseMatrix& input, bool transpose);
+
+ int num_rows_;
+ int num_cols_;
+ std::vector<int> rows_;
+ std::vector<int> cols_;
+ std::vector<double> values_;
+ StorageType storage_type_;
+
+ // If the matrix has an underlying block structure, then it can also
+ // carry with it row and column block sizes. This is auxilliary and
+ // optional information for use by algorithms operating on the
+ // matrix. The class itself does not make use of this information in
+ // any way.
+ std::vector<int> row_blocks_;
+ std::vector<int> col_blocks_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
--- /dev/null
+// 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/compressed_row_sparse_matrix.h"
+
+#include <numeric>
+#include "ceres/casts.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+ EXPECT_EQ(a->num_rows(), b->num_rows());
+ EXPECT_EQ(a->num_cols(), b->num_cols());
+
+ int num_rows = a->num_rows();
+ int num_cols = a->num_cols();
+
+ for (int i = 0; i < num_cols; ++i) {
+ Vector x = Vector::Zero(num_cols);
+ x(i) = 1.0;
+
+ Vector y_a = Vector::Zero(num_rows);
+ Vector y_b = Vector::Zero(num_rows);
+
+ a->RightMultiply(x.data(), y_a.data());
+ b->RightMultiply(x.data(), y_b.data());
+
+ EXPECT_EQ((y_a - y_b).norm(), 0);
+ }
+}
+
+class CompressedRowSparseMatrixTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(1));
+
+ CHECK_NOTNULL(problem.get());
+
+ tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ crsm.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+
+ num_rows = tsm->num_rows();
+ num_cols = tsm->num_cols();
+
+ vector<int>* row_blocks = crsm->mutable_row_blocks();
+ row_blocks->resize(num_rows);
+ std::fill(row_blocks->begin(), row_blocks->end(), 1);
+
+ vector<int>* col_blocks = crsm->mutable_col_blocks();
+ col_blocks->resize(num_cols);
+ std::fill(col_blocks->begin(), col_blocks->end(), 1);
+ }
+
+ int num_rows;
+ int num_cols;
+
+ scoped_ptr<TripletSparseMatrix> tsm;
+ scoped_ptr<CompressedRowSparseMatrix> crsm;
+};
+
+TEST_F(CompressedRowSparseMatrixTest, RightMultiply) {
+ CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, LeftMultiply) {
+ for (int i = 0; i < num_rows; ++i) {
+ Vector a = Vector::Zero(num_rows);
+ a(i) = 1.0;
+
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ crsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+ }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ColumnNorm) {
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->SquaredColumnNorm(b1.data());
+ crsm->SquaredColumnNorm(b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, Scale) {
+ Vector scale(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ scale(i) = i + 1;
+ }
+
+ tsm->ScaleColumns(scale.data());
+ crsm->ScaleColumns(scale.data());
+ CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, DeleteRows) {
+ // Clear the row and column blocks as these are purely scalar tests.
+ crsm->mutable_row_blocks()->clear();
+ crsm->mutable_col_blocks()->clear();
+
+ for (int i = 0; i < num_rows; ++i) {
+ tsm->Resize(num_rows - i, num_cols);
+ crsm->DeleteRows(crsm->num_rows() - tsm->num_rows());
+ CompareMatrices(tsm.get(), crsm.get());
+ }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, AppendRows) {
+ // Clear the row and column blocks as these are purely scalar tests.
+ crsm->mutable_row_blocks()->clear();
+ crsm->mutable_col_blocks()->clear();
+
+ for (int i = 0; i < num_rows; ++i) {
+ TripletSparseMatrix tsm_appendage(*tsm);
+ tsm_appendage.Resize(i, num_cols);
+
+ tsm->AppendRows(tsm_appendage);
+ scoped_ptr<CompressedRowSparseMatrix> crsm_appendage(
+ CompressedRowSparseMatrix::FromTripletSparseMatrix(tsm_appendage));
+
+ crsm->AppendRows(*crsm_appendage);
+ CompareMatrices(tsm.get(), crsm.get());
+ }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, AppendAndDeleteBlockDiagonalMatrix) {
+ int num_diagonal_rows = crsm->num_cols();
+
+ scoped_array<double> diagonal(new double[num_diagonal_rows]);
+ for (int i = 0; i < num_diagonal_rows; ++i) {
+ diagonal[i] = i;
+ }
+
+ vector<int> row_and_column_blocks;
+ row_and_column_blocks.push_back(1);
+ row_and_column_blocks.push_back(2);
+ row_and_column_blocks.push_back(2);
+
+ const vector<int> pre_row_blocks = crsm->row_blocks();
+ const vector<int> pre_col_blocks = crsm->col_blocks();
+
+ scoped_ptr<CompressedRowSparseMatrix> appendage(
+ CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+ diagonal.get(), row_and_column_blocks));
+ LOG(INFO) << appendage->row_blocks().size();
+
+ crsm->AppendRows(*appendage);
+
+ const vector<int> post_row_blocks = crsm->row_blocks();
+ const vector<int> post_col_blocks = crsm->col_blocks();
+
+ vector<int> expected_row_blocks = pre_row_blocks;
+ expected_row_blocks.insert(expected_row_blocks.end(),
+ row_and_column_blocks.begin(),
+ row_and_column_blocks.end());
+
+ vector<int> expected_col_blocks = pre_col_blocks;
+
+ EXPECT_EQ(expected_row_blocks, crsm->row_blocks());
+ EXPECT_EQ(expected_col_blocks, crsm->col_blocks());
+
+ crsm->DeleteRows(num_diagonal_rows);
+ EXPECT_EQ(crsm->row_blocks(), pre_row_blocks);
+ EXPECT_EQ(crsm->col_blocks(), pre_col_blocks);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ToDenseMatrix) {
+ Matrix tsm_dense;
+ Matrix crsm_dense;
+
+ tsm->ToDenseMatrix(&tsm_dense);
+ crsm->ToDenseMatrix(&crsm_dense);
+
+ EXPECT_EQ((tsm_dense - crsm_dense).norm(), 0.0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ToCRSMatrix) {
+ CRSMatrix crs_matrix;
+ crsm->ToCRSMatrix(&crs_matrix);
+ EXPECT_EQ(crsm->num_rows(), crs_matrix.num_rows);
+ EXPECT_EQ(crsm->num_cols(), crs_matrix.num_cols);
+ EXPECT_EQ(crsm->num_rows() + 1, crs_matrix.rows.size());
+ EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.cols.size());
+ EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.values.size());
+
+ for (int i = 0; i < crsm->num_rows() + 1; ++i) {
+ EXPECT_EQ(crsm->rows()[i], crs_matrix.rows[i]);
+ }
+
+ for (int i = 0; i < crsm->num_nonzeros(); ++i) {
+ EXPECT_EQ(crsm->cols()[i], crs_matrix.cols[i]);
+ EXPECT_EQ(crsm->values()[i], crs_matrix.values[i]);
+ }
+}
+
+TEST(CompressedRowSparseMatrix, CreateBlockDiagonalMatrix) {
+ vector<int> blocks;
+ blocks.push_back(1);
+ blocks.push_back(2);
+ blocks.push_back(2);
+
+ Vector diagonal(5);
+ for (int i = 0; i < 5; ++i) {
+ diagonal(i) = i + 1;
+ }
+
+ scoped_ptr<CompressedRowSparseMatrix> matrix(
+ CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(diagonal.data(),
+ blocks));
+
+ EXPECT_EQ(matrix->num_rows(), 5);
+ EXPECT_EQ(matrix->num_cols(), 5);
+ EXPECT_EQ(matrix->num_nonzeros(), 9);
+ EXPECT_EQ(blocks, matrix->row_blocks());
+ EXPECT_EQ(blocks, matrix->col_blocks());
+
+ Vector x(5);
+ Vector y(5);
+
+ x.setOnes();
+ y.setZero();
+ matrix->RightMultiply(x.data(), y.data());
+ for (int i = 0; i < diagonal.size(); ++i) {
+ EXPECT_EQ(y[i], diagonal[i]);
+ }
+
+ y.setZero();
+ matrix->LeftMultiply(x.data(), y.data());
+ for (int i = 0; i < diagonal.size(); ++i) {
+ EXPECT_EQ(y[i], diagonal[i]);
+ }
+
+ Matrix dense;
+ matrix->ToDenseMatrix(&dense);
+ EXPECT_EQ((dense.diagonal() - diagonal).norm(), 0.0);
+}
+
+TEST(CompressedRowSparseMatrix, Transpose) {
+ // 0 1 0 2 3 0
+ // 4 6 7 0 0 8
+ // 9 10 0 11 12 0
+ // 13 0 14 15 9 0
+ // 0 16 17 0 0 0
+
+ // Block structure:
+ // A A A A B B
+ // A A A A B B
+ // A A A A B B
+ // C C C C D D
+ // C C C C D D
+ // C C C C D D
+
+ CompressedRowSparseMatrix matrix(5, 6, 30);
+ int* rows = matrix.mutable_rows();
+ int* cols = matrix.mutable_cols();
+ double* values = matrix.mutable_values();
+ matrix.mutable_row_blocks()->push_back(3);
+ matrix.mutable_row_blocks()->push_back(3);
+ matrix.mutable_col_blocks()->push_back(4);
+ matrix.mutable_col_blocks()->push_back(2);
+
+ rows[0] = 0;
+ cols[0] = 1;
+ cols[1] = 3;
+ cols[2] = 4;
+
+ rows[1] = 3;
+ cols[3] = 0;
+ cols[4] = 1;
+ cols[5] = 2;
+ cols[6] = 5;
+
+ rows[2] = 7;
+ cols[7] = 0;
+ cols[8] = 1;
+ cols[9] = 3;
+ cols[10] = 4;
+
+ rows[3] = 11;
+ cols[11] = 0;
+ cols[12] = 2;
+ cols[13] = 3;
+ cols[14] = 4;
+
+ rows[4] = 15;
+ cols[15] = 1;
+ cols[16] = 2;
+ rows[5] = 17;
+
+ std::copy(values, values + 17, cols);
+
+ scoped_ptr<CompressedRowSparseMatrix> transpose(matrix.Transpose());
+
+ ASSERT_EQ(transpose->row_blocks().size(), matrix.col_blocks().size());
+ for (int i = 0; i < transpose->row_blocks().size(); ++i) {
+ EXPECT_EQ(transpose->row_blocks()[i], matrix.col_blocks()[i]);
+ }
+
+ ASSERT_EQ(transpose->col_blocks().size(), matrix.row_blocks().size());
+ for (int i = 0; i < transpose->col_blocks().size(); ++i) {
+ EXPECT_EQ(transpose->col_blocks()[i], matrix.row_blocks()[i]);
+ }
+
+ Matrix dense_matrix;
+ matrix.ToDenseMatrix(&dense_matrix);
+
+ Matrix dense_transpose;
+ transpose->ToDenseMatrix(&dense_transpose);
+ EXPECT_NEAR((dense_matrix - dense_transpose.transpose()).norm(), 0.0, 1e-14);
+}
+
+TEST(CompressedRowSparseMatrix, FromTripletSparseMatrix) {
+ TripletSparseMatrix::RandomMatrixOptions options;
+ options.num_rows = 5;
+ options.num_cols = 7;
+ options.density = 0.5;
+
+ const int kNumTrials = 10;
+ for (int i = 0; i < kNumTrials; ++i) {
+ scoped_ptr<TripletSparseMatrix> tsm(
+ TripletSparseMatrix::CreateRandomMatrix(options));
+ scoped_ptr<CompressedRowSparseMatrix> crsm(
+ CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+
+ Matrix expected;
+ tsm->ToDenseMatrix(&expected);
+ Matrix actual;
+ crsm->ToDenseMatrix(&actual);
+ EXPECT_NEAR((expected - actual).norm() / actual.norm(),
+ 0.0,
+ std::numeric_limits<double>::epsilon())
+ << "\nexpected: \n"
+ << expected << "\nactual: \n"
+ << actual;
+ }
+}
+
+TEST(CompressedRowSparseMatrix, FromTripletSparseMatrixTransposed) {
+ TripletSparseMatrix::RandomMatrixOptions options;
+ options.num_rows = 5;
+ options.num_cols = 7;
+ options.density = 0.5;
+
+ const int kNumTrials = 10;
+ for (int i = 0; i < kNumTrials; ++i) {
+ scoped_ptr<TripletSparseMatrix> tsm(
+ TripletSparseMatrix::CreateRandomMatrix(options));
+ scoped_ptr<CompressedRowSparseMatrix> crsm(
+ CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+
+ Matrix tmp;
+ tsm->ToDenseMatrix(&tmp);
+ Matrix expected = tmp.transpose();
+ Matrix actual;
+ crsm->ToDenseMatrix(&actual);
+ EXPECT_NEAR((expected - actual).norm() / actual.norm(),
+ 0.0,
+ std::numeric_limits<double>::epsilon())
+ << "\nexpected: \n"
+ << expected << "\nactual: \n"
+ << actual;
+ }
+}
+
+// TODO(sameeragarwal) Add tests for the random matrix creation methods.
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: wjr@google.com (William Rucklidge)
+//
+// This file contains the implementation of the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include <cstddef>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/stl_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This cost function has the same dimensions (parameters, residuals) as
+// the one it's wrapping.
+ConditionedCostFunction::ConditionedCostFunction(
+ CostFunction* wrapped_cost_function,
+ const std::vector<CostFunction*>& conditioners,
+ Ownership ownership)
+ : wrapped_cost_function_(wrapped_cost_function),
+ conditioners_(conditioners),
+ ownership_(ownership) {
+ // Set up our dimensions.
+ set_num_residuals(wrapped_cost_function_->num_residuals());
+ *mutable_parameter_block_sizes() =
+ wrapped_cost_function_->parameter_block_sizes();
+
+ // Sanity-check the conditioners' dimensions.
+ CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size());
+ for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) {
+ if (conditioners[i]) {
+ CHECK_EQ(1, conditioners[i]->num_residuals());
+ CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size());
+ CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]);
+ }
+ }
+}
+
+ConditionedCostFunction::~ConditionedCostFunction() {
+ if (ownership_ == TAKE_OWNERSHIP) {
+ STLDeleteElements(&conditioners_);
+ } else {
+ wrapped_cost_function_.release();
+ }
+}
+
+bool ConditionedCostFunction::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
+ jacobians);
+ if (!success) {
+ return false;
+ }
+
+ for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) {
+ // On output, we want to have
+ // residuals[r] = conditioners[r](wrapped_residuals[r])
+ // For parameter block i, column c,
+ // jacobians[i][r*parameter_block_size_[i] + c] =
+ // = d residual[r] / d parameters[i][c]
+ // = conditioners[r]'(wrapped_residuals[r]) *
+ // d wrapped_residuals[r] / d parameters[i][c]
+ if (conditioners_[r]) {
+ double conditioner_derivative;
+ double* conditioner_derivative_pointer = &conditioner_derivative;
+ double** conditioner_derivative_pointer2 =
+ &conditioner_derivative_pointer;
+ if (!jacobians) {
+ conditioner_derivative_pointer2 = NULL;
+ }
+
+ double unconditioned_residual = residuals[r];
+ double* parameter_pointer = &unconditioned_residual;
+ success = conditioners_[r]->Evaluate(¶meter_pointer,
+ &residuals[r],
+ conditioner_derivative_pointer2);
+ if (!success) {
+ return false;
+ }
+
+ if (jacobians) {
+ for (int i = 0;
+ i < wrapped_cost_function_->parameter_block_sizes().size();
+ i++) {
+ if (jacobians[i]) {
+ int parameter_block_size =
+ wrapped_cost_function_->parameter_block_sizes()[i];
+ VectorRef jacobian_row(jacobians[i] + r * parameter_block_size,
+ parameter_block_size, 1);
+ jacobian_row *= conditioner_derivative;
+ }
+ }
+ }
+ }
+ }
+ return true;
+}
+
+} // namespace ceres
--- /dev/null
+// 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: wjr@google.com (William Rucklidge)
+//
+// Tests for the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include "ceres/internal/eigen.h"
+#include "ceres/normal_prior.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// The size of the cost functions we build.
+static const int kTestCostFunctionSize = 3;
+
+// A simple cost function: return ax + b.
+class LinearCostFunction : public CostFunction {
+ public:
+ LinearCostFunction(double a, double b) : a_(a), b_(b) {
+ set_num_residuals(1);
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ *residuals = **parameters * a_ + b_;
+ if (jacobians && *jacobians) {
+ **jacobians = a_;
+ }
+
+ return true;
+ }
+
+ private:
+ const double a_, b_;
+};
+
+// Tests that ConditionedCostFunction does what it's supposed to.
+TEST(CostFunctionTest, ConditionedCostFunction) {
+ double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize],
+ jac[kTestCostFunctionSize * kTestCostFunctionSize],
+ result[kTestCostFunctionSize];
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ v1[i] = i;
+ v2[i] = i * 10;
+ // Seed a few garbage values in the Jacobian matrix, to make sure that
+ // they're overwritten.
+ jac[i * 2] = i * i;
+ result[i] = i * i * i;
+ }
+
+ // Make a cost function that computes x - v2
+ VectorRef v2_vector(v2, kTestCostFunctionSize, 1);
+ Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize);
+ identity.setIdentity();
+ NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector);
+
+ std::vector<CostFunction*> conditioners;
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ conditioners.push_back(new LinearCostFunction(i + 2, i * 7));
+ }
+
+ ConditionedCostFunction conditioned_cost_function(difference_cost_function,
+ conditioners,
+ TAKE_OWNERSHIP);
+ EXPECT_EQ(difference_cost_function->num_residuals(),
+ conditioned_cost_function.num_residuals());
+ EXPECT_EQ(difference_cost_function->parameter_block_sizes(),
+ conditioned_cost_function.parameter_block_sizes());
+
+ double *parameters[1];
+ parameters[0] = v1;
+ double *jacs[1];
+ jacs[0] = jac;
+
+ conditioned_cost_function.Evaluate(parameters, result, jacs);
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]);
+ }
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ for (int j = 0; j < kTestCostFunctionSize; j++) {
+ double actual = jac[i * kTestCostFunctionSize + j];
+ if (i != j) {
+ EXPECT_DOUBLE_EQ(0, actual);
+ } else {
+ EXPECT_DOUBLE_EQ(i + 2, actual);
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// A preconditioned conjugate gradients solver
+// (ConjugateGradientsSolver) for positive semidefinite linear
+// systems.
+//
+// We have also augmented the termination criterion used by this
+// solver to support not just residual based termination but also
+// termination based on decrease in the value of the quadratic model
+// that CG optimizes.
+
+#include "ceres/conjugate_gradients_solver.h"
+
+#include <cmath>
+#include <cstddef>
+#include "ceres/fpclassify.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_operator.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool IsZeroOrInfinity(double x) {
+ return ((x == 0.0) || (IsInfinite(x)));
+}
+
+} // namespace
+
+ConjugateGradientsSolver::ConjugateGradientsSolver(
+ const LinearSolver::Options& options)
+ : options_(options) {
+}
+
+LinearSolver::Summary ConjugateGradientsSolver::Solve(
+ LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(b);
+ CHECK_EQ(A->num_rows(), A->num_cols());
+
+ LinearSolver::Summary summary;
+ summary.termination_type = LINEAR_SOLVER_NO_CONVERGENCE;
+ summary.message = "Maximum number of iterations reached.";
+ summary.num_iterations = 0;
+
+ const int num_cols = A->num_cols();
+ VectorRef xref(x, num_cols);
+ ConstVectorRef bref(b, num_cols);
+
+ const double norm_b = bref.norm();
+ if (norm_b == 0.0) {
+ xref.setZero();
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Convergence. |b| = 0.";
+ return summary;
+ }
+
+ Vector r(num_cols);
+ Vector p(num_cols);
+ Vector z(num_cols);
+ Vector tmp(num_cols);
+
+ const double tol_r = per_solve_options.r_tolerance * norm_b;
+
+ tmp.setZero();
+ A->RightMultiply(x, tmp.data());
+ r = bref - tmp;
+ double norm_r = r.norm();
+ if (options_.min_num_iterations == 0 && norm_r <= tol_r) {
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message =
+ StringPrintf("Convergence. |r| = %e <= %e.", norm_r, tol_r);
+ return summary;
+ }
+
+ double rho = 1.0;
+
+ // Initial value of the quadratic model Q = x'Ax - 2 * b'x.
+ double Q0 = -1.0 * xref.dot(bref + r);
+
+ for (summary.num_iterations = 1;; ++summary.num_iterations) {
+ // Apply preconditioner
+ if (per_solve_options.preconditioner != NULL) {
+ z.setZero();
+ per_solve_options.preconditioner->RightMultiply(r.data(), z.data());
+ } else {
+ z = r;
+ }
+
+ double last_rho = rho;
+ rho = r.dot(z);
+ if (IsZeroOrInfinity(rho)) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = StringPrintf("Numerical failure. rho = r'z = %e.", rho);
+ break;
+ }
+
+ if (summary.num_iterations == 1) {
+ p = z;
+ } else {
+ double beta = rho / last_rho;
+ if (IsZeroOrInfinity(beta)) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = StringPrintf(
+ "Numerical failure. beta = rho_n / rho_{n-1} = %e, "
+ "rho_n = %e, rho_{n-1} = %e", beta, rho, last_rho);
+ break;
+ }
+ p = z + beta * p;
+ }
+
+ Vector& q = z;
+ q.setZero();
+ A->RightMultiply(p.data(), q.data());
+ const double pq = p.dot(q);
+ if ((pq <= 0) || IsInfinite(pq)) {
+ summary.termination_type = LINEAR_SOLVER_NO_CONVERGENCE;
+ summary.message = StringPrintf(
+ "Matrix is indefinite, no more progress can be made. "
+ "p'q = %e. |p| = %e, |q| = %e",
+ pq, p.norm(), q.norm());
+ break;
+ }
+
+ const double alpha = rho / pq;
+ if (IsInfinite(alpha)) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message =
+ StringPrintf("Numerical failure. alpha = rho / pq = %e, "
+ "rho = %e, pq = %e.", alpha, rho, pq);
+ break;
+ }
+
+ xref = xref + alpha * p;
+
+ // Ideally we would just use the update r = r - alpha*q to keep
+ // track of the residual vector. However this estimate tends to
+ // drift over time due to round off errors. Thus every
+ // residual_reset_period iterations, we calculate the residual as
+ // r = b - Ax. We do not do this every iteration because this
+ // requires an additional matrix vector multiply which would
+ // double the complexity of the CG algorithm.
+ if (summary.num_iterations % options_.residual_reset_period == 0) {
+ tmp.setZero();
+ A->RightMultiply(x, tmp.data());
+ r = bref - tmp;
+ } else {
+ r = r - alpha * q;
+ }
+
+ // Quadratic model based termination.
+ // Q1 = x'Ax - 2 * b' x.
+ const double Q1 = -1.0 * xref.dot(bref + r);
+
+ // For PSD matrices A, let
+ //
+ // Q(x) = x'Ax - 2b'x
+ //
+ // be the cost of the quadratic function defined by A and b. Then,
+ // the solver terminates at iteration i if
+ //
+ // i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+ //
+ // This termination criterion is more useful when using CG to
+ // solve the Newton step. This particular convergence test comes
+ // from Stephen Nash's work on truncated Newton
+ // methods. References:
+ //
+ // 1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+ // Direction Within A Truncated Newton Method, Operation
+ // Research Letters 9(1990) 219-221.
+ //
+ // 2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+ // Journal of Computational and Applied Mathematics,
+ // 124(1-2), 45-59, 2000.
+ //
+ const double zeta = summary.num_iterations * (Q1 - Q0) / Q1;
+ if (zeta < per_solve_options.q_tolerance &&
+ summary.num_iterations >= options_.min_num_iterations) {
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message =
+ StringPrintf("Iteration: %d Convergence: zeta = %e < %e. |r| = %e",
+ summary.num_iterations,
+ zeta,
+ per_solve_options.q_tolerance,
+ r.norm());
+ break;
+ }
+ Q0 = Q1;
+
+ // Residual based termination.
+ norm_r = r. norm();
+ if (norm_r <= tol_r &&
+ summary.num_iterations >= options_.min_num_iterations) {
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message =
+ StringPrintf("Iteration: %d Convergence. |r| = %e <= %e.",
+ summary.num_iterations,
+ norm_r,
+ tol_r);
+ break;
+ }
+
+ if (summary.num_iterations >= options_.max_num_iterations) {
+ break;
+ }
+ }
+
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Preconditioned Conjugate Gradients based solver for positive
+// semidefinite linear systems.
+
+#ifndef CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+#define CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearOperator;
+
+// This class implements the now classical Conjugate Gradients
+// algorithm of Hestenes & Stiefel for solving postive semidefinite
+// linear sytems. Optionally it can use a preconditioner also to
+// reduce the condition number of the linear system and improve the
+// convergence rate. Modern references for Conjugate Gradients are the
+// books by Yousef Saad and Trefethen & Bau. This implementation of CG
+// has been augmented with additional termination tests that are
+// needed for forcing early termination when used as part of an
+// inexact Newton solver.
+//
+// For more details see the documentation for
+// LinearSolver::PerSolveOptions::r_tolerance and
+// LinearSolver::PerSolveOptions::q_tolerance in linear_solver.h.
+class ConjugateGradientsSolver : public LinearSolver {
+ public:
+ explicit ConjugateGradientsSolver(const LinearSolver::Options& options);
+ virtual Summary Solve(LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ private:
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(ConjugateGradientsSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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: fredp@google.com (Fred Pighin)
+//
+// TODO(sameeragarwal): More comprehensive testing with larger and
+// more badly conditioned problem.
+
+#include "gtest/gtest.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ConjugateGradientTest, Solves3x3IdentitySystem) {
+ double diagonal[] = { 1.0, 1.0, 1.0 };
+ scoped_ptr<TripletSparseMatrix>
+ A(TripletSparseMatrix::CreateSparseDiagonalMatrix(diagonal, 3));
+ Vector b(3);
+ Vector x(3);
+
+ b(0) = 1.0;
+ b(1) = 2.0;
+ b(2) = 3.0;
+
+ x(0) = 1;
+ x(1) = 1;
+ x(2) = 1;
+
+ LinearSolver::Options options;
+ options.max_num_iterations = 10;
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.r_tolerance = 1e-9;
+
+ ConjugateGradientsSolver solver(options);
+ LinearSolver::Summary summary =
+ solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+ ASSERT_EQ(summary.num_iterations, 1);
+
+ ASSERT_DOUBLE_EQ(1, x(0));
+ ASSERT_DOUBLE_EQ(2, x(1));
+ ASSERT_DOUBLE_EQ(3, x(2));
+}
+
+
+TEST(ConjuateGradientTest, Solves3x3SymmetricSystem) {
+ scoped_ptr<TripletSparseMatrix> A(new TripletSparseMatrix(3, 3, 9));
+ Vector b(3);
+ Vector x(3);
+
+ // | 2 -1 0|
+ // A = |-1 2 -1| is symmetric positive definite.
+ // | 0 -1 2|
+ int* Ai = A->mutable_rows();
+ int* Aj = A->mutable_cols();
+ double* Ax = A->mutable_values();
+ int counter = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ Ai[counter] = i;
+ Aj[counter] = j;
+ ++counter;
+ }
+ }
+ Ax[0] = 2.;
+ Ax[1] = -1.;
+ Ax[2] = 0;
+ Ax[3] = -1.;
+ Ax[4] = 2;
+ Ax[5] = -1;
+ Ax[6] = 0;
+ Ax[7] = -1;
+ Ax[8] = 2;
+ A->set_num_nonzeros(9);
+
+ b(0) = -1;
+ b(1) = 0;
+ b(2) = 3;
+
+ x(0) = 1;
+ x(1) = 1;
+ x(2) = 1;
+
+ LinearSolver::Options options;
+ options.max_num_iterations = 10;
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.r_tolerance = 1e-9;
+
+ ConjugateGradientsSolver solver(options);
+ LinearSolver::Summary summary =
+ solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+ ASSERT_DOUBLE_EQ(0, x(0));
+ ASSERT_DOUBLE_EQ(1, x(1));
+ ASSERT_DOUBLE_EQ(2, x(2));
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/coordinate_descent_minimizer.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <iterator>
+#include <numeric>
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::max;
+using std::min;
+using std::set;
+using std::string;
+using std::vector;
+
+CoordinateDescentMinimizer::~CoordinateDescentMinimizer() {
+}
+
+bool CoordinateDescentMinimizer::Init(
+ const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ string* error) {
+ parameter_blocks_.clear();
+ independent_set_offsets_.clear();
+ independent_set_offsets_.push_back(0);
+
+ // Serialize the OrderedGroups into a vector of parameter block
+ // offsets for parallel access.
+ map<ParameterBlock*, int> parameter_block_index;
+ map<int, set<double*> > group_to_elements = ordering.group_to_elements();
+ for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ it != group_to_elements.end();
+ ++it) {
+ for (set<double*>::const_iterator ptr_it = it->second.begin();
+ ptr_it != it->second.end();
+ ++ptr_it) {
+ parameter_blocks_.push_back(parameter_map.find(*ptr_it)->second);
+ parameter_block_index[parameter_blocks_.back()] =
+ parameter_blocks_.size() - 1;
+ }
+ independent_set_offsets_.push_back(
+ independent_set_offsets_.back() + it->second.size());
+ }
+
+ // The ordering does not have to contain all parameter blocks, so
+ // assign zero offsets/empty independent sets to these parameter
+ // blocks.
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ if (!ordering.IsMember(parameter_blocks[i]->mutable_user_state())) {
+ parameter_blocks_.push_back(parameter_blocks[i]);
+ independent_set_offsets_.push_back(independent_set_offsets_.back());
+ }
+ }
+
+ // Compute the set of residual blocks that depend on each parameter
+ // block.
+ residual_blocks_.resize(parameter_block_index.size());
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ const map<ParameterBlock*, int>::const_iterator it =
+ parameter_block_index.find(parameter_block);
+ if (it != parameter_block_index.end()) {
+ residual_blocks_[it->second].push_back(residual_block);
+ }
+ }
+ }
+
+ evaluator_options_.linear_solver_type = DENSE_QR;
+ evaluator_options_.num_eliminate_blocks = 0;
+ evaluator_options_.num_threads = 1;
+
+ return true;
+}
+
+void CoordinateDescentMinimizer::Minimize(
+ const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary) {
+ // Set the state and mark all parameter blocks constant.
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks_[i];
+ parameter_block->SetState(parameters + parameter_block->state_offset());
+ parameter_block->SetConstant();
+ }
+
+ scoped_array<LinearSolver*> linear_solvers(
+ new LinearSolver*[options.num_threads]);
+
+ LinearSolver::Options linear_solver_options;
+ linear_solver_options.type = DENSE_QR;
+
+ for (int i = 0; i < options.num_threads; ++i) {
+ linear_solvers[i] = LinearSolver::Create(linear_solver_options);
+ }
+
+ for (int i = 0; i < independent_set_offsets_.size() - 1; ++i) {
+ const int num_problems =
+ independent_set_offsets_[i + 1] - independent_set_offsets_[i];
+ // No point paying the price for an OpemMP call if the set is of
+ // size zero.
+ if (num_problems == 0) {
+ continue;
+ }
+
+#ifdef CERES_USE_OPENMP
+ const int num_inner_iteration_threads =
+ min(options.num_threads, num_problems);
+ evaluator_options_.num_threads =
+ max(1, options.num_threads / num_inner_iteration_threads);
+
+ // The parameter blocks in each independent set can be optimized
+ // in parallel, since they do not co-occur in any residual block.
+#pragma omp parallel for num_threads(num_inner_iteration_threads)
+#endif
+ for (int j = independent_set_offsets_[i];
+ j < independent_set_offsets_[i + 1];
+ ++j) {
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+
+ ParameterBlock* parameter_block = parameter_blocks_[j];
+ const int old_index = parameter_block->index();
+ const int old_delta_offset = parameter_block->delta_offset();
+ parameter_block->SetVarying();
+ parameter_block->set_index(0);
+ parameter_block->set_delta_offset(0);
+
+ Program inner_program;
+ inner_program.mutable_parameter_blocks()->push_back(parameter_block);
+ *inner_program.mutable_residual_blocks() = residual_blocks_[j];
+
+ // TODO(sameeragarwal): Better error handling. Right now we
+ // assume that this is not going to lead to problems of any
+ // sort. Basically we should be checking for numerical failure
+ // of some sort.
+ //
+ // On the other hand, if the optimization is a failure, that in
+ // some ways is fine, since it won't change the parameters and
+ // we are fine.
+ Solver::Summary inner_summary;
+ Solve(&inner_program,
+ linear_solvers[thread_id],
+ parameters + parameter_block->state_offset(),
+ &inner_summary);
+
+ parameter_block->set_index(old_index);
+ parameter_block->set_delta_offset(old_delta_offset);
+ parameter_block->SetState(parameters + parameter_block->state_offset());
+ parameter_block->SetConstant();
+ }
+ }
+
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->SetVarying();
+ }
+
+ for (int i = 0; i < options.num_threads; ++i) {
+ delete linear_solvers[i];
+ }
+}
+
+// Solve the optimization problem for one parameter block.
+void CoordinateDescentMinimizer::Solve(Program* program,
+ LinearSolver* linear_solver,
+ double* parameter,
+ Solver::Summary* summary) {
+ *summary = Solver::Summary();
+ summary->initial_cost = 0.0;
+ summary->fixed_cost = 0.0;
+ summary->final_cost = 0.0;
+ string error;
+
+ Minimizer::Options minimizer_options;
+ minimizer_options.evaluator.reset(
+ CHECK_NOTNULL(Evaluator::Create(evaluator_options_, program, &error)));
+ minimizer_options.jacobian.reset(
+ CHECK_NOTNULL(minimizer_options.evaluator->CreateJacobian()));
+
+ TrustRegionStrategy::Options trs_options;
+ trs_options.linear_solver = linear_solver;
+ minimizer_options.trust_region_strategy.reset(
+ CHECK_NOTNULL(TrustRegionStrategy::Create(trs_options)));
+ minimizer_options.is_silent = true;
+
+ TrustRegionMinimizer minimizer;
+ minimizer.Minimize(minimizer_options, parameter, summary);
+}
+
+bool CoordinateDescentMinimizer::IsOrderingValid(
+ const Program& program,
+ const ParameterBlockOrdering& ordering,
+ string* message) {
+ const map<int, set<double*> >& group_to_elements =
+ ordering.group_to_elements();
+
+ // Verify that each group is an independent set
+ map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ for (; it != group_to_elements.end(); ++it) {
+ if (!program.IsParameterBlockSetIndependent(it->second)) {
+ *message =
+ StringPrintf("The user-provided "
+ "parameter_blocks_for_inner_iterations does not "
+ "form an independent set. Group Id: %d", it->first);
+ return false;
+ }
+ }
+ return true;
+}
+
+// Find a recursive decomposition of the Hessian matrix as a set
+// of independent sets of decreasing size and invert it. This
+// seems to work better in practice, i.e., Cameras before
+// points.
+ParameterBlockOrdering* CoordinateDescentMinimizer::CreateOrdering(
+ const Program& program) {
+ scoped_ptr<ParameterBlockOrdering> ordering(new ParameterBlockOrdering);
+ ComputeRecursiveIndependentSetOrdering(program, ordering.get());
+ ordering->Reverse();
+ return ordering.release();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+#define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/evaluator.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class LinearSolver;
+
+// Given a Program, and a ParameterBlockOrdering which partitions
+// (non-exhaustively) the Hessian matrix into independent sets,
+// perform coordinate descent on the parameter blocks in the
+// ordering. The independent set structure allows for all parameter
+// blocks in the same independent set to be optimized in parallel, and
+// the order of the independent set determines the order in which the
+// parameter block groups are optimized.
+//
+// The minimizer assumes that none of the parameter blocks in the
+// program are constant.
+class CoordinateDescentMinimizer : public Minimizer {
+ public:
+ bool Init(const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ std::string* error);
+
+ // Minimizer interface.
+ virtual ~CoordinateDescentMinimizer();
+ virtual void Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary);
+
+ // Verify that each group in the ordering forms an independent set.
+ static bool IsOrderingValid(const Program& program,
+ const ParameterBlockOrdering& ordering,
+ std::string* message);
+
+ // Find a recursive decomposition of the Hessian matrix as a set
+ // of independent sets of decreasing size and invert it. This
+ // seems to work better in practice, i.e., Cameras before
+ // points.
+ static ParameterBlockOrdering* CreateOrdering(const Program& program);
+
+ private:
+ void Solve(Program* program,
+ LinearSolver* linear_solver,
+ double* parameters,
+ Solver::Summary* summary);
+
+ std::vector<ParameterBlock*> parameter_blocks_;
+ std::vector<std::vector<ResidualBlock*> > residual_blocks_;
+ // The optimization is performed in rounds. In each round all the
+ // parameter blocks that form one independent set are optimized in
+ // parallel. This array, marks the boundaries of the independent
+ // sets in parameter_blocks_.
+ std::vector<int> independent_set_offsets_;
+
+ Evaluator::Options evaluator_options_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
--- /dev/null
+// 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/corrector.h"
+
+#include <cstddef>
+#include <cmath>
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Corrector::Corrector(const double sq_norm, const double rho[3]) {
+ CHECK_GE(sq_norm, 0.0);
+ sqrt_rho1_ = sqrt(rho[1]);
+
+ // If sq_norm = 0.0, the correction becomes trivial, the residual
+ // and the jacobian are scaled by the squareroot of the derivative
+ // of rho. Handling this case explicitly avoids the divide by zero
+ // error that would occur below.
+ //
+ // The case where rho'' < 0 also gets special handling. Technically
+ // it shouldn't, and the computation of the scaling should proceed
+ // as below, however we found in experiments that applying the
+ // curvature correction when rho'' < 0, which is the case when we
+ // are in the outlier region slows down the convergence of the
+ // algorithm significantly.
+ //
+ // Thus, we have divided the action of the robustifier into two
+ // parts. In the inliner region, we do the full second order
+ // correction which re-wights the gradient of the function by the
+ // square root of the derivative of rho, and the Gauss-Newton
+ // Hessian gets both the scaling and the rank-1 curvature
+ // correction. Normaly, alpha is upper bounded by one, but with this
+ // change, alpha is bounded above by zero.
+ //
+ // Empirically we have observed that the full Triggs correction and
+ // the clamped correction both start out as very good approximations
+ // to the loss function when we are in the convex part of the
+ // function, but as the function starts transitioning from convex to
+ // concave, the Triggs approximation diverges more and more and
+ // ultimately becomes linear. The clamped Triggs model however
+ // remains quadratic.
+ //
+ // The reason why the Triggs approximation becomes so poor is
+ // because the curvature correction that it applies to the gauss
+ // newton hessian goes from being a full rank correction to a rank
+ // deficient correction making the inversion of the Hessian fraught
+ // with all sorts of misery and suffering.
+ //
+ // The clamped correction retains its quadratic nature and inverting it
+ // is always well formed.
+ if ((sq_norm == 0.0) || (rho[2] <= 0.0)) {
+ residual_scaling_ = sqrt_rho1_;
+ alpha_sq_norm_ = 0.0;
+ return;
+ }
+
+ // We now require that the first derivative of the loss function be
+ // positive only if the second derivative is positive. This is
+ // because when the second derivative is non-positive, we do not use
+ // the second order correction suggested by BANS and instead use a
+ // simpler first order strategy which does not use a division by the
+ // gradient of the loss function.
+ CHECK_GT(rho[1], 0.0);
+
+ // Calculate the smaller of the two solutions to the equation
+ //
+ // 0.5 * alpha^2 - alpha - rho'' / rho' * z'z = 0.
+ //
+ // Start by calculating the discriminant D.
+ const double D = 1.0 + 2.0 * sq_norm * rho[2] / rho[1];
+
+ // Since both rho[1] and rho[2] are guaranteed to be positive at
+ // this point, we know that D > 1.0.
+
+ const double alpha = 1.0 - sqrt(D);
+
+ // Calculate the constants needed by the correction routines.
+ residual_scaling_ = sqrt_rho1_ / (1 - alpha);
+ alpha_sq_norm_ = alpha / sq_norm;
+}
+
+void Corrector::CorrectResiduals(const int num_rows, double* residuals) {
+ DCHECK(residuals != NULL);
+ // Equation 11 in BANS.
+ VectorRef(residuals, num_rows) *= residual_scaling_;
+}
+
+void Corrector::CorrectJacobian(const int num_rows,
+ const int num_cols,
+ double* residuals,
+ double* jacobian) {
+ DCHECK(residuals != NULL);
+ DCHECK(jacobian != NULL);
+
+ // The common case (rho[2] <= 0).
+ if (alpha_sq_norm_ == 0.0) {
+ VectorRef(jacobian, num_rows * num_cols) *= sqrt_rho1_;
+ return;
+ }
+
+ // Equation 11 in BANS.
+ //
+ // J = sqrt(rho) * (J - alpha^2 r * r' J)
+ //
+ // In days gone by this loop used to be a single Eigen expression of
+ // the form
+ //
+ // J = sqrt_rho1_ * (J - alpha_sq_norm_ * r* (r.transpose() * J));
+ //
+ // Which turns out to about 17x slower on bal problems. The reason
+ // is that Eigen is unable to figure out that this expression can be
+ // evaluated columnwise and ends up creating a temporary.
+ for (int c = 0; c < num_cols; ++c) {
+ double r_transpose_j = 0.0;
+ for (int r = 0; r < num_rows; ++r) {
+ r_transpose_j += jacobian[r * num_cols + c] * residuals[r];
+ }
+
+ for (int r = 0; r < num_rows; ++r) {
+ jacobian[r * num_cols + c] = sqrt_rho1_ *
+ (jacobian[r * num_cols + c] -
+ alpha_sq_norm_ * residuals[r] * r_transpose_j);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Class definition for the object that is responsible for applying a
+// second order correction to the Gauss-Newton based on the ideas in
+// BANS by Triggs et al.
+
+#ifndef CERES_INTERNAL_CORRECTOR_H_
+#define CERES_INTERNAL_CORRECTOR_H_
+
+namespace ceres {
+namespace internal {
+
+// Corrector is responsible for applying the second order correction
+// to the residual and jacobian of a least squares problem based on a
+// radial robust loss.
+//
+// The key idea here is to look at the expressions for the robustified
+// gauss newton approximation and then take its squareroot to get the
+// corresponding corrections to the residual and jacobian. For the
+// full expressions see Eq. 10 and 11 in BANS by Triggs et al.
+class Corrector {
+ public:
+ // The constructor takes the squared norm, the value, the first and
+ // second derivatives of the LossFunction. It precalculates some of
+ // the constants that are needed to apply the correction. The
+ // correction constant alpha is constrained to be smaller than 1, if
+ // it becomes larger than 1, then it will reverse the sign of the
+ // residual and the correction. If alpha is equal to 1 will result
+ // in a divide by zero error. Thus we constrain alpha to be upper
+ // bounded by 1 - epsilon_.
+ //
+ // rho[1] needs to be positive. The constructor will crash if this
+ // condition is not met.
+ //
+ // In practical use CorrectJacobian should always be called before
+ // CorrectResidual, because the jacobian correction depends on the
+ // value of the uncorrected residual values.
+ explicit Corrector(double sq_norm, const double rho[3]);
+
+ // residuals *= sqrt(rho[1]) / (1 - alpha)
+ void CorrectResiduals(int num_rows, double* residuals);
+
+ // jacobian = sqrt(rho[1]) * jacobian -
+ // sqrt(rho[1]) * alpha / sq_norm * residuals residuals' * jacobian.
+ //
+ // The method assumes that the jacobian has row-major storage. It is
+ // the caller's responsibility to ensure that the pointer to
+ // jacobian is not null.
+ void CorrectJacobian(int num_rows,
+ int num_cols,
+ double* residuals,
+ double* jacobian);
+
+ private:
+ double sqrt_rho1_;
+ double residual_scaling_;
+ double alpha_sq_norm_;
+};
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CORRECTOR_H_
--- /dev/null
+// 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/corrector.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstring>
+#include <cstdlib>
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// If rho[1] is zero, the Corrector constructor should crash.
+TEST(Corrector, ZeroGradientDeathTest) {
+ const double kRho[] = {0.0, 0.0, 1.0};
+ EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+ ".*");
+}
+
+// If rho[1] is negative, the Corrector constructor should crash.
+TEST(Corrector, NegativeGradientDeathTest) {
+ const double kRho[] = {0.0, -0.1, 1.0};
+ EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+ ".*");
+}
+
+TEST(Corrector, ScalarCorrection) {
+ double residuals = sqrt(3.0);
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {sq_norm, 0.1, -0.01};
+
+ // In light of the rho'' < 0 clamping now implemented in
+ // corrector.cc, alpha = 0 whenever rho'' < 0.
+ const double kAlpha = 0.0;
+
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+ const double kExpectedResidual =
+ residuals * sqrt(kRho[1]) / (1 - kAlpha);
+
+ // The jacobian in this case will be
+ // sqrt(kRho[1]) * (1 - kAlpha) * jacobian.
+ const double kExpectedJacobian = sqrt(kRho[1]) * (1 - kAlpha) * jacobian;
+
+ Corrector c(sq_norm, kRho);
+ c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
+ c.CorrectResiduals(1.0, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+TEST(Corrector, ScalarCorrectionZeroResidual) {
+ double residuals = 0.0;
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {0.0, 0.1, -0.01};
+ Corrector c(sq_norm, kRho);
+
+ // The alpha equation is
+ // 1/2 alpha^2 - alpha + 0.0 = 0.
+ // i.e. alpha = 1.0 - sqrt(1.0).
+ // alpha = 0.0.
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1])
+ const double kExpectedResidual = residuals * sqrt(kRho[1]);
+
+ // The jacobian in this case will be
+ // sqrt(kRho[1]) * jacobian.
+ const double kExpectedJacobian = sqrt(kRho[1]) * jacobian;
+
+ c.CorrectJacobian(1, 1, &residuals, &jacobian);
+ c.CorrectResiduals(1, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Scaling behaviour for one dimensional functions.
+TEST(Corrector, ScalarCorrectionAlphaClamped) {
+ double residuals = sqrt(3.0);
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {3, 0.1, -0.1};
+
+ // rho[2] < 0 -> alpha = 0.0
+ const double kAlpha = 0.0;
+
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+ const double kExpectedResidual =
+ residuals * sqrt(kRho[1]) / (1.0 - kAlpha);
+
+ // The jacobian in this case will be scaled by
+ // sqrt(rho[1]) * (1 - alpha) * J.
+ const double kExpectedJacobian = sqrt(kRho[1]) *
+ (1.0 - kAlpha) * jacobian;
+
+ Corrector c(sq_norm, kRho);
+ c.CorrectJacobian(1, 1, &residuals, &jacobian);
+ c.CorrectResiduals(1, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Test that the corrected multidimensional residual and jacobians
+// match the expected values and the resulting modified normal
+// equations match the robustified gauss newton approximation.
+TEST(Corrector, MultidimensionalGaussNewtonApproximation) {
+ double residuals[3];
+ double jacobian[2 * 3];
+ double rho[3];
+
+ // Eigen matrix references for linear algebra.
+ MatrixRef jac(jacobian, 3, 2);
+ VectorRef res(residuals, 3);
+
+ // Ground truth values of the modified jacobian and residuals.
+ Matrix g_jac(3, 2);
+ Vector g_res(3);
+
+ // Ground truth values of the robustified Gauss-Newton
+ // approximation.
+ Matrix g_hess(2, 2);
+ Vector g_grad(2);
+
+ // Corrected hessian and gradient implied by the modified jacobian
+ // and hessians.
+ Matrix c_hess(2, 2);
+ Vector c_grad(2);
+
+ srand(5);
+ for (int iter = 0; iter < 10000; ++iter) {
+ // Initialize the jacobian and residual.
+ for (int i = 0; i < 2 * 3; ++i)
+ jacobian[i] = RandDouble();
+ for (int i = 0; i < 3; ++i)
+ residuals[i] = RandDouble();
+
+ const double sq_norm = res.dot(res);
+
+ rho[0] = sq_norm;
+ rho[1] = RandDouble();
+ rho[2] = 2.0 * RandDouble() - 1.0;
+
+ // If rho[2] > 0, then the curvature correction to the correction
+ // and the gauss newton approximation will match. Otherwise, we
+ // will clamp alpha to 0.
+
+ const double kD = 1 + 2 * rho[2] / rho[1] * sq_norm;
+ const double kAlpha = (rho[2] > 0.0) ? 1 - sqrt(kD) : 0.0;
+
+ // Ground truth values.
+ g_res = sqrt(rho[1]) / (1.0 - kAlpha) * res;
+ g_jac = sqrt(rho[1]) * (jac - kAlpha / sq_norm *
+ res * res.transpose() * jac);
+
+ g_grad = rho[1] * jac.transpose() * res;
+ g_hess = rho[1] * jac.transpose() * jac +
+ 2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+ Corrector c(sq_norm, rho);
+ c.CorrectJacobian(3, 2, residuals, jacobian);
+ c.CorrectResiduals(3, residuals);
+
+ // Corrected gradient and hessian.
+ c_grad = jac.transpose() * res;
+ c_hess = jac.transpose() * jac;
+
+ ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+ ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+ }
+}
+
+TEST(Corrector, MultidimensionalGaussNewtonApproximationZeroResidual) {
+ double residuals[3];
+ double jacobian[2 * 3];
+ double rho[3];
+
+ // Eigen matrix references for linear algebra.
+ MatrixRef jac(jacobian, 3, 2);
+ VectorRef res(residuals, 3);
+
+ // Ground truth values of the modified jacobian and residuals.
+ Matrix g_jac(3, 2);
+ Vector g_res(3);
+
+ // Ground truth values of the robustified Gauss-Newton
+ // approximation.
+ Matrix g_hess(2, 2);
+ Vector g_grad(2);
+
+ // Corrected hessian and gradient implied by the modified jacobian
+ // and hessians.
+ Matrix c_hess(2, 2);
+ Vector c_grad(2);
+
+ srand(5);
+ for (int iter = 0; iter < 10000; ++iter) {
+ // Initialize the jacobian.
+ for (int i = 0; i < 2 * 3; ++i)
+ jacobian[i] = RandDouble();
+
+ // Zero residuals
+ res.setZero();
+
+ const double sq_norm = res.dot(res);
+
+ rho[0] = sq_norm;
+ rho[1] = RandDouble();
+ rho[2] = 2 * RandDouble() - 1.0;
+
+ // Ground truth values.
+ g_res = sqrt(rho[1]) * res;
+ g_jac = sqrt(rho[1]) * jac;
+
+ g_grad = rho[1] * jac.transpose() * res;
+ g_hess = rho[1] * jac.transpose() * jac +
+ 2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+ Corrector c(sq_norm, rho);
+ c.CorrectJacobian(3, 2, residuals, jacobian);
+ c.CorrectResiduals(3, residuals);
+
+ // Corrected gradient and hessian.
+ c_grad = jac.transpose() * res;
+ c_hess = jac.transpose() * jac;
+
+ ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+ ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_hess - c_hess).norm(), 0.0, 1e-10);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/cost_function_to_functor.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/dynamic_cost_function_to_functor.h"
+#include "ceres/autodiff_cost_function.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+const double kTolerance = 1e-18;
+
+void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
+ const CostFunction& actual_cost_function) {
+ EXPECT_EQ(cost_function.num_residuals(),
+ actual_cost_function.num_residuals());
+ const int num_residuals = cost_function.num_residuals();
+ const vector<int32>& parameter_block_sizes =
+ cost_function.parameter_block_sizes();
+ const vector<int32>& actual_parameter_block_sizes =
+ actual_cost_function.parameter_block_sizes();
+ EXPECT_EQ(parameter_block_sizes.size(),
+ actual_parameter_block_sizes.size());
+
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+ EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
+ num_parameters += parameter_block_sizes[i];
+ }
+
+ scoped_array<double> parameters(new double[num_parameters]);
+ for (int i = 0; i < num_parameters; ++i) {
+ parameters[i] = static_cast<double>(i) + 1.0;
+ }
+
+ scoped_array<double> residuals(new double[num_residuals]);
+ scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
+
+ scoped_array<double> actual_residuals(new double[num_residuals]);
+ scoped_array<double> actual_jacobians
+ (new double[num_parameters * num_residuals]);
+
+ scoped_array<double*> parameter_blocks(
+ new double*[parameter_block_sizes.size()]);
+ scoped_array<double*> jacobian_blocks(
+ new double*[parameter_block_sizes.size()]);
+ scoped_array<double*> actual_jacobian_blocks(
+ new double*[parameter_block_sizes.size()]);
+
+ num_parameters = 0;
+ for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+ parameter_blocks[i] = parameters.get() + num_parameters;
+ jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
+ actual_jacobian_blocks[i] =
+ actual_jacobians.get() + num_parameters * num_residuals;
+ num_parameters += parameter_block_sizes[i];
+ }
+
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
+ residuals.get(), NULL));
+ EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
+ actual_residuals.get(), NULL));
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+ << "residual id: " << i;
+ }
+
+
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
+ residuals.get(),
+ jacobian_blocks.get()));
+ EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
+ actual_residuals.get(),
+ actual_jacobian_blocks.get()));
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+ << "residual : " << i;
+ }
+
+ for (int i = 0; i < num_residuals * num_parameters; ++i) {
+ EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
+ << "jacobian : " << i << " "
+ << jacobians[i] << " " << actual_jacobians[i];
+ }
+}
+
+struct OneParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, T* residuals) const {
+ residuals[0] = x1[0] * x1[0];
+ residuals[1] = x1[1] * x1[1];
+ return true;
+ }
+};
+
+struct TwoParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1];
+ return true;
+ }
+};
+
+struct ThreeParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1];
+ return true;
+ }
+};
+
+struct FourParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1];
+ return true;
+ }
+};
+
+struct FiveParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1];
+ return true;
+ }
+};
+
+struct SixParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
+ return true;
+ }
+};
+
+struct SevenParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
+ return true;
+ }
+};
+
+struct EightParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1];
+ return true;
+ }
+};
+
+struct NineParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ const T* x9, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0] + x9[0] * x9[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1] + x9[1] * x9[1];
+ return true;
+ }
+};
+
+struct TenParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ const T* x9, const T* x10, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
+ return true;
+ }
+};
+
+class DynamicTwoParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ for (int i = 0; i < 2; ++i) {
+ residuals[0] = parameters[i][0] * parameters[i][0];
+ residuals[1] = parameters[i][1] * parameters[i][1];
+ }
+ return true;
+ }
+};
+
+#define TEST_BODY(NAME) \
+ TEST(CostFunctionToFunctor, NAME) { \
+ scoped_ptr<CostFunction> cost_function( \
+ new AutoDiffCostFunction< \
+ CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >, \
+ 2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor< \
+ 2, PARAMETER_BLOCK_SIZES >( \
+ new AutoDiffCostFunction< \
+ NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
+ new NAME##Functor)))); \
+ \
+scoped_ptr<CostFunction> actual_cost_function( \
+ new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
+ new NAME##Functor)); \
+ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \
+}
+
+#define PARAMETER_BLOCK_SIZES 2
+TEST_BODY(OneParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2
+TEST_BODY(TwoParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2
+TEST_BODY(ThreeParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2
+TEST_BODY(FourParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2
+TEST_BODY(FiveParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
+TEST_BODY(SixParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
+TEST_BODY(SevenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
+TEST_BODY(EightParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
+TEST_BODY(NineParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
+TEST_BODY(TenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#undef TEST_BODY
+
+TEST(CostFunctionToFunctor, DynamicNumberOfResiduals) {
+ scoped_ptr<CostFunction> cost_function(
+ new AutoDiffCostFunction<
+ CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >, ceres::DYNAMIC, 2, 2>(
+ new CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >(
+ new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
+ new TwoParameterBlockFunctor)), 2));
+
+ scoped_ptr<CostFunction> actual_cost_function(
+ new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
+ new TwoParameterBlockFunctor));
+ ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
+}
+
+TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctor) {
+ DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>*
+ actual_cost_function(
+ new DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>(
+ new DynamicTwoParameterBlockFunctor));
+ actual_cost_function->AddParameterBlock(2);
+ actual_cost_function->AddParameterBlock(2);
+ actual_cost_function->SetNumResiduals(2);
+
+ DynamicAutoDiffCostFunction<DynamicCostFunctionToFunctor> cost_function(
+ new DynamicCostFunctionToFunctor(actual_cost_function));
+ cost_function.AddParameterBlock(2);
+ cost_function.AddParameterBlock(2);
+ cost_function.SetNumResiduals(2);
+
+ ExpectCostFunctionsAreEqual(cost_function, *actual_cost_function);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/covariance.h"
+
+#include <utility>
+#include <vector>
+#include "ceres/covariance_impl.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+
+using std::make_pair;
+using std::pair;
+using std::vector;
+
+Covariance::Covariance(const Covariance::Options& options) {
+ impl_.reset(new internal::CovarianceImpl(options));
+}
+
+Covariance::~Covariance() {
+}
+
+bool Covariance::Compute(
+ const vector<pair<const double*, const double*> >& covariance_blocks,
+ Problem* problem) {
+ return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
+}
+
+bool Covariance::Compute(
+ const vector<const double*>& parameter_blocks,
+ Problem* problem) {
+ return impl_->Compute(parameter_blocks, problem->problem_impl_.get());
+}
+
+bool Covariance::GetCovarianceBlock(const double* parameter_block1,
+ const double* parameter_block2,
+ double* covariance_block) const {
+ return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
+ parameter_block2,
+ true, // ambient
+ covariance_block);
+}
+
+bool Covariance::GetCovarianceBlockInTangentSpace(
+ const double* parameter_block1,
+ const double* parameter_block2,
+ double* covariance_block) const {
+ return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
+ parameter_block2,
+ false, // tangent
+ covariance_block);
+}
+
+bool Covariance::GetCovarianceMatrix(
+ const vector<const double*>& parameter_blocks,
+ double* covariance_matrix) {
+ return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
+ true, // ambient
+ covariance_matrix);
+}
+
+bool Covariance::GetCovarianceMatrixInTangentSpace(
+ const std::vector<const double *>& parameter_blocks,
+ double *covariance_matrix) {
+ return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
+ false, // tangent
+ covariance_matrix);
+}
+
+} // namespace ceres
--- /dev/null
+// 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/covariance_impl.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <algorithm>
+#include <cstdlib>
+#include <numeric>
+#include <sstream>
+#include <utility>
+#include <vector>
+
+#include "Eigen/SparseCore"
+#include "Eigen/SparseQR"
+#include "Eigen/SVD"
+
+#include "ceres/collections_port.h"
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/covariance.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/residual_block.h"
+#include "ceres/suitesparse.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::map;
+using std::pair;
+using std::sort;
+using std::swap;
+using std::vector;
+
+typedef vector<pair<const double*, const double*> > CovarianceBlocks;
+
+CovarianceImpl::CovarianceImpl(const Covariance::Options& options)
+ : options_(options),
+ is_computed_(false),
+ is_valid_(false) {
+#ifndef CERES_USE_OPENMP
+ if (options_.num_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_threads = 1 is supported. Switching "
+ << "to single threaded mode.";
+ options_.num_threads = 1;
+ }
+#endif
+ evaluate_options_.num_threads = options_.num_threads;
+ evaluate_options_.apply_loss_function = options_.apply_loss_function;
+}
+
+CovarianceImpl::~CovarianceImpl() {
+}
+
+template <typename T> void CheckForDuplicates(vector<T> blocks) {
+ sort(blocks.begin(), blocks.end());
+ typename vector<T>::iterator it =
+ std::adjacent_find(blocks.begin(), blocks.end());
+ if (it != blocks.end()) {
+ // In case there are duplicates, we search for their location.
+ map<T, vector<int> > blocks_map;
+ for (int i = 0; i < blocks.size(); ++i) {
+ blocks_map[blocks[i]].push_back(i);
+ }
+
+ std::ostringstream duplicates;
+ while (it != blocks.end()) {
+ duplicates << "(";
+ for (int i = 0; i < blocks_map[*it].size() - 1; ++i) {
+ duplicates << blocks_map[*it][i] << ", ";
+ }
+ duplicates << blocks_map[*it].back() << ")";
+ it = std::adjacent_find(it + 1, blocks.end());
+ if (it < blocks.end()) {
+ duplicates << " and ";
+ }
+ }
+
+ LOG(FATAL) << "Covariance::Compute called with duplicate blocks at "
+ << "indices " << duplicates.str();
+ }
+}
+
+bool CovarianceImpl::Compute(const CovarianceBlocks& covariance_blocks,
+ ProblemImpl* problem) {
+ CheckForDuplicates<pair<const double*, const double*> >(covariance_blocks);
+ problem_ = problem;
+ parameter_block_to_row_index_.clear();
+ covariance_matrix_.reset(NULL);
+ is_valid_ = (ComputeCovarianceSparsity(covariance_blocks, problem) &&
+ ComputeCovarianceValues());
+ is_computed_ = true;
+ return is_valid_;
+}
+
+bool CovarianceImpl::Compute(const vector<const double*>& parameter_blocks,
+ ProblemImpl* problem) {
+ CheckForDuplicates<const double*>(parameter_blocks);
+ CovarianceBlocks covariance_blocks;
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ for (int j = i; j < parameter_blocks.size(); ++j) {
+ covariance_blocks.push_back(make_pair(parameter_blocks[i],
+ parameter_blocks[j]));
+ }
+ }
+
+ return Compute(covariance_blocks, problem);
+}
+
+bool CovarianceImpl::GetCovarianceBlockInTangentOrAmbientSpace(
+ const double* original_parameter_block1,
+ const double* original_parameter_block2,
+ bool lift_covariance_to_ambient_space,
+ double* covariance_block) const {
+ CHECK(is_computed_)
+ << "Covariance::GetCovarianceBlock called before Covariance::Compute";
+ CHECK(is_valid_)
+ << "Covariance::GetCovarianceBlock called when Covariance::Compute "
+ << "returned false.";
+
+ // If either of the two parameter blocks is constant, then the
+ // covariance block is also zero.
+ if (constant_parameter_blocks_.count(original_parameter_block1) > 0 ||
+ constant_parameter_blocks_.count(original_parameter_block2) > 0) {
+ const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+ ParameterBlock* block1 =
+ FindOrDie(parameter_map,
+ const_cast<double*>(original_parameter_block1));
+
+ ParameterBlock* block2 =
+ FindOrDie(parameter_map,
+ const_cast<double*>(original_parameter_block2));
+
+ const int block1_size = block1->Size();
+ const int block2_size = block2->Size();
+ const int block1_local_size = block1->LocalSize();
+ const int block2_local_size = block2->LocalSize();
+ if (!lift_covariance_to_ambient_space) {
+ MatrixRef(covariance_block, block1_local_size, block2_local_size)
+ .setZero();
+ } else {
+ MatrixRef(covariance_block, block1_size, block2_size).setZero();
+ }
+ return true;
+ }
+
+ const double* parameter_block1 = original_parameter_block1;
+ const double* parameter_block2 = original_parameter_block2;
+ const bool transpose = parameter_block1 > parameter_block2;
+ if (transpose) {
+ swap(parameter_block1, parameter_block2);
+ }
+
+ // Find where in the covariance matrix the block is located.
+ const int row_begin =
+ FindOrDie(parameter_block_to_row_index_, parameter_block1);
+ const int col_begin =
+ FindOrDie(parameter_block_to_row_index_, parameter_block2);
+ const int* rows = covariance_matrix_->rows();
+ const int* cols = covariance_matrix_->cols();
+ const int row_size = rows[row_begin + 1] - rows[row_begin];
+ const int* cols_begin = cols + rows[row_begin];
+
+ // The only part that requires work is walking the compressed column
+ // vector to determine where the set of columns correspnding to the
+ // covariance block begin.
+ int offset = 0;
+ while (cols_begin[offset] != col_begin && offset < row_size) {
+ ++offset;
+ }
+
+ if (offset == row_size) {
+ LOG(ERROR) << "Unable to find covariance block for "
+ << original_parameter_block1 << " "
+ << original_parameter_block2;
+ return false;
+ }
+
+ const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+ ParameterBlock* block1 =
+ FindOrDie(parameter_map, const_cast<double*>(parameter_block1));
+ ParameterBlock* block2 =
+ FindOrDie(parameter_map, const_cast<double*>(parameter_block2));
+ const LocalParameterization* local_param1 = block1->local_parameterization();
+ const LocalParameterization* local_param2 = block2->local_parameterization();
+ const int block1_size = block1->Size();
+ const int block1_local_size = block1->LocalSize();
+ const int block2_size = block2->Size();
+ const int block2_local_size = block2->LocalSize();
+
+ ConstMatrixRef cov(covariance_matrix_->values() + rows[row_begin],
+ block1_size,
+ row_size);
+
+ // Fast path when there are no local parameterizations or if the
+ // user does not want it lifted to the ambient space.
+ if ((local_param1 == NULL && local_param2 == NULL) ||
+ !lift_covariance_to_ambient_space) {
+ if (transpose) {
+ MatrixRef(covariance_block, block2_local_size, block1_local_size) =
+ cov.block(0, offset, block1_local_size,
+ block2_local_size).transpose();
+ } else {
+ MatrixRef(covariance_block, block1_local_size, block2_local_size) =
+ cov.block(0, offset, block1_local_size, block2_local_size);
+ }
+ return true;
+ }
+
+ // If local parameterizations are used then the covariance that has
+ // been computed is in the tangent space and it needs to be lifted
+ // back to the ambient space.
+ //
+ // This is given by the formula
+ //
+ // C'_12 = J_1 C_12 J_2'
+ //
+ // Where C_12 is the local tangent space covariance for parameter
+ // blocks 1 and 2. J_1 and J_2 are respectively the local to global
+ // jacobians for parameter blocks 1 and 2.
+ //
+ // See Result 5.11 on page 142 of Hartley & Zisserman (2nd Edition)
+ // for a proof.
+ //
+ // TODO(sameeragarwal): Add caching of local parameterization, so
+ // that they are computed just once per parameter block.
+ Matrix block1_jacobian(block1_size, block1_local_size);
+ if (local_param1 == NULL) {
+ block1_jacobian.setIdentity();
+ } else {
+ local_param1->ComputeJacobian(parameter_block1, block1_jacobian.data());
+ }
+
+ Matrix block2_jacobian(block2_size, block2_local_size);
+ // Fast path if the user is requesting a diagonal block.
+ if (parameter_block1 == parameter_block2) {
+ block2_jacobian = block1_jacobian;
+ } else {
+ if (local_param2 == NULL) {
+ block2_jacobian.setIdentity();
+ } else {
+ local_param2->ComputeJacobian(parameter_block2, block2_jacobian.data());
+ }
+ }
+
+ if (transpose) {
+ MatrixRef(covariance_block, block2_size, block1_size) =
+ block2_jacobian *
+ cov.block(0, offset, block1_local_size, block2_local_size).transpose() *
+ block1_jacobian.transpose();
+ } else {
+ MatrixRef(covariance_block, block1_size, block2_size) =
+ block1_jacobian *
+ cov.block(0, offset, block1_local_size, block2_local_size) *
+ block2_jacobian.transpose();
+ }
+
+ return true;
+}
+
+bool CovarianceImpl::GetCovarianceMatrixInTangentOrAmbientSpace(
+ const vector<const double*>& parameters,
+ bool lift_covariance_to_ambient_space,
+ double* covariance_matrix) const {
+ CHECK(is_computed_)
+ << "Covariance::GetCovarianceMatrix called before Covariance::Compute";
+ CHECK(is_valid_)
+ << "Covariance::GetCovarianceMatrix called when Covariance::Compute "
+ << "returned false.";
+
+ const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+ // For OpenMP compatibility we need to define these vectors in advance
+ const int num_parameters = parameters.size();
+ vector<int> parameter_sizes;
+ vector<int> cum_parameter_size;
+ parameter_sizes.reserve(num_parameters);
+ cum_parameter_size.resize(num_parameters + 1);
+ cum_parameter_size[0] = 0;
+ for (int i = 0; i < num_parameters; ++i) {
+ ParameterBlock* block =
+ FindOrDie(parameter_map, const_cast<double*>(parameters[i]));
+ if (lift_covariance_to_ambient_space) {
+ parameter_sizes.push_back(block->Size());
+ } else {
+ parameter_sizes.push_back(block->LocalSize());
+ }
+ }
+ std::partial_sum(parameter_sizes.begin(), parameter_sizes.end(),
+ cum_parameter_size.begin() + 1);
+ const int max_covariance_block_size =
+ *std::max_element(parameter_sizes.begin(), parameter_sizes.end());
+ const int covariance_size = cum_parameter_size.back();
+
+ // Assemble the blocks in the covariance matrix.
+ MatrixRef covariance(covariance_matrix, covariance_size, covariance_size);
+ const int num_threads = options_.num_threads;
+ scoped_array<double> workspace(
+ new double[num_threads * max_covariance_block_size *
+ max_covariance_block_size]);
+
+ bool success = true;
+
+// The collapse() directive is only supported in OpenMP 3.0 and higher. OpenMP
+// 3.0 was released in May 2008 (hence the version number).
+#if _OPENMP >= 200805
+# pragma omp parallel for num_threads(num_threads) schedule(dynamic) collapse(2)
+#else
+# pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+#endif
+ for (int i = 0; i < num_parameters; ++i) {
+ for (int j = 0; j < num_parameters; ++j) {
+ // The second loop can't start from j = i for compatibility with OpenMP
+ // collapse command. The conditional serves as a workaround
+ if (j >= i) {
+ int covariance_row_idx = cum_parameter_size[i];
+ int covariance_col_idx = cum_parameter_size[j];
+ int size_i = parameter_sizes[i];
+ int size_j = parameter_sizes[j];
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ double* covariance_block =
+ workspace.get() +
+ thread_id * max_covariance_block_size * max_covariance_block_size;
+ if (!GetCovarianceBlockInTangentOrAmbientSpace(
+ parameters[i], parameters[j], lift_covariance_to_ambient_space,
+ covariance_block)) {
+ success = false;
+ }
+
+ covariance.block(covariance_row_idx, covariance_col_idx,
+ size_i, size_j) =
+ MatrixRef(covariance_block, size_i, size_j);
+
+ if (i != j) {
+ covariance.block(covariance_col_idx, covariance_row_idx,
+ size_j, size_i) =
+ MatrixRef(covariance_block, size_i, size_j).transpose();
+
+ }
+ }
+ }
+ }
+ return success;
+}
+
+// Determine the sparsity pattern of the covariance matrix based on
+// the block pairs requested by the user.
+bool CovarianceImpl::ComputeCovarianceSparsity(
+ const CovarianceBlocks& original_covariance_blocks,
+ ProblemImpl* problem) {
+ EventLogger event_logger("CovarianceImpl::ComputeCovarianceSparsity");
+
+ // Determine an ordering for the parameter block, by sorting the
+ // parameter blocks by their pointers.
+ vector<double*> all_parameter_blocks;
+ problem->GetParameterBlocks(&all_parameter_blocks);
+ const ProblemImpl::ParameterMap& parameter_map = problem->parameter_map();
+ HashSet<ParameterBlock*> parameter_blocks_in_use;
+ vector<ResidualBlock*> residual_blocks;
+ problem->GetResidualBlocks(&residual_blocks);
+
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ parameter_blocks_in_use.insert(residual_block->parameter_blocks(),
+ residual_block->parameter_blocks() +
+ residual_block->NumParameterBlocks());
+ }
+
+ constant_parameter_blocks_.clear();
+ vector<double*>& active_parameter_blocks =
+ evaluate_options_.parameter_blocks;
+ active_parameter_blocks.clear();
+ for (int i = 0; i < all_parameter_blocks.size(); ++i) {
+ double* parameter_block = all_parameter_blocks[i];
+ ParameterBlock* block = FindOrDie(parameter_map, parameter_block);
+ if (!block->IsConstant() && (parameter_blocks_in_use.count(block) > 0)) {
+ active_parameter_blocks.push_back(parameter_block);
+ } else {
+ constant_parameter_blocks_.insert(parameter_block);
+ }
+ }
+
+ std::sort(active_parameter_blocks.begin(), active_parameter_blocks.end());
+
+ // Compute the number of rows. Map each parameter block to the
+ // first row corresponding to it in the covariance matrix using the
+ // ordering of parameter blocks just constructed.
+ int num_rows = 0;
+ parameter_block_to_row_index_.clear();
+ for (int i = 0; i < active_parameter_blocks.size(); ++i) {
+ double* parameter_block = active_parameter_blocks[i];
+ const int parameter_block_size =
+ problem->ParameterBlockLocalSize(parameter_block);
+ parameter_block_to_row_index_[parameter_block] = num_rows;
+ num_rows += parameter_block_size;
+ }
+
+ // Compute the number of non-zeros in the covariance matrix. Along
+ // the way flip any covariance blocks which are in the lower
+ // triangular part of the matrix.
+ int num_nonzeros = 0;
+ CovarianceBlocks covariance_blocks;
+ for (int i = 0; i < original_covariance_blocks.size(); ++i) {
+ const pair<const double*, const double*>& block_pair =
+ original_covariance_blocks[i];
+ if (constant_parameter_blocks_.count(block_pair.first) > 0 ||
+ constant_parameter_blocks_.count(block_pair.second) > 0) {
+ continue;
+ }
+
+ int index1 = FindOrDie(parameter_block_to_row_index_, block_pair.first);
+ int index2 = FindOrDie(parameter_block_to_row_index_, block_pair.second);
+ const int size1 = problem->ParameterBlockLocalSize(block_pair.first);
+ const int size2 = problem->ParameterBlockLocalSize(block_pair.second);
+ num_nonzeros += size1 * size2;
+
+ // Make sure we are constructing a block upper triangular matrix.
+ if (index1 > index2) {
+ covariance_blocks.push_back(make_pair(block_pair.second,
+ block_pair.first));
+ } else {
+ covariance_blocks.push_back(block_pair);
+ }
+ }
+
+ if (covariance_blocks.size() == 0) {
+ VLOG(2) << "No non-zero covariance blocks found";
+ covariance_matrix_.reset(NULL);
+ return true;
+ }
+
+ // Sort the block pairs. As a consequence we get the covariance
+ // blocks as they will occur in the CompressedRowSparseMatrix that
+ // will store the covariance.
+ sort(covariance_blocks.begin(), covariance_blocks.end());
+
+ // Fill the sparsity pattern of the covariance matrix.
+ covariance_matrix_.reset(
+ new CompressedRowSparseMatrix(num_rows, num_rows, num_nonzeros));
+
+ int* rows = covariance_matrix_->mutable_rows();
+ int* cols = covariance_matrix_->mutable_cols();
+
+ // Iterate over parameter blocks and in turn over the rows of the
+ // covariance matrix. For each parameter block, look in the upper
+ // triangular part of the covariance matrix to see if there are any
+ // blocks requested by the user. If this is the case then fill out a
+ // set of compressed rows corresponding to this parameter block.
+ //
+ // The key thing that makes this loop work is the fact that the
+ // row/columns of the covariance matrix are ordered by the pointer
+ // values of the parameter blocks. Thus iterating over the keys of
+ // parameter_block_to_row_index_ corresponds to iterating over the
+ // rows of the covariance matrix in order.
+ int i = 0; // index into covariance_blocks.
+ int cursor = 0; // index into the covariance matrix.
+ for (map<const double*, int>::const_iterator it =
+ parameter_block_to_row_index_.begin();
+ it != parameter_block_to_row_index_.end();
+ ++it) {
+ const double* row_block = it->first;
+ const int row_block_size = problem->ParameterBlockLocalSize(row_block);
+ int row_begin = it->second;
+
+ // Iterate over the covariance blocks contained in this row block
+ // and count the number of columns in this row block.
+ int num_col_blocks = 0;
+ int num_columns = 0;
+ for (int j = i; j < covariance_blocks.size(); ++j, ++num_col_blocks) {
+ const pair<const double*, const double*>& block_pair =
+ covariance_blocks[j];
+ if (block_pair.first != row_block) {
+ break;
+ }
+ num_columns += problem->ParameterBlockLocalSize(block_pair.second);
+ }
+
+ // Fill out all the compressed rows for this parameter block.
+ for (int r = 0; r < row_block_size; ++r) {
+ rows[row_begin + r] = cursor;
+ for (int c = 0; c < num_col_blocks; ++c) {
+ const double* col_block = covariance_blocks[i + c].second;
+ const int col_block_size = problem->ParameterBlockLocalSize(col_block);
+ int col_begin = FindOrDie(parameter_block_to_row_index_, col_block);
+ for (int k = 0; k < col_block_size; ++k) {
+ cols[cursor++] = col_begin++;
+ }
+ }
+ }
+
+ i+= num_col_blocks;
+ }
+
+ rows[num_rows] = cursor;
+ return true;
+}
+
+bool CovarianceImpl::ComputeCovarianceValues() {
+ if (options_.algorithm_type == DENSE_SVD) {
+ return ComputeCovarianceValuesUsingDenseSVD();
+ }
+
+ if (options_.algorithm_type == SPARSE_QR) {
+ if (options_.sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+ return ComputeCovarianceValuesUsingEigenSparseQR();
+ }
+
+ if (options_.sparse_linear_algebra_library_type == SUITE_SPARSE) {
+#if !defined(CERES_NO_SUITESPARSE)
+ return ComputeCovarianceValuesUsingSuiteSparseQR();
+#else
+ LOG(ERROR) << "SuiteSparse is required to use the SPARSE_QR algorithm "
+ << "with "
+ << "Covariance::Options::sparse_linear_algebra_library_type "
+ << "= SUITE_SPARSE.";
+ return false;
+#endif
+ }
+
+ LOG(ERROR) << "Unsupported "
+ << "Covariance::Options::sparse_linear_algebra_library_type "
+ << "= "
+ << SparseLinearAlgebraLibraryTypeToString(
+ options_.sparse_linear_algebra_library_type);
+ return false;
+ }
+
+ LOG(ERROR) << "Unsupported Covariance::Options::algorithm_type = "
+ << CovarianceAlgorithmTypeToString(options_.algorithm_type);
+ return false;
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingSuiteSparseQR() {
+ EventLogger event_logger(
+ "CovarianceImpl::ComputeCovarianceValuesUsingSparseQR");
+
+#ifndef CERES_NO_SUITESPARSE
+ if (covariance_matrix_.get() == NULL) {
+ // Nothing to do, all zeros covariance matrix.
+ return true;
+ }
+
+ CRSMatrix jacobian;
+ problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+ event_logger.AddEvent("Evaluate");
+
+ // Construct a compressed column form of the Jacobian.
+ const int num_rows = jacobian.num_rows;
+ const int num_cols = jacobian.num_cols;
+ const int num_nonzeros = jacobian.values.size();
+
+ vector<SuiteSparse_long> transpose_rows(num_cols + 1, 0);
+ vector<SuiteSparse_long> transpose_cols(num_nonzeros, 0);
+ vector<double> transpose_values(num_nonzeros, 0);
+
+ for (int idx = 0; idx < num_nonzeros; ++idx) {
+ transpose_rows[jacobian.cols[idx] + 1] += 1;
+ }
+
+ for (int i = 1; i < transpose_rows.size(); ++i) {
+ transpose_rows[i] += transpose_rows[i - 1];
+ }
+
+ for (int r = 0; r < num_rows; ++r) {
+ for (int idx = jacobian.rows[r]; idx < jacobian.rows[r + 1]; ++idx) {
+ const int c = jacobian.cols[idx];
+ const int transpose_idx = transpose_rows[c];
+ transpose_cols[transpose_idx] = r;
+ transpose_values[transpose_idx] = jacobian.values[idx];
+ ++transpose_rows[c];
+ }
+ }
+
+ for (int i = transpose_rows.size() - 1; i > 0 ; --i) {
+ transpose_rows[i] = transpose_rows[i - 1];
+ }
+ transpose_rows[0] = 0;
+
+ cholmod_sparse cholmod_jacobian;
+ cholmod_jacobian.nrow = num_rows;
+ cholmod_jacobian.ncol = num_cols;
+ cholmod_jacobian.nzmax = num_nonzeros;
+ cholmod_jacobian.nz = NULL;
+ cholmod_jacobian.p = reinterpret_cast<void*>(&transpose_rows[0]);
+ cholmod_jacobian.i = reinterpret_cast<void*>(&transpose_cols[0]);
+ cholmod_jacobian.x = reinterpret_cast<void*>(&transpose_values[0]);
+ cholmod_jacobian.z = NULL;
+ cholmod_jacobian.stype = 0; // Matrix is not symmetric.
+ cholmod_jacobian.itype = CHOLMOD_LONG;
+ cholmod_jacobian.xtype = CHOLMOD_REAL;
+ cholmod_jacobian.dtype = CHOLMOD_DOUBLE;
+ cholmod_jacobian.sorted = 1;
+ cholmod_jacobian.packed = 1;
+
+ cholmod_common cc;
+ cholmod_l_start(&cc);
+
+ cholmod_sparse* R = NULL;
+ SuiteSparse_long* permutation = NULL;
+
+ // Compute a Q-less QR factorization of the Jacobian. Since we are
+ // only interested in inverting J'J = R'R, we do not need Q. This
+ // saves memory and gives us R as a permuted compressed column
+ // sparse matrix.
+ //
+ // TODO(sameeragarwal): Currently the symbolic factorization and the
+ // numeric factorization is done at the same time, and this does not
+ // explicitly account for the block column and row structure in the
+ // matrix. When using AMD, we have observed in the past that
+ // computing the ordering with the block matrix is significantly
+ // more efficient, both in runtime as well as the quality of
+ // ordering computed. So, it maybe worth doing that analysis
+ // separately.
+ const SuiteSparse_long rank =
+ SuiteSparseQR<double>(SPQR_ORDERING_BESTAMD,
+ SPQR_DEFAULT_TOL,
+ cholmod_jacobian.ncol,
+ &cholmod_jacobian,
+ &R,
+ &permutation,
+ &cc);
+ event_logger.AddEvent("Numeric Factorization");
+ CHECK_NOTNULL(permutation);
+ CHECK_NOTNULL(R);
+
+ if (rank < cholmod_jacobian.ncol) {
+ LOG(ERROR) << "Jacobian matrix is rank deficient. "
+ << "Number of columns: " << cholmod_jacobian.ncol
+ << " rank: " << rank;
+ free(permutation);
+ cholmod_l_free_sparse(&R, &cc);
+ cholmod_l_finish(&cc);
+ return false;
+ }
+
+ vector<int> inverse_permutation(num_cols);
+ for (SuiteSparse_long i = 0; i < num_cols; ++i) {
+ inverse_permutation[permutation[i]] = i;
+ }
+
+ const int* rows = covariance_matrix_->rows();
+ const int* cols = covariance_matrix_->cols();
+ double* values = covariance_matrix_->mutable_values();
+
+ // The following loop exploits the fact that the i^th column of A^{-1}
+ // is given by the solution to the linear system
+ //
+ // A x = e_i
+ //
+ // where e_i is a vector with e(i) = 1 and all other entries zero.
+ //
+ // Since the covariance matrix is symmetric, the i^th row and column
+ // are equal.
+ const int num_threads = options_.num_threads;
+ scoped_array<double> workspace(new double[num_threads * num_cols]);
+
+#pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+ for (int r = 0; r < num_cols; ++r) {
+ const int row_begin = rows[r];
+ const int row_end = rows[r + 1];
+ if (row_end == row_begin) {
+ continue;
+ }
+
+# ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+# else
+ int thread_id = 0;
+# endif
+
+ double* solution = workspace.get() + thread_id * num_cols;
+ SolveRTRWithSparseRHS<SuiteSparse_long>(
+ num_cols,
+ static_cast<SuiteSparse_long*>(R->i),
+ static_cast<SuiteSparse_long*>(R->p),
+ static_cast<double*>(R->x),
+ inverse_permutation[r],
+ solution);
+ for (int idx = row_begin; idx < row_end; ++idx) {
+ const int c = cols[idx];
+ values[idx] = solution[inverse_permutation[c]];
+ }
+ }
+
+ free(permutation);
+ cholmod_l_free_sparse(&R, &cc);
+ cholmod_l_finish(&cc);
+ event_logger.AddEvent("Inversion");
+ return true;
+
+#else // CERES_NO_SUITESPARSE
+
+ return false;
+
+#endif // CERES_NO_SUITESPARSE
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
+ EventLogger event_logger(
+ "CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD");
+ if (covariance_matrix_.get() == NULL) {
+ // Nothing to do, all zeros covariance matrix.
+ return true;
+ }
+
+ CRSMatrix jacobian;
+ problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+ event_logger.AddEvent("Evaluate");
+
+ Matrix dense_jacobian(jacobian.num_rows, jacobian.num_cols);
+ dense_jacobian.setZero();
+ for (int r = 0; r < jacobian.num_rows; ++r) {
+ for (int idx = jacobian.rows[r]; idx < jacobian.rows[r + 1]; ++idx) {
+ const int c = jacobian.cols[idx];
+ dense_jacobian(r, c) = jacobian.values[idx];
+ }
+ }
+ event_logger.AddEvent("ConvertToDenseMatrix");
+
+ Eigen::JacobiSVD<Matrix> svd(dense_jacobian,
+ Eigen::ComputeThinU | Eigen::ComputeThinV);
+
+ event_logger.AddEvent("SingularValueDecomposition");
+
+ const Vector singular_values = svd.singularValues();
+ const int num_singular_values = singular_values.rows();
+ Vector inverse_squared_singular_values(num_singular_values);
+ inverse_squared_singular_values.setZero();
+
+ const double max_singular_value = singular_values[0];
+ const double min_singular_value_ratio =
+ sqrt(options_.min_reciprocal_condition_number);
+
+ const bool automatic_truncation = (options_.null_space_rank < 0);
+ const int max_rank = std::min(num_singular_values,
+ num_singular_values - options_.null_space_rank);
+
+ // Compute the squared inverse of the singular values. Truncate the
+ // computation based on min_singular_value_ratio and
+ // null_space_rank. When either of these two quantities are active,
+ // the resulting covariance matrix is a Moore-Penrose inverse
+ // instead of a regular inverse.
+ for (int i = 0; i < max_rank; ++i) {
+ const double singular_value_ratio = singular_values[i] / max_singular_value;
+ if (singular_value_ratio < min_singular_value_ratio) {
+ // Since the singular values are in decreasing order, if
+ // automatic truncation is enabled, then from this point on
+ // all values will fail the ratio test and there is nothing to
+ // do in this loop.
+ if (automatic_truncation) {
+ break;
+ } else {
+ LOG(ERROR) << "Error: Covariance matrix is near rank deficient "
+ << "and the user did not specify a non-zero"
+ << "Covariance::Options::null_space_rank "
+ << "to enable the computation of a Pseudo-Inverse. "
+ << "Reciprocal condition number: "
+ << singular_value_ratio * singular_value_ratio << " "
+ << "min_reciprocal_condition_number: "
+ << options_.min_reciprocal_condition_number;
+ return false;
+ }
+ }
+
+ inverse_squared_singular_values[i] =
+ 1.0 / (singular_values[i] * singular_values[i]);
+ }
+
+ Matrix dense_covariance =
+ svd.matrixV() *
+ inverse_squared_singular_values.asDiagonal() *
+ svd.matrixV().transpose();
+ event_logger.AddEvent("PseudoInverse");
+
+ const int num_rows = covariance_matrix_->num_rows();
+ const int* rows = covariance_matrix_->rows();
+ const int* cols = covariance_matrix_->cols();
+ double* values = covariance_matrix_->mutable_values();
+
+ for (int r = 0; r < num_rows; ++r) {
+ for (int idx = rows[r]; idx < rows[r + 1]; ++idx) {
+ const int c = cols[idx];
+ values[idx] = dense_covariance(r, c);
+ }
+ }
+ event_logger.AddEvent("CopyToCovarianceMatrix");
+ return true;
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingEigenSparseQR() {
+ EventLogger event_logger(
+ "CovarianceImpl::ComputeCovarianceValuesUsingEigenSparseQR");
+ if (covariance_matrix_.get() == NULL) {
+ // Nothing to do, all zeros covariance matrix.
+ return true;
+ }
+
+ CRSMatrix jacobian;
+ problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+ event_logger.AddEvent("Evaluate");
+
+ typedef Eigen::SparseMatrix<double, Eigen::ColMajor> EigenSparseMatrix;
+
+ // Convert the matrix to column major order as required by SparseQR.
+ EigenSparseMatrix sparse_jacobian =
+ Eigen::MappedSparseMatrix<double, Eigen::RowMajor>(
+ jacobian.num_rows, jacobian.num_cols,
+ static_cast<int>(jacobian.values.size()),
+ jacobian.rows.data(), jacobian.cols.data(), jacobian.values.data());
+ event_logger.AddEvent("ConvertToSparseMatrix");
+
+ Eigen::SparseQR<EigenSparseMatrix, Eigen::COLAMDOrdering<int> >
+ qr_solver(sparse_jacobian);
+ event_logger.AddEvent("QRDecomposition");
+
+ if (qr_solver.info() != Eigen::Success) {
+ LOG(ERROR) << "Eigen::SparseQR decomposition failed.";
+ return false;
+ }
+
+ if (qr_solver.rank() < jacobian.num_cols) {
+ LOG(ERROR) << "Jacobian matrix is rank deficient. "
+ << "Number of columns: " << jacobian.num_cols
+ << " rank: " << qr_solver.rank();
+ return false;
+ }
+
+ const int* rows = covariance_matrix_->rows();
+ const int* cols = covariance_matrix_->cols();
+ double* values = covariance_matrix_->mutable_values();
+
+ // Compute the inverse column permutation used by QR factorization.
+ Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic> inverse_permutation =
+ qr_solver.colsPermutation().inverse();
+
+ // The following loop exploits the fact that the i^th column of A^{-1}
+ // is given by the solution to the linear system
+ //
+ // A x = e_i
+ //
+ // where e_i is a vector with e(i) = 1 and all other entries zero.
+ //
+ // Since the covariance matrix is symmetric, the i^th row and column
+ // are equal.
+ const int num_cols = jacobian.num_cols;
+ const int num_threads = options_.num_threads;
+ scoped_array<double> workspace(new double[num_threads * num_cols]);
+
+#pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+ for (int r = 0; r < num_cols; ++r) {
+ const int row_begin = rows[r];
+ const int row_end = rows[r + 1];
+ if (row_end == row_begin) {
+ continue;
+ }
+
+# ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+# else
+ int thread_id = 0;
+# endif
+
+ double* solution = workspace.get() + thread_id * num_cols;
+ SolveRTRWithSparseRHS<int>(
+ num_cols,
+ qr_solver.matrixR().innerIndexPtr(),
+ qr_solver.matrixR().outerIndexPtr(),
+ &qr_solver.matrixR().data().value(0),
+ inverse_permutation.indices().coeff(r),
+ solution);
+
+ // Assign the values of the computed covariance using the
+ // inverse permutation used in the QR factorization.
+ for (int idx = row_begin; idx < row_end; ++idx) {
+ const int c = cols[idx];
+ values[idx] = solution[inverse_permutation.indices().coeff(c)];
+ }
+ }
+
+ event_logger.AddEvent("Inverse");
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_COVARIANCE_IMPL_H_
+#define CERES_INTERNAL_COVARIANCE_IMPL_H_
+
+#include <map>
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/covariance.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/problem_impl.h"
+#include "ceres/suitesparse.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+class CovarianceImpl {
+ public:
+ explicit CovarianceImpl(const Covariance::Options& options);
+ ~CovarianceImpl();
+
+ bool Compute(
+ const std::vector<std::pair<const double*,
+ const double*> >& covariance_blocks,
+ ProblemImpl* problem);
+
+ bool Compute(
+ const std::vector<const double*>& parameter_blocks,
+ ProblemImpl* problem);
+
+ bool GetCovarianceBlockInTangentOrAmbientSpace(
+ const double* parameter_block1,
+ const double* parameter_block2,
+ bool lift_covariance_to_ambient_space,
+ double* covariance_block) const;
+
+ bool GetCovarianceMatrixInTangentOrAmbientSpace(
+ const std::vector<const double*>& parameters,
+ bool lift_covariance_to_ambient_space,
+ double *covariance_matrix) const;
+
+ bool ComputeCovarianceSparsity(
+ const std::vector<std::pair<const double*,
+ const double*> >& covariance_blocks,
+ ProblemImpl* problem);
+
+ bool ComputeCovarianceValues();
+ bool ComputeCovarianceValuesUsingDenseSVD();
+ bool ComputeCovarianceValuesUsingSuiteSparseQR();
+ bool ComputeCovarianceValuesUsingEigenSparseQR();
+
+ const CompressedRowSparseMatrix* covariance_matrix() const {
+ return covariance_matrix_.get();
+ }
+
+ private:
+ ProblemImpl* problem_;
+ Covariance::Options options_;
+ Problem::EvaluateOptions evaluate_options_;
+ bool is_computed_;
+ bool is_valid_;
+ std::map<const double*, int> parameter_block_to_row_index_;
+ std::set<const double*> constant_parameter_blocks_;
+ scoped_ptr<CompressedRowSparseMatrix> covariance_matrix_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COVARIANCE_IMPL_H_
--- /dev/null
+// 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/covariance.h"
+
+#include <algorithm>
+#include <cmath>
+#include <map>
+#include <utility>
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/covariance_impl.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/map_util.h"
+#include "ceres/problem_impl.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::map;
+using std::pair;
+using std::vector;
+
+class UnaryCostFunction: public CostFunction {
+ public:
+ UnaryCostFunction(const int num_residuals,
+ const int32 parameter_block_size,
+ const double* jacobian)
+ : jacobian_(jacobian, jacobian + num_residuals * parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ if (jacobians[0] != NULL) {
+ copy(jacobian_.begin(), jacobian_.end(), jacobians[0]);
+ }
+
+ return true;
+ }
+
+ private:
+ vector<double> jacobian_;
+};
+
+
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(const int num_residuals,
+ const int32 parameter_block1_size,
+ const int32 parameter_block2_size,
+ const double* jacobian1,
+ const double* jacobian2)
+ : jacobian1_(jacobian1,
+ jacobian1 + num_residuals * parameter_block1_size),
+ jacobian2_(jacobian2,
+ jacobian2 + num_residuals * parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ if (jacobians[0] != NULL) {
+ copy(jacobian1_.begin(), jacobian1_.end(), jacobians[0]);
+ }
+
+ if (jacobians[1] != NULL) {
+ copy(jacobian2_.begin(), jacobian2_.end(), jacobians[1]);
+ }
+
+ return true;
+ }
+
+ private:
+ vector<double> jacobian1_;
+ vector<double> jacobian2_;
+};
+
+// x_plus_delta = delta * x;
+class PolynomialParameterization : public LocalParameterization {
+ public:
+ virtual ~PolynomialParameterization() {}
+
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ x_plus_delta[0] = delta[0] * x[0];
+ x_plus_delta[1] = delta[0] * x[1];
+ return true;
+ }
+
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+ jacobian[0] = x[0];
+ jacobian[1] = x[1];
+ return true;
+ }
+
+ virtual int GlobalSize() const { return 2; }
+ virtual int LocalSize() const { return 1; }
+};
+
+TEST(CovarianceImpl, ComputeCovarianceSparsity) {
+ double parameters[10];
+
+ double* block1 = parameters;
+ double* block2 = block1 + 1;
+ double* block3 = block2 + 2;
+ double* block4 = block3 + 3;
+
+ ProblemImpl problem;
+
+ // Add in random order
+ Vector junk_jacobian = Vector::Zero(10);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 3, junk_jacobian.data()), NULL, block3);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+
+ // Sparsity pattern
+ //
+ // Note that the problem structure does not imply this sparsity
+ // pattern since all the residual blocks are unary. But the
+ // ComputeCovarianceSparsity function in its current incarnation
+ // does not pay attention to this fact and only looks at the
+ // parameter block pairs that the user provides.
+ //
+ // X . . . . . X X X X
+ // . X X X X X . . . .
+ // . X X X X X . . . .
+ // . . . X X X . . . .
+ // . . . X X X . . . .
+ // . . . X X X . . . .
+ // . . . . . . X X X X
+ // . . . . . . X X X X
+ // . . . . . . X X X X
+ // . . . . . . X X X X
+
+ int expected_rows[] = {0, 5, 10, 15, 18, 21, 24, 28, 32, 36, 40};
+ int expected_cols[] = {0, 6, 7, 8, 9,
+ 1, 2, 3, 4, 5,
+ 1, 2, 3, 4, 5,
+ 3, 4, 5,
+ 3, 4, 5,
+ 3, 4, 5,
+ 6, 7, 8, 9,
+ 6, 7, 8, 9,
+ 6, 7, 8, 9,
+ 6, 7, 8, 9};
+
+
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(block1, block1));
+ covariance_blocks.push_back(make_pair(block4, block4));
+ covariance_blocks.push_back(make_pair(block2, block2));
+ covariance_blocks.push_back(make_pair(block3, block3));
+ covariance_blocks.push_back(make_pair(block2, block3));
+ covariance_blocks.push_back(make_pair(block4, block1)); // reversed
+
+ Covariance::Options options;
+ CovarianceImpl covariance_impl(options);
+ EXPECT_TRUE(covariance_impl
+ .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+ const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+ EXPECT_EQ(crsm->num_rows(), 10);
+ EXPECT_EQ(crsm->num_cols(), 10);
+ EXPECT_EQ(crsm->num_nonzeros(), 40);
+
+ const int* rows = crsm->rows();
+ for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+ EXPECT_EQ(rows[r], expected_rows[r])
+ << r << " "
+ << rows[r] << " "
+ << expected_rows[r];
+ }
+
+ const int* cols = crsm->cols();
+ for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+ EXPECT_EQ(cols[c], expected_cols[c])
+ << c << " "
+ << cols[c] << " "
+ << expected_cols[c];
+ }
+}
+
+TEST(CovarianceImpl, ComputeCovarianceSparsityWithConstantParameterBlock) {
+ double parameters[10];
+
+ double* block1 = parameters;
+ double* block2 = block1 + 1;
+ double* block3 = block2 + 2;
+ double* block4 = block3 + 3;
+
+ ProblemImpl problem;
+
+ // Add in random order
+ Vector junk_jacobian = Vector::Zero(10);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 3, junk_jacobian.data()), NULL, block3);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+ problem.SetParameterBlockConstant(block3);
+
+ // Sparsity pattern
+ //
+ // Note that the problem structure does not imply this sparsity
+ // pattern since all the residual blocks are unary. But the
+ // ComputeCovarianceSparsity function in its current incarnation
+ // does not pay attention to this fact and only looks at the
+ // parameter block pairs that the user provides.
+ //
+ // X . . X X X X
+ // . X X . . . .
+ // . X X . . . .
+ // . . . X X X X
+ // . . . X X X X
+ // . . . X X X X
+ // . . . X X X X
+
+ int expected_rows[] = {0, 5, 7, 9, 13, 17, 21, 25};
+ int expected_cols[] = {0, 3, 4, 5, 6,
+ 1, 2,
+ 1, 2,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6};
+
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(block1, block1));
+ covariance_blocks.push_back(make_pair(block4, block4));
+ covariance_blocks.push_back(make_pair(block2, block2));
+ covariance_blocks.push_back(make_pair(block3, block3));
+ covariance_blocks.push_back(make_pair(block2, block3));
+ covariance_blocks.push_back(make_pair(block4, block1)); // reversed
+
+ Covariance::Options options;
+ CovarianceImpl covariance_impl(options);
+ EXPECT_TRUE(covariance_impl
+ .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+ const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+ EXPECT_EQ(crsm->num_rows(), 7);
+ EXPECT_EQ(crsm->num_cols(), 7);
+ EXPECT_EQ(crsm->num_nonzeros(), 25);
+
+ const int* rows = crsm->rows();
+ for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+ EXPECT_EQ(rows[r], expected_rows[r])
+ << r << " "
+ << rows[r] << " "
+ << expected_rows[r];
+ }
+
+ const int* cols = crsm->cols();
+ for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+ EXPECT_EQ(cols[c], expected_cols[c])
+ << c << " "
+ << cols[c] << " "
+ << expected_cols[c];
+ }
+}
+
+TEST(CovarianceImpl, ComputeCovarianceSparsityWithFreeParameterBlock) {
+ double parameters[10];
+
+ double* block1 = parameters;
+ double* block2 = block1 + 1;
+ double* block3 = block2 + 2;
+ double* block4 = block3 + 3;
+
+ ProblemImpl problem;
+
+ // Add in random order
+ Vector junk_jacobian = Vector::Zero(10);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+ problem.AddParameterBlock(block3, 3);
+ problem.AddResidualBlock(
+ new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+
+ // Sparsity pattern
+ //
+ // Note that the problem structure does not imply this sparsity
+ // pattern since all the residual blocks are unary. But the
+ // ComputeCovarianceSparsity function in its current incarnation
+ // does not pay attention to this fact and only looks at the
+ // parameter block pairs that the user provides.
+ //
+ // X . . X X X X
+ // . X X . . . .
+ // . X X . . . .
+ // . . . X X X X
+ // . . . X X X X
+ // . . . X X X X
+ // . . . X X X X
+
+ int expected_rows[] = {0, 5, 7, 9, 13, 17, 21, 25};
+ int expected_cols[] = {0, 3, 4, 5, 6,
+ 1, 2,
+ 1, 2,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6,
+ 3, 4, 5, 6};
+
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(block1, block1));
+ covariance_blocks.push_back(make_pair(block4, block4));
+ covariance_blocks.push_back(make_pair(block2, block2));
+ covariance_blocks.push_back(make_pair(block3, block3));
+ covariance_blocks.push_back(make_pair(block2, block3));
+ covariance_blocks.push_back(make_pair(block4, block1)); // reversed
+
+ Covariance::Options options;
+ CovarianceImpl covariance_impl(options);
+ EXPECT_TRUE(covariance_impl
+ .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+ const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+ EXPECT_EQ(crsm->num_rows(), 7);
+ EXPECT_EQ(crsm->num_cols(), 7);
+ EXPECT_EQ(crsm->num_nonzeros(), 25);
+
+ const int* rows = crsm->rows();
+ for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+ EXPECT_EQ(rows[r], expected_rows[r])
+ << r << " "
+ << rows[r] << " "
+ << expected_rows[r];
+ }
+
+ const int* cols = crsm->cols();
+ for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+ EXPECT_EQ(cols[c], expected_cols[c])
+ << c << " "
+ << cols[c] << " "
+ << expected_cols[c];
+ }
+}
+
+class CovarianceTest : public ::testing::Test {
+ protected:
+ typedef map<const double*, pair<int, int> > BoundsMap;
+
+ virtual void SetUp() {
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+
+ x[0] = 1;
+ x[1] = 1;
+ y[0] = 2;
+ y[1] = 2;
+ y[2] = 2;
+ z[0] = 3;
+
+ {
+ double jacobian[] = { 1.0, 0.0, 0.0, 1.0};
+ problem_.AddResidualBlock(new UnaryCostFunction(2, 2, jacobian), NULL, x);
+ }
+
+ {
+ double jacobian[] = { 2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0 };
+ problem_.AddResidualBlock(new UnaryCostFunction(3, 3, jacobian), NULL, y);
+ }
+
+ {
+ double jacobian = 5.0;
+ problem_.AddResidualBlock(new UnaryCostFunction(1, 1, &jacobian),
+ NULL,
+ z);
+ }
+
+ {
+ double jacobian1[] = { 1.0, 2.0, 3.0 };
+ double jacobian2[] = { -5.0, -6.0 };
+ problem_.AddResidualBlock(
+ new BinaryCostFunction(1, 3, 2, jacobian1, jacobian2),
+ NULL,
+ y,
+ x);
+ }
+
+ {
+ double jacobian1[] = {2.0 };
+ double jacobian2[] = { 3.0, -2.0 };
+ problem_.AddResidualBlock(
+ new BinaryCostFunction(1, 1, 2, jacobian1, jacobian2),
+ NULL,
+ z,
+ x);
+ }
+
+ all_covariance_blocks_.push_back(make_pair(x, x));
+ all_covariance_blocks_.push_back(make_pair(y, y));
+ all_covariance_blocks_.push_back(make_pair(z, z));
+ all_covariance_blocks_.push_back(make_pair(x, y));
+ all_covariance_blocks_.push_back(make_pair(x, z));
+ all_covariance_blocks_.push_back(make_pair(y, z));
+
+ column_bounds_[x] = make_pair(0, 2);
+ column_bounds_[y] = make_pair(2, 5);
+ column_bounds_[z] = make_pair(5, 6);
+ }
+
+ // Computes covariance in ambient space.
+ void ComputeAndCompareCovarianceBlocks(const Covariance::Options& options,
+ const double* expected_covariance) {
+ ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+ options,
+ true, // ambient
+ expected_covariance);
+ }
+
+ // Computes covariance in tangent space.
+ void ComputeAndCompareCovarianceBlocksInTangentSpace(
+ const Covariance::Options& options,
+ const double* expected_covariance) {
+ ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+ options,
+ false, // tangent
+ expected_covariance);
+ }
+
+ void ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+ const Covariance::Options& options,
+ bool lift_covariance_to_ambient_space,
+ const double* expected_covariance) {
+ // Generate all possible combination of block pairs and check if the
+ // covariance computation is correct.
+ for (int i = 0; i <= 64; ++i) {
+ vector<pair<const double*, const double*> > covariance_blocks;
+ if (i & 1) {
+ covariance_blocks.push_back(all_covariance_blocks_[0]);
+ }
+
+ if (i & 2) {
+ covariance_blocks.push_back(all_covariance_blocks_[1]);
+ }
+
+ if (i & 4) {
+ covariance_blocks.push_back(all_covariance_blocks_[2]);
+ }
+
+ if (i & 8) {
+ covariance_blocks.push_back(all_covariance_blocks_[3]);
+ }
+
+ if (i & 16) {
+ covariance_blocks.push_back(all_covariance_blocks_[4]);
+ }
+
+ if (i & 32) {
+ covariance_blocks.push_back(all_covariance_blocks_[5]);
+ }
+
+ Covariance covariance(options);
+ EXPECT_TRUE(covariance.Compute(covariance_blocks, &problem_));
+
+ for (int i = 0; i < covariance_blocks.size(); ++i) {
+ const double* block1 = covariance_blocks[i].first;
+ const double* block2 = covariance_blocks[i].second;
+ // block1, block2
+ GetCovarianceBlockAndCompare(block1,
+ block2,
+ lift_covariance_to_ambient_space,
+ covariance,
+ expected_covariance);
+ // block2, block1
+ GetCovarianceBlockAndCompare(block2,
+ block1,
+ lift_covariance_to_ambient_space,
+ covariance,
+ expected_covariance);
+ }
+ }
+ }
+
+ void GetCovarianceBlockAndCompare(const double* block1,
+ const double* block2,
+ bool lift_covariance_to_ambient_space,
+ const Covariance& covariance,
+ const double* expected_covariance) {
+ const BoundsMap& column_bounds = lift_covariance_to_ambient_space ?
+ column_bounds_ : local_column_bounds_;
+ const int row_begin = FindOrDie(column_bounds, block1).first;
+ const int row_end = FindOrDie(column_bounds, block1).second;
+ const int col_begin = FindOrDie(column_bounds, block2).first;
+ const int col_end = FindOrDie(column_bounds, block2).second;
+
+ Matrix actual(row_end - row_begin, col_end - col_begin);
+ if (lift_covariance_to_ambient_space) {
+ EXPECT_TRUE(covariance.GetCovarianceBlock(block1,
+ block2,
+ actual.data()));
+ } else {
+ EXPECT_TRUE(covariance.GetCovarianceBlockInTangentSpace(block1,
+ block2,
+ actual.data()));
+ }
+
+ int dof = 0; // degrees of freedom = sum of LocalSize()s
+ for (BoundsMap::const_iterator iter = column_bounds.begin();
+ iter != column_bounds.end(); ++iter) {
+ dof = std::max(dof, iter->second.second);
+ }
+ ConstMatrixRef expected(expected_covariance, dof, dof);
+ double diff_norm = (expected.block(row_begin,
+ col_begin,
+ row_end - row_begin,
+ col_end - col_begin) - actual).norm();
+ diff_norm /= (row_end - row_begin) * (col_end - col_begin);
+
+ const double kTolerance = 1e-5;
+ EXPECT_NEAR(diff_norm, 0.0, kTolerance)
+ << "rows: " << row_begin << " " << row_end << " "
+ << "cols: " << col_begin << " " << col_end << " "
+ << "\n\n expected: \n " << expected.block(row_begin,
+ col_begin,
+ row_end - row_begin,
+ col_end - col_begin)
+ << "\n\n actual: \n " << actual
+ << "\n\n full expected: \n" << expected;
+ }
+
+ double parameters_[6];
+ Problem problem_;
+ vector<pair<const double*, const double*> > all_covariance_blocks_;
+ BoundsMap column_bounds_;
+ BoundsMap local_column_bounds_;
+};
+
+
+TEST_F(CovarianceTest, NormalBehavior) {
+ // J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // J'J
+ //
+ // 35 24 -5 -10 -15 6
+ // 24 41 -6 -12 -18 -4
+ // -5 -6 5 2 3 0
+ // -10 -12 2 8 6 0
+ // -15 -18 3 6 13 0
+ // 6 -4 0 0 0 29
+
+ // inv(J'J) computed using octave.
+ double expected_covariance[] = {
+ 7.0747e-02, -8.4923e-03, 1.6821e-02, 3.3643e-02, 5.0464e-02, -1.5809e-02, // NOLINT
+ -8.4923e-03, 8.1352e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02, 1.2978e-02, // NOLINT
+ 1.6821e-02, 2.4758e-02, 2.4904e-01, -1.9271e-03, -2.8906e-03, -6.5325e-05, // NOLINT
+ 3.3643e-02, 4.9517e-02, -1.9271e-03, 2.4615e-01, -5.7813e-03, -1.3065e-04, // NOLINT
+ 5.0464e-02, 7.4275e-02, -2.8906e-03, -5.7813e-03, 2.4133e-01, -1.9598e-04, // NOLINT
+ -1.5809e-02, 1.2978e-02, -6.5325e-05, -1.3065e-04, -1.9598e-04, 3.9544e-02, // NOLINT
+ };
+
+ Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+#ifdef CERES_USE_OPENMP
+
+TEST_F(CovarianceTest, ThreadedNormalBehavior) {
+ // J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // J'J
+ //
+ // 35 24 -5 -10 -15 6
+ // 24 41 -6 -12 -18 -4
+ // -5 -6 5 2 3 0
+ // -10 -12 2 8 6 0
+ // -15 -18 3 6 13 0
+ // 6 -4 0 0 0 29
+
+ // inv(J'J) computed using octave.
+ double expected_covariance[] = {
+ 7.0747e-02, -8.4923e-03, 1.6821e-02, 3.3643e-02, 5.0464e-02, -1.5809e-02, // NOLINT
+ -8.4923e-03, 8.1352e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02, 1.2978e-02, // NOLINT
+ 1.6821e-02, 2.4758e-02, 2.4904e-01, -1.9271e-03, -2.8906e-03, -6.5325e-05, // NOLINT
+ 3.3643e-02, 4.9517e-02, -1.9271e-03, 2.4615e-01, -5.7813e-03, -1.3065e-04, // NOLINT
+ 5.0464e-02, 7.4275e-02, -2.8906e-03, -5.7813e-03, 2.4133e-01, -1.9598e-04, // NOLINT
+ -1.5809e-02, 1.2978e-02, -6.5325e-05, -1.3065e-04, -1.9598e-04, 3.9544e-02, // NOLINT
+ };
+
+ Covariance::Options options;
+ options.num_threads = 4;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+#endif // CERES_USE_OPENMP
+
+TEST_F(CovarianceTest, ConstantParameterBlock) {
+ problem_.SetParameterBlockConstant(parameters_);
+
+ // J
+ //
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // 0 0 1 2 3 0
+ // 0 0 0 0 0 2
+
+ // J'J
+ //
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 5 2 3 0
+ // 0 0 2 8 6 0
+ // 0 0 3 6 13 0
+ // 0 0 0 0 0 29
+
+ // pinv(J'J) computed using octave.
+ double expected_covariance[] = {
+ 0, 0, 0, 0, 0, 0, // NOLINT
+ 0, 0, 0, 0, 0, 0, // NOLINT
+ 0, 0, 0.23611, -0.02778, -0.04167, -0.00000, // NOLINT
+ 0, 0, -0.02778, 0.19444, -0.08333, -0.00000, // NOLINT
+ 0, 0, -0.04167, -0.08333, 0.12500, -0.00000, // NOLINT
+ 0, 0, -0.00000, -0.00000, -0.00000, 0.03448 // NOLINT
+ };
+
+ Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterization) {
+ double* x = parameters_;
+ double* y = x + 2;
+
+ problem_.SetParameterization(x, new PolynomialParameterization);
+
+ vector<int> subset;
+ subset.push_back(2);
+ problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+ // Raw Jacobian: J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // Local to global jacobian: A
+ //
+ // 1 0 0 0
+ // 1 0 0 0
+ // 0 1 0 0
+ // 0 0 1 0
+ // 0 0 0 0
+ // 0 0 0 1
+
+ // A * inv((J*A)'*(J*A)) * A'
+ // Computed using octave.
+ double expected_covariance[] = {
+ 0.01766, 0.01766, 0.02158, 0.04316, 0.00000, -0.00122,
+ 0.01766, 0.01766, 0.02158, 0.04316, 0.00000, -0.00122,
+ 0.02158, 0.02158, 0.24860, -0.00281, 0.00000, -0.00149,
+ 0.04316, 0.04316, -0.00281, 0.24439, 0.00000, -0.00298,
+ 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000,
+ -0.00122, -0.00122, -0.00149, -0.00298, 0.00000, 0.03457
+ };
+
+ Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterizationInTangentSpace) {
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+
+ problem_.SetParameterization(x, new PolynomialParameterization);
+
+ vector<int> subset;
+ subset.push_back(2);
+ problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+ local_column_bounds_[x] = make_pair(0, 1);
+ local_column_bounds_[y] = make_pair(1, 3);
+ local_column_bounds_[z] = make_pair(3, 4);
+
+ // Raw Jacobian: J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // Local to global jacobian: A
+ //
+ // 1 0 0 0
+ // 1 0 0 0
+ // 0 1 0 0
+ // 0 0 1 0
+ // 0 0 0 0
+ // 0 0 0 1
+
+ // inv((J*A)'*(J*A))
+ // Computed using octave.
+ double expected_covariance[] = {
+ 0.01766, 0.02158, 0.04316, -0.00122,
+ 0.02158, 0.24860, -0.00281, -0.00149,
+ 0.04316, -0.00281, 0.24439, -0.00298,
+ -0.00122, -0.00149, -0.00298, 0.03457 // NOLINT
+ };
+
+ Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterizationInTangentSpaceWithConstantBlocks) {
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+
+ problem_.SetParameterization(x, new PolynomialParameterization);
+ problem_.SetParameterBlockConstant(x);
+
+ vector<int> subset;
+ subset.push_back(2);
+ problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+ problem_.SetParameterBlockConstant(y);
+
+ local_column_bounds_[x] = make_pair(0, 1);
+ local_column_bounds_[y] = make_pair(1, 3);
+ local_column_bounds_[z] = make_pair(3, 4);
+
+ // Raw Jacobian: J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // Local to global jacobian: A
+ //
+ // 0 0 0 0
+ // 0 0 0 0
+ // 0 0 0 0
+ // 0 0 0 0
+ // 0 0 0 0
+ // 0 0 0 1
+
+ // pinv((J*A)'*(J*A))
+ // Computed using octave.
+ double expected_covariance[] = {
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.034482 // NOLINT
+ };
+
+ Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, TruncatedRank) {
+ // J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 2 0 0 0
+ // 0 0 0 2 0 0
+ // 0 0 0 0 2 0
+ // 0 0 0 0 0 5
+ // -5 -6 1 2 3 0
+ // 3 -2 0 0 0 2
+
+ // J'J
+ //
+ // 35 24 -5 -10 -15 6
+ // 24 41 -6 -12 -18 -4
+ // -5 -6 5 2 3 0
+ // -10 -12 2 8 6 0
+ // -15 -18 3 6 13 0
+ // 6 -4 0 0 0 29
+
+ // 3.4142 is the smallest eigen value of J'J. The following matrix
+ // was obtained by dropping the eigenvector corresponding to this
+ // eigenvalue.
+ double expected_covariance[] = {
+ 5.4135e-02, -3.5121e-02, 1.7257e-04, 3.4514e-04, 5.1771e-04, -1.6076e-02, // NOLINT
+ -3.5121e-02, 3.8667e-02, -1.9288e-03, -3.8576e-03, -5.7864e-03, 1.2549e-02, // NOLINT
+ 1.7257e-04, -1.9288e-03, 2.3235e-01, -3.5297e-02, -5.2946e-02, -3.3329e-04, // NOLINT
+ 3.4514e-04, -3.8576e-03, -3.5297e-02, 1.7941e-01, -1.0589e-01, -6.6659e-04, // NOLINT
+ 5.1771e-04, -5.7864e-03, -5.2946e-02, -1.0589e-01, 9.1162e-02, -9.9988e-04, // NOLINT
+ -1.6076e-02, 1.2549e-02, -3.3329e-04, -6.6659e-04, -9.9988e-04, 3.9539e-02 // NOLINT
+ };
+
+
+ {
+ Covariance::Options options;
+ options.algorithm_type = DENSE_SVD;
+ // Force dropping of the smallest eigenvector.
+ options.null_space_rank = 1;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+ }
+
+ {
+ Covariance::Options options;
+ options.algorithm_type = DENSE_SVD;
+ // Force dropping of the smallest eigenvector via the ratio but
+ // automatic truncation.
+ options.min_reciprocal_condition_number = 0.044494;
+ options.null_space_rank = -1;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+ }
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParameters) {
+ Covariance::Options options;
+ Covariance covariance(options);
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+ vector<const double*> parameter_blocks;
+ parameter_blocks.push_back(x);
+ parameter_blocks.push_back(y);
+ parameter_blocks.push_back(z);
+ covariance.Compute(parameter_blocks, &problem_);
+ double expected_covariance[36];
+ covariance.GetCovarianceMatrix(parameter_blocks, expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParametersThreaded) {
+ Covariance::Options options;
+ options.num_threads = 4;
+ Covariance covariance(options);
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+ vector<const double*> parameter_blocks;
+ parameter_blocks.push_back(x);
+ parameter_blocks.push_back(y);
+ parameter_blocks.push_back(z);
+ covariance.Compute(parameter_blocks, &problem_);
+ double expected_covariance[36];
+ covariance.GetCovarianceMatrix(parameter_blocks, expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParametersInTangentSpace) {
+ Covariance::Options options;
+ Covariance covariance(options);
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+
+ problem_.SetParameterization(x, new PolynomialParameterization);
+
+ vector<int> subset;
+ subset.push_back(2);
+ problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+ local_column_bounds_[x] = make_pair(0, 1);
+ local_column_bounds_[y] = make_pair(1, 3);
+ local_column_bounds_[z] = make_pair(3, 4);
+
+ vector<const double*> parameter_blocks;
+ parameter_blocks.push_back(x);
+ parameter_blocks.push_back(y);
+ parameter_blocks.push_back(z);
+ covariance.Compute(parameter_blocks, &problem_);
+ double expected_covariance[16];
+ covariance.GetCovarianceMatrixInTangentSpace(parameter_blocks,
+ expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+ options.algorithm_type = DENSE_SVD;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+ options.algorithm_type = SPARSE_QR;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, ComputeCovarianceFailure) {
+ Covariance::Options options;
+ Covariance covariance(options);
+ double* x = parameters_;
+ double* y = x + 2;
+ vector<const double*> parameter_blocks;
+ parameter_blocks.push_back(x);
+ parameter_blocks.push_back(x);
+ parameter_blocks.push_back(y);
+ parameter_blocks.push_back(y);
+ EXPECT_DEATH_IF_SUPPORTED(covariance.Compute(parameter_blocks, &problem_),
+ "Covariance::Compute called with duplicate blocks "
+ "at indices \\(0, 1\\) and \\(2, 3\\)");
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(x, x));
+ covariance_blocks.push_back(make_pair(x, x));
+ covariance_blocks.push_back(make_pair(y, y));
+ covariance_blocks.push_back(make_pair(y, y));
+ EXPECT_DEATH_IF_SUPPORTED(covariance.Compute(covariance_blocks, &problem_),
+ "Covariance::Compute called with duplicate blocks "
+ "at indices \\(0, 1\\) and \\(2, 3\\)");
+}
+
+class RankDeficientCovarianceTest : public CovarianceTest {
+ protected:
+ virtual void SetUp() {
+ double* x = parameters_;
+ double* y = x + 2;
+ double* z = y + 3;
+
+ {
+ double jacobian[] = { 1.0, 0.0, 0.0, 1.0};
+ problem_.AddResidualBlock(new UnaryCostFunction(2, 2, jacobian), NULL, x);
+ }
+
+ {
+ double jacobian[] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+ problem_.AddResidualBlock(new UnaryCostFunction(3, 3, jacobian), NULL, y);
+ }
+
+ {
+ double jacobian = 5.0;
+ problem_.AddResidualBlock(new UnaryCostFunction(1, 1, &jacobian),
+ NULL,
+ z);
+ }
+
+ {
+ double jacobian1[] = { 0.0, 0.0, 0.0 };
+ double jacobian2[] = { -5.0, -6.0 };
+ problem_.AddResidualBlock(
+ new BinaryCostFunction(1, 3, 2, jacobian1, jacobian2),
+ NULL,
+ y,
+ x);
+ }
+
+ {
+ double jacobian1[] = {2.0 };
+ double jacobian2[] = { 3.0, -2.0 };
+ problem_.AddResidualBlock(
+ new BinaryCostFunction(1, 1, 2, jacobian1, jacobian2),
+ NULL,
+ z,
+ x);
+ }
+
+ all_covariance_blocks_.push_back(make_pair(x, x));
+ all_covariance_blocks_.push_back(make_pair(y, y));
+ all_covariance_blocks_.push_back(make_pair(z, z));
+ all_covariance_blocks_.push_back(make_pair(x, y));
+ all_covariance_blocks_.push_back(make_pair(x, z));
+ all_covariance_blocks_.push_back(make_pair(y, z));
+
+ column_bounds_[x] = make_pair(0, 2);
+ column_bounds_[y] = make_pair(2, 5);
+ column_bounds_[z] = make_pair(5, 6);
+ }
+};
+
+TEST_F(RankDeficientCovarianceTest, AutomaticTruncation) {
+ // J
+ //
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 5
+ // -5 -6 0 0 0 0
+ // 3 -2 0 0 0 2
+
+ // J'J
+ //
+ // 35 24 0 0 0 6
+ // 24 41 0 0 0 -4
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 0 0 0 0 0 0
+ // 6 -4 0 0 0 29
+
+ // pinv(J'J) computed using octave.
+ double expected_covariance[] = {
+ 0.053998, -0.033145, 0.000000, 0.000000, 0.000000, -0.015744,
+ -0.033145, 0.045067, 0.000000, 0.000000, 0.000000, 0.013074,
+ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+ -0.015744, 0.013074, 0.000000, 0.000000, 0.000000, 0.039543
+ };
+
+ Covariance::Options options;
+ options.algorithm_type = DENSE_SVD;
+ options.null_space_rank = -1;
+ ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+class LargeScaleCovarianceTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ num_parameter_blocks_ = 2000;
+ parameter_block_size_ = 5;
+ parameters_.reset(
+ new double[parameter_block_size_ * num_parameter_blocks_]);
+
+ Matrix jacobian(parameter_block_size_, parameter_block_size_);
+ for (int i = 0; i < num_parameter_blocks_; ++i) {
+ jacobian.setIdentity();
+ jacobian *= (i + 1);
+
+ double* block_i = parameters_.get() + i * parameter_block_size_;
+ problem_.AddResidualBlock(new UnaryCostFunction(parameter_block_size_,
+ parameter_block_size_,
+ jacobian.data()),
+ NULL,
+ block_i);
+ for (int j = i; j < num_parameter_blocks_; ++j) {
+ double* block_j = parameters_.get() + j * parameter_block_size_;
+ all_covariance_blocks_.push_back(make_pair(block_i, block_j));
+ }
+ }
+ }
+
+ void ComputeAndCompare(
+ CovarianceAlgorithmType algorithm_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ int num_threads) {
+ Covariance::Options options;
+ options.algorithm_type = algorithm_type;
+ options.sparse_linear_algebra_library_type =
+ sparse_linear_algebra_library_type;
+ options.num_threads = num_threads;
+ Covariance covariance(options);
+ EXPECT_TRUE(covariance.Compute(all_covariance_blocks_, &problem_));
+
+ Matrix expected(parameter_block_size_, parameter_block_size_);
+ Matrix actual(parameter_block_size_, parameter_block_size_);
+ const double kTolerance = 1e-16;
+
+ for (int i = 0; i < num_parameter_blocks_; ++i) {
+ expected.setIdentity();
+ expected /= (i + 1.0) * (i + 1.0);
+
+ double* block_i = parameters_.get() + i * parameter_block_size_;
+ covariance.GetCovarianceBlock(block_i, block_i, actual.data());
+ EXPECT_NEAR((expected - actual).norm(), 0.0, kTolerance)
+ << "block: " << i << ", " << i << "\n"
+ << "expected: \n" << expected << "\n"
+ << "actual: \n" << actual;
+
+ expected.setZero();
+ for (int j = i + 1; j < num_parameter_blocks_; ++j) {
+ double* block_j = parameters_.get() + j * parameter_block_size_;
+ covariance.GetCovarianceBlock(block_i, block_j, actual.data());
+ EXPECT_NEAR((expected - actual).norm(), 0.0, kTolerance)
+ << "block: " << i << ", " << j << "\n"
+ << "expected: \n" << expected << "\n"
+ << "actual: \n" << actual;
+ }
+ }
+ }
+
+ scoped_array<double> parameters_;
+ int parameter_block_size_;
+ int num_parameter_blocks_;
+
+ Problem problem_;
+ vector<pair<const double*, const double*> > all_covariance_blocks_;
+};
+
+#if !defined(CERES_NO_SUITESPARSE) && defined(CERES_USE_OPENMP)
+
+TEST_F(LargeScaleCovarianceTest, Parallel) {
+ ComputeAndCompare(SPARSE_QR, SUITE_SPARSE, 4);
+}
+
+#endif // !defined(CERES_NO_SUITESPARSE) && defined(CERES_USE_OPENMP)
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/cubic_interpolation.h"
+
+#include "ceres/jet.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+static const double kTolerance = 1e-12;
+
+TEST(Grid1D, OneDataDimension) {
+ int x[] = {1, 2, 3};
+ Grid1D<int, 1> grid(x, 0, 3);
+ for (int i = 0; i < 3; ++i) {
+ double value;
+ grid.GetValue(i, &value);
+ EXPECT_EQ(value, static_cast<double>(i + 1));
+ }
+}
+
+TEST(Grid1D, OneDataDimensionOutOfBounds) {
+ int x[] = {1, 2, 3};
+ Grid1D<int, 1> grid(x, 0, 3);
+ double value;
+ grid.GetValue(-1, &value);
+ EXPECT_EQ(value, x[0]);
+ grid.GetValue(-2, &value);
+ EXPECT_EQ(value, x[0]);
+ grid.GetValue(3, &value);
+ EXPECT_EQ(value, x[2]);
+ grid.GetValue(4, &value);
+ EXPECT_EQ(value, x[2]);
+}
+
+TEST(Grid1D, TwoDataDimensionIntegerDataInterleaved) {
+ int x[] = {1, 5,
+ 2, 6,
+ 3, 7};
+
+ Grid1D<int, 2, true> grid(x, 0, 3);
+ for (int i = 0; i < 3; ++i) {
+ double value[2];
+ grid.GetValue(i, value);
+ EXPECT_EQ(value[0], static_cast<double>(i + 1));
+ EXPECT_EQ(value[1], static_cast<double>(i + 5));
+ }
+}
+
+
+TEST(Grid1D, TwoDataDimensionIntegerDataStacked) {
+ int x[] = {1, 2, 3,
+ 5, 6, 7};
+
+ Grid1D<int, 2, false> grid(x, 0, 3);
+ for (int i = 0; i < 3; ++i) {
+ double value[2];
+ grid.GetValue(i, value);
+ EXPECT_EQ(value[0], static_cast<double>(i + 1));
+ EXPECT_EQ(value[1], static_cast<double>(i + 5));
+ }
+}
+
+TEST(Grid2D, OneDataDimensionRowMajor) {
+ int x[] = {1, 2, 3,
+ 2, 3, 4};
+ Grid2D<int, 1, true, true> grid(x, 0, 2, 0, 3);
+ for (int r = 0; r < 2; ++r) {
+ for (int c = 0; c < 3; ++c) {
+ double value;
+ grid.GetValue(r, c, &value);
+ EXPECT_EQ(value, static_cast<double>(r + c + 1));
+ }
+ }
+}
+
+TEST(Grid2D, OneDataDimensionRowMajorOutOfBounds) {
+ int x[] = {1, 2, 3,
+ 2, 3, 4};
+ Grid2D<int, 1, true, true> grid(x, 0, 2, 0, 3);
+ double value;
+ grid.GetValue(-1, -1, &value);
+ EXPECT_EQ(value, x[0]);
+ grid.GetValue(-1, 0, &value);
+ EXPECT_EQ(value, x[0]);
+ grid.GetValue(-1, 1, &value);
+ EXPECT_EQ(value, x[1]);
+ grid.GetValue(-1, 2, &value);
+ EXPECT_EQ(value, x[2]);
+ grid.GetValue(-1, 3, &value);
+ EXPECT_EQ(value, x[2]);
+ grid.GetValue(0, 3, &value);
+ EXPECT_EQ(value, x[2]);
+ grid.GetValue(1, 3, &value);
+ EXPECT_EQ(value, x[5]);
+ grid.GetValue(2, 3, &value);
+ EXPECT_EQ(value, x[5]);
+ grid.GetValue(2, 2, &value);
+ EXPECT_EQ(value, x[5]);
+ grid.GetValue(2, 1, &value);
+ EXPECT_EQ(value, x[4]);
+ grid.GetValue(2, 0, &value);
+ EXPECT_EQ(value, x[3]);
+ grid.GetValue(2, -1, &value);
+ EXPECT_EQ(value, x[3]);
+ grid.GetValue(1, -1, &value);
+ EXPECT_EQ(value, x[3]);
+ grid.GetValue(0, -1, &value);
+ EXPECT_EQ(value, x[0]);
+}
+
+TEST(Grid2D, TwoDataDimensionRowMajorInterleaved) {
+ int x[] = {1, 4, 2, 8, 3, 12,
+ 2, 8, 3, 12, 4, 16};
+ Grid2D<int, 2, true, true> grid(x, 0, 2, 0, 3);
+ for (int r = 0; r < 2; ++r) {
+ for (int c = 0; c < 3; ++c) {
+ double value[2];
+ grid.GetValue(r, c, value);
+ EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+ EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+ }
+ }
+}
+
+TEST(Grid2D, TwoDataDimensionRowMajorStacked) {
+ int x[] = {1, 2, 3,
+ 2, 3, 4,
+ 4, 8, 12,
+ 8, 12, 16};
+ Grid2D<int, 2, true, false> grid(x, 0, 2, 0, 3);
+ for (int r = 0; r < 2; ++r) {
+ for (int c = 0; c < 3; ++c) {
+ double value[2];
+ grid.GetValue(r, c, value);
+ EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+ EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+ }
+ }
+}
+
+TEST(Grid2D, TwoDataDimensionColMajorInterleaved) {
+ int x[] = { 1, 4, 2, 8,
+ 2, 8, 3, 12,
+ 3, 12, 4, 16};
+ Grid2D<int, 2, false, true> grid(x, 0, 2, 0, 3);
+ for (int r = 0; r < 2; ++r) {
+ for (int c = 0; c < 3; ++c) {
+ double value[2];
+ grid.GetValue(r, c, value);
+ EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+ EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+ }
+ }
+}
+
+TEST(Grid2D, TwoDataDimensionColMajorStacked) {
+ int x[] = {1, 2,
+ 2, 3,
+ 3, 4,
+ 4, 8,
+ 8, 12,
+ 12, 16};
+ Grid2D<int, 2, false, false> grid(x, 0, 2, 0, 3);
+ for (int r = 0; r < 2; ++r) {
+ for (int c = 0; c < 3; ++c) {
+ double value[2];
+ grid.GetValue(r, c, value);
+ EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+ EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+ }
+ }
+}
+
+class CubicInterpolatorTest : public ::testing::Test {
+ public:
+ template <int kDataDimension>
+ void RunPolynomialInterpolationTest(const double a,
+ const double b,
+ const double c,
+ const double d) {
+ values_.reset(new double[kDataDimension * kNumSamples]);
+
+ for (int x = 0; x < kNumSamples; ++x) {
+ for (int dim = 0; dim < kDataDimension; ++dim) {
+ values_[x * kDataDimension + dim] =
+ (dim * dim + 1) * (a * x * x * x + b * x * x + c * x + d);
+ }
+ }
+
+ Grid1D<double, kDataDimension> grid(values_.get(), 0, kNumSamples);
+ CubicInterpolator<Grid1D<double, kDataDimension> > interpolator(grid);
+
+ // Check values in the all the cells but the first and the last
+ // ones. In these cells, the interpolated function values should
+ // match exactly the values of the function being interpolated.
+ //
+ // On the boundary, we extrapolate the values of the function on
+ // the basis of its first derivative, so we do not expect the
+ // function values and its derivatives not to match.
+ for (int j = 0; j < kNumTestSamples; ++j) {
+ const double x = 1.0 + 7.0 / (kNumTestSamples - 1) * j;
+ double expected_f[kDataDimension], expected_dfdx[kDataDimension];
+ double f[kDataDimension], dfdx[kDataDimension];
+
+ for (int dim = 0; dim < kDataDimension; ++dim) {
+ expected_f[dim] =
+ (dim * dim + 1) * (a * x * x * x + b * x * x + c * x + d);
+ expected_dfdx[dim] = (dim * dim + 1) * (3.0 * a * x * x + 2.0 * b * x + c);
+ }
+
+ interpolator.Evaluate(x, f, dfdx);
+ for (int dim = 0; dim < kDataDimension; ++dim) {
+ EXPECT_NEAR(f[dim], expected_f[dim], kTolerance)
+ << "x: " << x << " dim: " << dim
+ << " actual f(x): " << expected_f[dim]
+ << " estimated f(x): " << f[dim];
+ EXPECT_NEAR(dfdx[dim], expected_dfdx[dim], kTolerance)
+ << "x: " << x << " dim: " << dim
+ << " actual df(x)/dx: " << expected_dfdx[dim]
+ << " estimated df(x)/dx: " << dfdx[dim];
+ }
+ }
+ }
+
+ private:
+ static const int kNumSamples = 10;
+ static const int kNumTestSamples = 100;
+ scoped_array<double> values_;
+};
+
+TEST_F(CubicInterpolatorTest, ConstantFunction) {
+ RunPolynomialInterpolationTest<1>(0.0, 0.0, 0.0, 0.5);
+ RunPolynomialInterpolationTest<2>(0.0, 0.0, 0.0, 0.5);
+ RunPolynomialInterpolationTest<3>(0.0, 0.0, 0.0, 0.5);
+}
+
+TEST_F(CubicInterpolatorTest, LinearFunction) {
+ RunPolynomialInterpolationTest<1>(0.0, 0.0, 1.0, 0.5);
+ RunPolynomialInterpolationTest<2>(0.0, 0.0, 1.0, 0.5);
+ RunPolynomialInterpolationTest<3>(0.0, 0.0, 1.0, 0.5);
+}
+
+TEST_F(CubicInterpolatorTest, QuadraticFunction) {
+ RunPolynomialInterpolationTest<1>(0.0, 0.4, 1.0, 0.5);
+ RunPolynomialInterpolationTest<2>(0.0, 0.4, 1.0, 0.5);
+ RunPolynomialInterpolationTest<3>(0.0, 0.4, 1.0, 0.5);
+}
+
+
+TEST(CubicInterpolator, JetEvaluation) {
+ const double values[] = {1.0, 2.0, 2.0, 5.0, 3.0, 9.0, 2.0, 7.0};
+
+ Grid1D<double, 2, true> grid(values, 0, 4);
+ CubicInterpolator<Grid1D<double, 2, true> > interpolator(grid);
+
+ double f[2], dfdx[2];
+ const double x = 2.5;
+ interpolator.Evaluate(x, f, dfdx);
+
+ // Create a Jet with the same scalar part as x, so that the output
+ // Jet will be evaluated at x.
+ Jet<double, 4> x_jet;
+ x_jet.a = x;
+ x_jet.v(0) = 1.0;
+ x_jet.v(1) = 1.1;
+ x_jet.v(2) = 1.2;
+ x_jet.v(3) = 1.3;
+
+ Jet<double, 4> f_jets[2];
+ interpolator.Evaluate(x_jet, f_jets);
+
+ // Check that the scalar part of the Jet is f(x).
+ EXPECT_EQ(f_jets[0].a, f[0]);
+ EXPECT_EQ(f_jets[1].a, f[1]);
+
+ // Check that the derivative part of the Jet is dfdx * x_jet.v
+ // by the chain rule.
+ EXPECT_NEAR((f_jets[0].v - dfdx[0] * x_jet.v).norm(), 0.0, kTolerance);
+ EXPECT_NEAR((f_jets[1].v - dfdx[1] * x_jet.v).norm(), 0.0, kTolerance);
+}
+
+class BiCubicInterpolatorTest : public ::testing::Test {
+ public:
+ template <int kDataDimension>
+ void RunPolynomialInterpolationTest(const Eigen::Matrix3d& coeff) {
+ values_.reset(new double[kNumRows * kNumCols * kDataDimension]);
+ coeff_ = coeff;
+ double* v = values_.get();
+ for (int r = 0; r < kNumRows; ++r) {
+ for (int c = 0; c < kNumCols; ++c) {
+ for (int dim = 0; dim < kDataDimension; ++dim) {
+ *v++ = (dim * dim + 1) * EvaluateF(r, c);
+ }
+ }
+ }
+
+ Grid2D<double, kDataDimension> grid(values_.get(), 0, kNumRows, 0, kNumCols);
+ BiCubicInterpolator<Grid2D<double, kDataDimension> > interpolator(grid);
+
+ for (int j = 0; j < kNumRowSamples; ++j) {
+ const double r = 1.0 + 7.0 / (kNumRowSamples - 1) * j;
+ for (int k = 0; k < kNumColSamples; ++k) {
+ const double c = 1.0 + 7.0 / (kNumColSamples - 1) * k;
+ double f[kDataDimension], dfdr[kDataDimension], dfdc[kDataDimension];
+ interpolator.Evaluate(r, c, f, dfdr, dfdc);
+ for (int dim = 0; dim < kDataDimension; ++dim) {
+ EXPECT_NEAR(f[dim], (dim * dim + 1) * EvaluateF(r, c), kTolerance);
+ EXPECT_NEAR(dfdr[dim], (dim * dim + 1) * EvaluatedFdr(r, c), kTolerance);
+ EXPECT_NEAR(dfdc[dim], (dim * dim + 1) * EvaluatedFdc(r, c), kTolerance);
+ }
+ }
+ }
+ }
+
+ private:
+ double EvaluateF(double r, double c) {
+ Eigen::Vector3d x;
+ x(0) = r;
+ x(1) = c;
+ x(2) = 1;
+ return x.transpose() * coeff_ * x;
+ }
+
+ double EvaluatedFdr(double r, double c) {
+ Eigen::Vector3d x;
+ x(0) = r;
+ x(1) = c;
+ x(2) = 1;
+ return (coeff_.row(0) + coeff_.col(0).transpose()) * x;
+ }
+
+ double EvaluatedFdc(double r, double c) {
+ Eigen::Vector3d x;
+ x(0) = r;
+ x(1) = c;
+ x(2) = 1;
+ return (coeff_.row(1) + coeff_.col(1).transpose()) * x;
+ }
+
+
+ Eigen::Matrix3d coeff_;
+ static const int kNumRows = 10;
+ static const int kNumCols = 10;
+ static const int kNumRowSamples = 100;
+ static const int kNumColSamples = 100;
+ scoped_array<double> values_;
+};
+
+TEST_F(BiCubicInterpolatorTest, ZeroFunction) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree00Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree01Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 2) = 0.1;
+ coeff(2, 0) = 0.1;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree10Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 1) = 0.1;
+ coeff(1, 0) = 0.1;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree11Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 1) = 0.1;
+ coeff(1, 0) = 0.1;
+ coeff(0, 2) = 0.2;
+ coeff(2, 0) = 0.2;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree12Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 1) = 0.1;
+ coeff(1, 0) = 0.1;
+ coeff(0, 2) = 0.2;
+ coeff(2, 0) = 0.2;
+ coeff(1, 1) = 0.3;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree21Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 1) = 0.1;
+ coeff(1, 0) = 0.1;
+ coeff(0, 2) = 0.2;
+ coeff(2, 0) = 0.2;
+ coeff(0, 0) = 0.3;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree22Function) {
+ Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+ coeff(2, 2) = 1.0;
+ coeff(0, 1) = 0.1;
+ coeff(1, 0) = 0.1;
+ coeff(0, 2) = 0.2;
+ coeff(2, 0) = 0.2;
+ coeff(0, 0) = 0.3;
+ coeff(0, 1) = -0.4;
+ coeff(1, 0) = -0.4;
+ RunPolynomialInterpolationTest<1>(coeff);
+ RunPolynomialInterpolationTest<2>(coeff);
+ RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST(BiCubicInterpolator, JetEvaluation) {
+ const double values[] = {1.0, 5.0, 2.0, 10.0, 2.0, 6.0, 3.0, 5.0,
+ 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 3.0, 1.0};
+
+ Grid2D<double, 2> grid(values, 0, 2, 0, 4);
+ BiCubicInterpolator<Grid2D<double, 2> > interpolator(grid);
+
+ double f[2], dfdr[2], dfdc[2];
+ const double r = 0.5;
+ const double c = 2.5;
+ interpolator.Evaluate(r, c, f, dfdr, dfdc);
+
+ // Create a Jet with the same scalar part as x, so that the output
+ // Jet will be evaluated at x.
+ Jet<double, 4> r_jet;
+ r_jet.a = r;
+ r_jet.v(0) = 1.0;
+ r_jet.v(1) = 1.1;
+ r_jet.v(2) = 1.2;
+ r_jet.v(3) = 1.3;
+
+ Jet<double, 4> c_jet;
+ c_jet.a = c;
+ c_jet.v(0) = 2.0;
+ c_jet.v(1) = 3.1;
+ c_jet.v(2) = 4.2;
+ c_jet.v(3) = 5.3;
+
+ Jet<double, 4> f_jets[2];
+ interpolator.Evaluate(r_jet, c_jet, f_jets);
+ EXPECT_EQ(f_jets[0].a, f[0]);
+ EXPECT_EQ(f_jets[1].a, f[1]);
+ EXPECT_NEAR((f_jets[0].v - dfdr[0] * r_jet.v - dfdc[0] * c_jet.v).norm(),
+ 0.0,
+ kTolerance);
+ EXPECT_NEAR((f_jets[1].v - dfdr[1] * r_jet.v - dfdc[1] * c_jet.v).norm(),
+ 0.0,
+ kTolerance);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_CXSPARSE
+
+#include "ceres/cxsparse.h"
+
+#include <string>
+#include <vector>
+
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+CXSparse::CXSparse() : scratch_(NULL), scratch_size_(0) {}
+
+CXSparse::~CXSparse() {
+ if (scratch_size_ > 0) {
+ cs_di_free(scratch_);
+ }
+}
+
+csn* CXSparse::Cholesky(cs_di* A, cs_dis* symbolic_factor) {
+ return cs_di_chol(A, symbolic_factor);
+}
+
+void CXSparse::Solve(cs_dis* symbolic_factor, csn* numeric_factor, double* b) {
+ // Make sure we have enough scratch space available.
+ const int num_cols = numeric_factor->L->n;
+ if (scratch_size_ < num_cols) {
+ if (scratch_size_ > 0) {
+ cs_di_free(scratch_);
+ }
+ scratch_ =
+ reinterpret_cast<CS_ENTRY*>(cs_di_malloc(num_cols, sizeof(CS_ENTRY)));
+ scratch_size_ = num_cols;
+ }
+
+ // When the Cholesky factor succeeded, these methods are
+ // guaranteed to succeeded as well. In the comments below, "x"
+ // refers to the scratch space.
+ //
+ // Set x = P * b.
+ CHECK(cs_di_ipvec(symbolic_factor->pinv, b, scratch_, num_cols));
+ // Set x = L \ x.
+ CHECK(cs_di_lsolve(numeric_factor->L, scratch_));
+ // Set x = L' \ x.
+ CHECK(cs_di_ltsolve(numeric_factor->L, scratch_));
+ // Set b = P' * x.
+ CHECK(cs_di_pvec(symbolic_factor->pinv, scratch_, b, num_cols));
+}
+
+bool CXSparse::SolveCholesky(cs_di* lhs, double* rhs_and_solution) {
+ return cs_cholsol(1, lhs, rhs_and_solution);
+}
+
+cs_dis* CXSparse::AnalyzeCholesky(cs_di* A) {
+ // order = 1 for Cholesky factor.
+ return cs_schol(1, A);
+}
+
+cs_dis* CXSparse::AnalyzeCholeskyWithNaturalOrdering(cs_di* A) {
+ // order = 0 for Natural ordering.
+ return cs_schol(0, A);
+}
+
+cs_dis* CXSparse::BlockAnalyzeCholesky(cs_di* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks) {
+ const int num_row_blocks = row_blocks.size();
+ const int num_col_blocks = col_blocks.size();
+
+ vector<int> block_rows;
+ vector<int> block_cols;
+ CompressedColumnScalarMatrixToBlockMatrix(
+ A->i, A->p, row_blocks, col_blocks, &block_rows, &block_cols);
+ cs_di block_matrix;
+ block_matrix.m = num_row_blocks;
+ block_matrix.n = num_col_blocks;
+ block_matrix.nz = -1;
+ block_matrix.nzmax = block_rows.size();
+ block_matrix.p = &block_cols[0];
+ block_matrix.i = &block_rows[0];
+ block_matrix.x = NULL;
+
+ int* ordering = cs_amd(1, &block_matrix);
+ vector<int> block_ordering(num_row_blocks, -1);
+ std::copy(ordering, ordering + num_row_blocks, &block_ordering[0]);
+ cs_free(ordering);
+
+ vector<int> scalar_ordering;
+ BlockOrderingToScalarOrdering(row_blocks, block_ordering, &scalar_ordering);
+
+ cs_dis* symbolic_factor =
+ reinterpret_cast<cs_dis*>(cs_calloc(1, sizeof(cs_dis)));
+ symbolic_factor->pinv = cs_pinv(&scalar_ordering[0], A->n);
+ cs* permuted_A = cs_symperm(A, symbolic_factor->pinv, 0);
+
+ symbolic_factor->parent = cs_etree(permuted_A, 0);
+ int* postordering = cs_post(symbolic_factor->parent, A->n);
+ int* column_counts =
+ cs_counts(permuted_A, symbolic_factor->parent, postordering, 0);
+ cs_free(postordering);
+ cs_spfree(permuted_A);
+
+ symbolic_factor->cp = (int*)cs_malloc(A->n + 1, sizeof(int));
+ symbolic_factor->lnz = cs_cumsum(symbolic_factor->cp, column_counts, A->n);
+ symbolic_factor->unz = symbolic_factor->lnz;
+
+ cs_free(column_counts);
+
+ if (symbolic_factor->lnz < 0) {
+ cs_sfree(symbolic_factor);
+ symbolic_factor = NULL;
+ }
+
+ return symbolic_factor;
+}
+
+cs_di CXSparse::CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A) {
+ cs_di At;
+ At.m = A->num_cols();
+ At.n = A->num_rows();
+ At.nz = -1;
+ At.nzmax = A->num_nonzeros();
+ At.p = A->mutable_rows();
+ At.i = A->mutable_cols();
+ At.x = A->mutable_values();
+ return At;
+}
+
+cs_di* CXSparse::CreateSparseMatrix(TripletSparseMatrix* tsm) {
+ cs_di_sparse tsm_wrapper;
+ tsm_wrapper.nzmax = tsm->num_nonzeros();
+ tsm_wrapper.nz = tsm->num_nonzeros();
+ tsm_wrapper.m = tsm->num_rows();
+ tsm_wrapper.n = tsm->num_cols();
+ tsm_wrapper.p = tsm->mutable_cols();
+ tsm_wrapper.i = tsm->mutable_rows();
+ tsm_wrapper.x = tsm->mutable_values();
+
+ return cs_compress(&tsm_wrapper);
+}
+
+void CXSparse::ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering) {
+ int* cs_ordering = cs_amd(1, A);
+ std::copy(cs_ordering, cs_ordering + A->m, ordering);
+ cs_free(cs_ordering);
+}
+
+cs_di* CXSparse::TransposeMatrix(cs_di* A) { return cs_di_transpose(A, 1); }
+
+cs_di* CXSparse::MatrixMatrixMultiply(cs_di* A, cs_di* B) {
+ return cs_di_multiply(A, B);
+}
+
+void CXSparse::Free(cs_di* sparse_matrix) { cs_di_spfree(sparse_matrix); }
+
+void CXSparse::Free(cs_dis* symbolic_factor) { cs_di_sfree(symbolic_factor); }
+
+void CXSparse::Free(csn* numeric_factor) { cs_di_nfree(numeric_factor); }
+
+CXSparseCholesky* CXSparseCholesky::Create(const OrderingType ordering_type) {
+ return new CXSparseCholesky(ordering_type);
+}
+
+CompressedRowSparseMatrix::StorageType CXSparseCholesky::StorageType() const {
+ return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+}
+
+CXSparseCholesky::CXSparseCholesky(const OrderingType ordering_type)
+ : ordering_type_(ordering_type),
+ symbolic_factor_(NULL),
+ numeric_factor_(NULL) {}
+
+CXSparseCholesky::~CXSparseCholesky() {
+ FreeSymbolicFactorization();
+ FreeNumericFactorization();
+}
+
+LinearSolverTerminationType CXSparseCholesky::Factorize(
+ CompressedRowSparseMatrix* lhs, std::string* message) {
+ CHECK_EQ(lhs->storage_type(), StorageType());
+ if (lhs == NULL) {
+ *message = "Failure: Input lhs is NULL.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ cs_di cs_lhs = cs_.CreateSparseMatrixTransposeView(lhs);
+
+ if (symbolic_factor_ == NULL) {
+ if (ordering_type_ == NATURAL) {
+ symbolic_factor_ = cs_.AnalyzeCholeskyWithNaturalOrdering(&cs_lhs);
+ } else {
+ if (!lhs->col_blocks().empty() && !(lhs->row_blocks().empty())) {
+ symbolic_factor_ = cs_.BlockAnalyzeCholesky(
+ &cs_lhs, lhs->col_blocks(), lhs->row_blocks());
+ } else {
+ symbolic_factor_ = cs_.AnalyzeCholesky(&cs_lhs);
+ }
+ }
+
+ if (symbolic_factor_ == NULL) {
+ *message = "CXSparse Failure : Symbolic factorization failed.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+ }
+
+ FreeNumericFactorization();
+ numeric_factor_ = cs_.Cholesky(&cs_lhs, symbolic_factor_);
+ if (numeric_factor_ == NULL) {
+ *message = "CXSparse Failure : Numeric factorization failed.";
+ return LINEAR_SOLVER_FAILURE;
+ }
+
+ return LINEAR_SOLVER_SUCCESS;
+}
+
+LinearSolverTerminationType CXSparseCholesky::Solve(const double* rhs,
+ double* solution,
+ std::string* message) {
+ CHECK(numeric_factor_ != NULL)
+ << "Solve called without a call to Factorize first.";
+ const int num_cols = numeric_factor_->L->n;
+ memcpy(solution, rhs, num_cols * sizeof(*solution));
+ cs_.Solve(symbolic_factor_, numeric_factor_, solution);
+ return LINEAR_SOLVER_SUCCESS;
+}
+
+void CXSparseCholesky::FreeSymbolicFactorization() {
+ if (symbolic_factor_ != NULL) {
+ cs_.Free(symbolic_factor_);
+ symbolic_factor_ = NULL;
+ }
+}
+
+void CXSparseCholesky::FreeNumericFactorization() {
+ if (numeric_factor_ != NULL) {
+ cs_.Free(numeric_factor_);
+ numeric_factor_ = NULL;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_CXSPARSE
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_CXSPARSE_H_
+#define CERES_INTERNAL_CXSPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_CXSPARSE
+
+#include <string>
+#include <vector>
+
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "cs.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// This object provides access to solving linear systems using Cholesky
+// factorization with a known symbolic factorization. This features does not
+// explicity exist in CXSparse. The methods in the class are nonstatic because
+// the class manages internal scratch space.
+class CXSparse {
+ public:
+ CXSparse();
+ ~CXSparse();
+
+ // Solve the system lhs * solution = rhs in place by using an
+ // approximate minimum degree fill reducing ordering.
+ bool SolveCholesky(cs_di* lhs, double* rhs_and_solution);
+
+ // Solves a linear system given its symbolic and numeric factorization.
+ void Solve(cs_dis* symbolic_factor,
+ csn* numeric_factor,
+ double* rhs_and_solution);
+
+ // Compute the numeric Cholesky factorization of A, given its
+ // symbolic factorization.
+ //
+ // Caller owns the result.
+ csn* Cholesky(cs_di* A, cs_dis* symbolic_factor);
+
+ // Creates a sparse matrix from a compressed-column form. No memory is
+ // allocated or copied; the structure A is filled out with info from the
+ // argument.
+ cs_di CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+ // Creates a new matrix from a triplet form. Deallocate the returned matrix
+ // with Free. May return NULL if the compression or allocation fails.
+ cs_di* CreateSparseMatrix(TripletSparseMatrix* A);
+
+ // B = A'
+ //
+ // The returned matrix should be deallocated with Free when not used
+ // anymore.
+ cs_di* TransposeMatrix(cs_di* A);
+
+ // C = A * B
+ //
+ // The returned matrix should be deallocated with Free when not used
+ // anymore.
+ cs_di* MatrixMatrixMultiply(cs_di* A, cs_di* B);
+
+ // Computes a symbolic factorization of A that can be used in SolveCholesky.
+ //
+ // The returned matrix should be deallocated with Free when not used anymore.
+ cs_dis* AnalyzeCholesky(cs_di* A);
+
+ // Computes a symbolic factorization of A that can be used in
+ // SolveCholesky, but does not compute a fill-reducing ordering.
+ //
+ // The returned matrix should be deallocated with Free when not used anymore.
+ cs_dis* AnalyzeCholeskyWithNaturalOrdering(cs_di* A);
+
+ // Computes a symbolic factorization of A that can be used in
+ // SolveCholesky. The difference from AnalyzeCholesky is that this
+ // function first detects the block sparsity of the matrix using
+ // information about the row and column blocks and uses this block
+ // sparse matrix to find a fill-reducing ordering. This ordering is
+ // then used to find a symbolic factorization. This can result in a
+ // significant performance improvement AnalyzeCholesky on block
+ // sparse matrices.
+ //
+ // The returned matrix should be deallocated with Free when not used
+ // anymore.
+ cs_dis* BlockAnalyzeCholesky(cs_di* A,
+ const std::vector<int>& row_blocks,
+ const std::vector<int>& col_blocks);
+
+ // Compute an fill-reducing approximate minimum degree ordering of
+ // the matrix A. ordering should be non-NULL and should point to
+ // enough memory to hold the ordering for the rows of A.
+ void ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering);
+
+ void Free(cs_di* sparse_matrix);
+ void Free(cs_dis* symbolic_factorization);
+ void Free(csn* numeric_factorization);
+
+ private:
+ // Cached scratch space
+ CS_ENTRY* scratch_;
+ int scratch_size_;
+};
+
+// An implementation of SparseCholesky interface using the CXSparse
+// library.
+class CXSparseCholesky : public SparseCholesky {
+ public:
+ // Factory
+ static CXSparseCholesky* Create(const OrderingType ordering_type);
+
+ // SparseCholesky interface.
+ virtual ~CXSparseCholesky();
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const;
+ virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
+ std::string* message);
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message);
+
+ private:
+ CXSparseCholesky(const OrderingType ordering_type);
+ void FreeSymbolicFactorization();
+ void FreeNumericFactorization();
+
+ const OrderingType ordering_type_;
+ CXSparse cs_;
+ cs_dis* symbolic_factor_;
+ csn* numeric_factor_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#else // CERES_NO_CXSPARSE
+
+typedef void cs_dis;
+
+class CXSparse {
+ public:
+ void Free(void* arg) {}
+};
+#endif // CERES_NO_CXSPARSE
+
+#endif // CERES_INTERNAL_CXSPARSE_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to dense Eigen matrices.
+
+#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+
+#include "ceres/casts.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseJacobianWriter {
+ public:
+ DenseJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // JacobianWriter interface.
+
+ // Since the dense matrix has different layout than that assumed by the cost
+ // functions, use scratch space to store the jacobians temporarily then copy
+ // them over to the larger jacobian later.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+ }
+
+ SparseMatrix* CreateJacobian() const {
+ return new DenseSparseMatrix(program_->NumResiduals(),
+ program_->NumEffectiveParameters(),
+ true);
+ }
+
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* jacobian) {
+ DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+ const ResidualBlock* residual_block =
+ program_->residual_blocks()[residual_id];
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ int num_residuals = residual_block->NumResiduals();
+
+ // Now copy the jacobians for each parameter into the dense jacobian matrix.
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+
+ // If the parameter block is fixed, then there is nothing to do.
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+
+ const int parameter_block_size = parameter_block->LocalSize();
+ ConstMatrixRef parameter_jacobian(jacobians[j],
+ num_residuals,
+ parameter_block_size);
+
+ dense_jacobian->mutable_matrix().block(
+ residual_offset,
+ parameter_block->delta_offset(),
+ num_residuals,
+ parameter_block_size) = parameter_jacobian;
+ }
+ }
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/casts.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+typedef ::testing::
+ tuple<LinearSolverType, DenseLinearAlgebraLibraryType, bool, int>
+ Param;
+
+std::string ParamInfoToString(testing::TestParamInfo<Param> info) {
+ Param param = info.param;
+ std::stringstream ss;
+ ss << LinearSolverTypeToString(::testing::get<0>(param)) << "_"
+ << DenseLinearAlgebraLibraryTypeToString(::testing::get<1>(param)) << "_"
+ << (::testing::get<2>(param) ? "Regularized" : "Unregularized") << "_"
+ << ::testing::get<3>(param);
+ return ss.str();
+}
+
+class DenseLinearSolverTest : public ::testing::TestWithParam<Param> {};
+
+TEST_P(DenseLinearSolverTest, _) {
+ Param param = GetParam();
+ const bool regularized = testing::get<2>(param);
+
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(testing::get<3>(param)));
+ DenseSparseMatrix lhs(*down_cast<TripletSparseMatrix*>(problem->A.get()));
+
+ const int num_cols = lhs.num_cols();
+ const int num_rows = lhs.num_rows();
+
+ Vector rhs = Vector::Zero(num_rows + num_cols);
+ rhs.head(num_rows) = ConstVectorRef(problem->b.get(), num_rows);
+
+ LinearSolver::Options options;
+ options.type = ::testing::get<0>(param);
+ options.dense_linear_algebra_library_type = ::testing::get<1>(param);
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ if (regularized) {
+ per_solve_options.D = problem->D.get();
+ }
+
+ Vector solution(num_cols);
+ LinearSolver::Summary summary =
+ solver->Solve(&lhs, rhs.data(), per_solve_options, solution.data());
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+ // If solving for the regularized solution, add the diagonal to the
+ // matrix. This makes subsequent computations simpler.
+ if (testing::get<2>(param)) {
+ lhs.AppendDiagonal(problem->D.get());
+ };
+
+ Vector tmp = Vector::Zero(num_rows + num_cols);
+ lhs.RightMultiply(solution.data(), tmp.data());
+ Vector actual_normal_rhs = Vector::Zero(num_cols);
+ lhs.LeftMultiply(tmp.data(), actual_normal_rhs.data());
+
+ Vector expected_normal_rhs = Vector::Zero(num_cols);
+ lhs.LeftMultiply(rhs.data(), expected_normal_rhs.data());
+ const double residual = (expected_normal_rhs - actual_normal_rhs).norm() /
+ expected_normal_rhs.norm();
+
+ EXPECT_NEAR(residual, 0.0, 10 * std::numeric_limits<double>::epsilon());
+}
+
+// TODO(sameeragarwal): Should we move away from hard coded linear
+// least squares problem to randomly generated ones?
+#ifndef CERES_NO_LAPACK
+
+INSTANTIATE_TEST_CASE_P(
+ DenseLinearSolver,
+ DenseLinearSolverTest,
+ ::testing::Combine(::testing::Values(DENSE_QR, DENSE_NORMAL_CHOLESKY),
+ ::testing::Values(EIGEN, LAPACK),
+ ::testing::Values(true, false),
+ ::testing::Values(0, 1)),
+ ParamInfoToString);
+
+#else
+
+INSTANTIATE_TEST_CASE_P(
+ DenseLinearSolver,
+ DenseLinearSolverTest,
+ ::testing::Combine(::testing::Values(DENSE_QR, DENSE_NORMAL_CHOLESKY),
+ ::testing::Values(EIGEN),
+ ::testing::Values(true, false),
+ ::testing::Values(0, 1)),
+ ParamInfoToString);
+
+#endif
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/dense_normal_cholesky_solver.h"
+
+#include <cstddef>
+
+#include "Eigen/Dense"
+#include "ceres/blas.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+DenseNormalCholeskySolver::DenseNormalCholeskySolver(
+ const LinearSolver::Options& options)
+ : options_(options) {}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ if (options_.dense_linear_algebra_library_type == EIGEN) {
+ return SolveUsingEigen(A, b, per_solve_options, x);
+ } else {
+ return SolveUsingLAPACK(A, b, per_solve_options, x);
+ }
+}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingEigen(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("DenseNormalCholeskySolver::Solve");
+
+ const int num_rows = A->num_rows();
+ const int num_cols = A->num_cols();
+
+ ConstColMajorMatrixRef Aref = A->matrix();
+ Matrix lhs(num_cols, num_cols);
+ lhs.setZero();
+
+ event_logger.AddEvent("Setup");
+
+ // lhs += A'A
+ //
+ // Using rankUpdate instead of GEMM, exposes the fact that its the
+ // same matrix being multiplied with itself and that the product is
+ // symmetric.
+ lhs.selfadjointView<Eigen::Upper>().rankUpdate(Aref.transpose());
+
+ // rhs = A'b
+ Vector rhs = Aref.transpose() * ConstVectorRef(b, num_rows);
+
+ if (per_solve_options.D != NULL) {
+ ConstVectorRef D(per_solve_options.D, num_cols);
+ lhs += D.array().square().matrix().asDiagonal();
+ }
+ event_logger.AddEvent("Product");
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ Eigen::LLT<Matrix, Eigen::Upper> llt =
+ lhs.selfadjointView<Eigen::Upper>().llt();
+
+ if (llt.info() != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "Eigen LLT decomposition failed.";
+ } else {
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+ }
+
+ VectorRef(x, num_cols) = llt.solve(rhs);
+ event_logger.AddEvent("Solve");
+ return summary;
+}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingLAPACK(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("DenseNormalCholeskySolver::Solve");
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ A->AppendDiagonal(per_solve_options.D);
+ }
+
+ const int num_cols = A->num_cols();
+ Matrix lhs(num_cols, num_cols);
+ event_logger.AddEvent("Setup");
+
+ // lhs = A'A
+ //
+ // Note: This is a bit delicate, it assumes that the stride on this
+ // matrix is the same as the number of rows.
+ BLAS::SymmetricRankKUpdate(A->num_rows(),
+ num_cols,
+ A->values(),
+ true,
+ 1.0,
+ 0.0,
+ lhs.data());
+
+ if (per_solve_options.D != NULL) {
+ // Undo the modifications to the matrix A.
+ A->RemoveDiagonal();
+ }
+
+ // TODO(sameeragarwal): Replace this with a gemv call for true blasness.
+ // rhs = A'b
+ VectorRef(x, num_cols) =
+ A->matrix().transpose() * ConstVectorRef(b, A->num_rows());
+ event_logger.AddEvent("Product");
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type =
+ LAPACK::SolveInPlaceUsingCholesky(num_cols,
+ lhs.data(),
+ x,
+ &summary.message);
+ event_logger.AddEvent("Solve");
+ return summary;
+}
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Solve dense rectangular systems Ax = b by forming the normal
+// equations and solving them using the Cholesky factorization.
+
+#ifndef CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+// Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+// min_x |Ax - b|^2
+//
+// Setting the gradient of the above optimization problem to zero
+// gives us the normal equations
+//
+// A'Ax = A'b
+//
+// A'A is a positive definite matrix (hopefully), and the resulting
+// linear system can be solved using Cholesky factorization.
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+// [ A ]x = [b]
+// [ diag(D) ] [0]
+//
+// is solved.
+//
+// This class uses the LDLT factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseNormalCholeskySolver: public DenseSparseMatrixSolver {
+ public:
+ explicit DenseNormalCholeskySolver(const LinearSolver::Options& options);
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ LinearSolver::Summary SolveUsingLAPACK(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ LinearSolver::Summary SolveUsingEigen(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
--- /dev/null
+// 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/dense_qr_solver.h"
+
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+DenseQRSolver::DenseQRSolver(const LinearSolver::Options& options)
+ : options_(options) {
+ work_.resize(1);
+}
+
+LinearSolver::Summary DenseQRSolver::SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ if (options_.dense_linear_algebra_library_type == EIGEN) {
+ return SolveUsingEigen(A, b, per_solve_options, x);
+ } else {
+ return SolveUsingLAPACK(A, b, per_solve_options, x);
+ }
+}
+
+LinearSolver::Summary DenseQRSolver::SolveUsingLAPACK(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("DenseQRSolver::Solve");
+
+ const int num_rows = A->num_rows();
+ const int num_cols = A->num_cols();
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ A->AppendDiagonal(per_solve_options.D);
+ }
+
+ // TODO(sameeragarwal): Since we are copying anyways, the diagonal
+ // can be appended to the matrix instead of doing it on A.
+ lhs_ = A->matrix();
+
+ if (per_solve_options.D != NULL) {
+ // Undo the modifications to the matrix A.
+ A->RemoveDiagonal();
+ }
+
+ // rhs = [b;0] to account for the additional rows in the lhs.
+ if (rhs_.rows() != lhs_.rows()) {
+ rhs_.resize(lhs_.rows());
+ }
+ rhs_.setZero();
+ rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
+
+ if (work_.rows() == 1) {
+ const int work_size =
+ LAPACK::EstimateWorkSizeForQR(lhs_.rows(), lhs_.cols());
+ VLOG(3) << "Working memory for Dense QR factorization: "
+ << work_size * sizeof(double);
+ work_.resize(work_size);
+ }
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LAPACK::SolveInPlaceUsingQR(lhs_.rows(),
+ lhs_.cols(),
+ lhs_.data(),
+ work_.rows(),
+ work_.data(),
+ rhs_.data(),
+ &summary.message);
+ event_logger.AddEvent("Solve");
+ if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+ VectorRef(x, num_cols) = rhs_.head(num_cols);
+ }
+
+ event_logger.AddEvent("TearDown");
+ return summary;
+}
+
+LinearSolver::Summary DenseQRSolver::SolveUsingEigen(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("DenseQRSolver::Solve");
+
+ const int num_rows = A->num_rows();
+ const int num_cols = A->num_cols();
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ A->AppendDiagonal(per_solve_options.D);
+ }
+
+ // rhs = [b;0] to account for the additional rows in the lhs.
+ const int augmented_num_rows =
+ num_rows + ((per_solve_options.D != NULL) ? num_cols : 0);
+ if (rhs_.rows() != augmented_num_rows) {
+ rhs_.resize(augmented_num_rows);
+ rhs_.setZero();
+ }
+ rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
+ event_logger.AddEvent("Setup");
+
+ // Solve the system.
+ VectorRef(x, num_cols) = A->matrix().householderQr().solve(rhs_);
+ event_logger.AddEvent("Solve");
+
+ if (per_solve_options.D != NULL) {
+ // Undo the modifications to the matrix A.
+ A->RemoveDiagonal();
+ }
+
+ // We always succeed, since the QR solver returns the best solution
+ // it can. It is the job of the caller to determine if the solution
+ // is good enough or not.
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ event_logger.AddEvent("TearDown");
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Solve dense rectangular systems Ax = b using the QR factorization.
+#ifndef CERES_INTERNAL_DENSE_QR_SOLVER_H_
+#define CERES_INTERNAL_DENSE_QR_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+// Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+// min_x |Ax - b|^2
+//
+// The solution strategy is based on computing the QR decomposition of
+// A, i.e.
+//
+// A = QR
+//
+// Where Q is an orthonormal matrix and R is an upper triangular
+// matrix. Then
+//
+// Ax = b
+// QRx = b
+// Q'QRx = Q'b
+// Rx = Q'b
+// x = R^{-1} Q'b
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+// [ A ]x = [b]
+// [ diag(D) ] [0]
+//
+// is solved.
+//
+// This class uses the dense QR factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseQRSolver: public DenseSparseMatrixSolver {
+ public:
+ explicit DenseQRSolver(const LinearSolver::Options& options);
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ LinearSolver::Summary SolveUsingEigen(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ LinearSolver::Summary SolveUsingLAPACK(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ ColMajorMatrix lhs_;
+ Vector rhs_;
+ Vector work_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseQRSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_QR_SOLVER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include <algorithm>
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
+ : has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+ m_.resize(num_rows, num_cols);
+ m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows,
+ int num_cols,
+ bool reserve_diagonal)
+ : has_diagonal_appended_(false),
+ has_diagonal_reserved_(reserve_diagonal) {
+ if (reserve_diagonal) {
+ // Allocate enough space for the diagonal.
+ m_.resize(num_rows + num_cols, num_cols);
+ } else {
+ m_.resize(num_rows, num_cols);
+ }
+ m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
+ : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
+ has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+ const double *values = m.values();
+ const int *rows = m.rows();
+ const int *cols = m.cols();
+ int num_nonzeros = m.num_nonzeros();
+
+ for (int i = 0; i < num_nonzeros; ++i) {
+ m_(rows[i], cols[i]) += values[i];
+ }
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
+ : m_(m),
+ has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+}
+
+void DenseSparseMatrix::SetZero() {
+ m_.setZero();
+}
+
+void DenseSparseMatrix::RightMultiply(const double* x, double* y) const {
+ VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols());
+}
+
+void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ VectorRef(y, num_cols()) +=
+ matrix().transpose() * ConstVectorRef(x, num_rows());
+}
+
+void DenseSparseMatrix::SquaredColumnNorm(double* x) const {
+ VectorRef(x, num_cols()) = m_.colwise().squaredNorm();
+}
+
+void DenseSparseMatrix::ScaleColumns(const double* scale) {
+ m_ *= ConstVectorRef(scale, num_cols()).asDiagonal();
+}
+
+void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ *dense_matrix = m_.block(0, 0, num_rows(), num_cols());
+}
+
+void DenseSparseMatrix::AppendDiagonal(double *d) {
+ CHECK(!has_diagonal_appended_);
+ if (!has_diagonal_reserved_) {
+ ColMajorMatrix tmp = m_;
+ m_.resize(m_.rows() + m_.cols(), m_.cols());
+ m_.setZero();
+ m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
+ has_diagonal_reserved_ = true;
+ }
+
+ m_.bottomLeftCorner(m_.cols(), m_.cols()) =
+ ConstVectorRef(d, m_.cols()).asDiagonal();
+ has_diagonal_appended_ = true;
+}
+
+void DenseSparseMatrix::RemoveDiagonal() {
+ CHECK(has_diagonal_appended_);
+ has_diagonal_appended_ = false;
+ // Leave the diagonal reserved.
+}
+
+int DenseSparseMatrix::num_rows() const {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return m_.rows() - m_.cols();
+ }
+ return m_.rows();
+}
+
+int DenseSparseMatrix::num_cols() const {
+ return m_.cols();
+}
+
+int DenseSparseMatrix::num_nonzeros() const {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return (m_.rows() - m_.cols()) * m_.cols();
+ }
+ return m_.rows() * m_.cols();
+}
+
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+ return ConstColMajorMatrixRef(
+ m_.data(),
+ ((has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? m_.rows() - m_.cols()
+ : m_.rows()),
+ m_.cols(),
+ Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
+}
+
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+ return ColMajorMatrixRef(
+ m_.data(),
+ ((has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? m_.rows() - m_.cols()
+ : m_.rows()),
+ m_.cols(),
+ Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
+}
+
+
+void DenseSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ const int active_rows =
+ (has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? (m_.rows() - m_.cols())
+ : m_.rows();
+
+ for (int r = 0; r < active_rows; ++r) {
+ for (int c = 0; c < m_.cols(); ++c) {
+ fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c));
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A dense matrix implemented under the SparseMatrix interface.
+
+#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class TripletSparseMatrix;
+
+class DenseSparseMatrix : public SparseMatrix {
+ public:
+ // Build a matrix with the same content as the TripletSparseMatrix
+ // m. This assumes that m does not have any repeated entries.
+ explicit DenseSparseMatrix(const TripletSparseMatrix& m);
+ explicit DenseSparseMatrix(const ColMajorMatrix& m);
+
+ DenseSparseMatrix(int num_rows, int num_cols);
+ DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
+
+ virtual ~DenseSparseMatrix() {}
+
+ // SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const;
+ virtual int num_cols() const;
+ virtual int num_nonzeros() const;
+ virtual const double* values() const { return m_.data(); }
+ virtual double* mutable_values() { return m_.data(); }
+
+ ConstColMajorMatrixRef matrix() const;
+ ColMajorMatrixRef mutable_matrix();
+
+ // Only one diagonal can be appended at a time. The diagonal is appended to
+ // as a new set of rows, e.g.
+ //
+ // Original matrix:
+ //
+ // x x x
+ // x x x
+ // x x x
+ //
+ // After append diagonal (1, 2, 3):
+ //
+ // x x x
+ // x x x
+ // x x x
+ // 1 0 0
+ // 0 2 0
+ // 0 0 3
+ //
+ // Calling RemoveDiagonal removes the block. It is a fatal error to append a
+ // diagonal to a matrix that already has an appended diagonal, and it is also
+ // a fatal error to remove a diagonal from a matrix that has none.
+ void AppendDiagonal(double *d);
+ void RemoveDiagonal();
+
+ private:
+ ColMajorMatrix m_;
+ bool has_diagonal_appended_;
+ bool has_diagonal_reserved_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// TODO(keir): Implement a generic "compare sparse matrix implementations" test
+// suite that can compare all the implementations. Then this file would shrink
+// in size.
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include "ceres/casts.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+ EXPECT_EQ(a->num_rows(), b->num_rows());
+ EXPECT_EQ(a->num_cols(), b->num_cols());
+
+ int num_rows = a->num_rows();
+ int num_cols = a->num_cols();
+
+ for (int i = 0; i < num_cols; ++i) {
+ Vector x = Vector::Zero(num_cols);
+ x(i) = 1.0;
+
+ Vector y_a = Vector::Zero(num_rows);
+ Vector y_b = Vector::Zero(num_rows);
+
+ a->RightMultiply(x.data(), y_a.data());
+ b->RightMultiply(x.data(), y_b.data());
+
+ EXPECT_EQ((y_a - y_b).norm(), 0);
+ }
+}
+
+class DenseSparseMatrixTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(1));
+
+ CHECK_NOTNULL(problem.get());
+
+ tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ dsm.reset(new DenseSparseMatrix(*tsm));
+
+ num_rows = tsm->num_rows();
+ num_cols = tsm->num_cols();
+ }
+
+ int num_rows;
+ int num_cols;
+
+ scoped_ptr<TripletSparseMatrix> tsm;
+ scoped_ptr<DenseSparseMatrix> dsm;
+};
+
+TEST_F(DenseSparseMatrixTest, RightMultiply) {
+ CompareMatrices(tsm.get(), dsm.get());
+
+ // Try with a not entirely zero vector to verify column interactions, which
+ // could be masked by a subtle bug when using the elementary vectors.
+ Vector a(num_cols);
+ for (int i = 0; i < num_cols; i++) {
+ a(i) = i;
+ }
+ Vector b1 = Vector::Zero(num_rows);
+ Vector b2 = Vector::Zero(num_rows);
+
+ tsm->RightMultiply(a.data(), b1.data());
+ dsm->RightMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, LeftMultiply) {
+ for (int i = 0; i < num_rows; ++i) {
+ Vector a = Vector::Zero(num_rows);
+ a(i) = 1.0;
+
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ dsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+ }
+
+ // Try with a not entirely zero vector to verify column interactions, which
+ // could be masked by a subtle bug when using the elementary vectors.
+ Vector a(num_rows);
+ for (int i = 0; i < num_rows; i++) {
+ a(i) = i;
+ }
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ dsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, ColumnNorm) {
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->SquaredColumnNorm(b1.data());
+ dsm->SquaredColumnNorm(b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, Scale) {
+ Vector scale(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ scale(i) = i + 1;
+ }
+ tsm->ScaleColumns(scale.data());
+ dsm->ScaleColumns(scale.data());
+ CompareMatrices(tsm.get(), dsm.get());
+}
+
+TEST_F(DenseSparseMatrixTest, ToDenseMatrix) {
+ Matrix tsm_dense;
+ Matrix dsm_dense;
+
+ tsm->ToDenseMatrix(&tsm_dense);
+ dsm->ToDenseMatrix(&dsm_dense);
+
+ EXPECT_EQ((tsm_dense - dsm_dense).norm(), 0.0);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+void DetectStructure(const CompressedRowBlockStructure& bs,
+ const int num_eliminate_blocks,
+ int* row_block_size,
+ int* e_block_size,
+ int* f_block_size) {
+ const int num_row_blocks = bs.rows.size();
+ *row_block_size = 0;
+ *e_block_size = 0;
+ *f_block_size = 0;
+
+ // Iterate over row blocks of the matrix, checking if row_block,
+ // e_block or f_block sizes remain constant.
+ for (int r = 0; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ // We do not care about the sizes of the blocks in rows which do
+ // not contain e_blocks.
+ if (row.cells.front().block_id >= num_eliminate_blocks) {
+ break;
+ }
+
+ // Detect fixed or dynamic row block size.
+ if (*row_block_size == 0) {
+ *row_block_size = row.block.size;
+ } else if (*row_block_size != Eigen::Dynamic &&
+ *row_block_size != row.block.size) {
+ VLOG(2) << "Dynamic row block size because the block size changed from "
+ << *row_block_size << " to "
+ << row.block.size;
+ *row_block_size = Eigen::Dynamic;
+ }
+
+ // Detect fixed or dynamic e-block size.
+ const int e_block_id = row.cells.front().block_id;
+ if (*e_block_size == 0) {
+ *e_block_size = bs.cols[e_block_id].size;
+ } else if (*e_block_size != Eigen::Dynamic &&
+ *e_block_size != bs.cols[e_block_id].size) {
+ VLOG(2) << "Dynamic e block size because the block size changed from "
+ << *e_block_size << " to "
+ << bs.cols[e_block_id].size;
+ *e_block_size = Eigen::Dynamic;
+ }
+
+ // Detect fixed or dynamic f-block size. We are only interested in
+ // rows with e-blocks, and the e-block is always the first block,
+ // so only rows of size greater than 1 are of interest.
+ if (row.cells.size() > 1) {
+ if (*f_block_size == 0) {
+ const int f_block_id = row.cells[1].block_id;
+ *f_block_size = bs.cols[f_block_id].size;
+ }
+
+ for (int c = 1;
+ (c < row.cells.size()) && (*f_block_size != Eigen::Dynamic);
+ ++c) {
+ const int f_block_id = row.cells[c].block_id;
+ if (*f_block_size != bs.cols[f_block_id].size) {
+ VLOG(2) << "Dynamic f block size because the block size "
+ << "changed from " << *f_block_size << " to "
+ << bs.cols[f_block_id].size;
+ *f_block_size = Eigen::Dynamic;
+ }
+ }
+ }
+
+ const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic &&
+ *e_block_size == Eigen::Dynamic &&
+ *f_block_size == Eigen::Dynamic);
+ if (is_everything_dynamic) {
+ break;
+ }
+ }
+
+ CHECK_NE(*row_block_size, 0) << "No rows found";
+ CHECK_NE(*e_block_size, 0) << "No e type blocks found";
+ VLOG(1) << "Schur complement static structure <"
+ << *row_block_size << ","
+ << *e_block_size << ","
+ << *f_block_size << ">.";
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
+#define CERES_INTERNAL_DETECT_STRUCTURE_H_
+
+#include "ceres/block_structure.h"
+
+namespace ceres {
+namespace internal {
+
+// Detect static blocks in the problem sparsity. For rows containing
+// e_blocks, we are interested in detecting if the size of the row
+// blocks, e_blocks and the f_blocks remain constant. If they do, then
+// we can use template specialization to improve the performance of
+// the block level linear algebra operations used by the
+// SchurEliminator.
+//
+// If a block size is not constant, we return Eigen::Dynamic as the
+// value. This just means that the eliminator uses dynamically sized
+// linear algebra operations rather than static operations whose size
+// is known as compile time.
+//
+// For more details about e_blocks and f_blocks, see
+// schur_eliminator.h. This information is used to initialized an
+// appropriate template specialization of SchurEliminator.
+//
+// Note: The structure of rows without any e-blocks has no effect on
+// the values returned by this function. It is entirely possible that
+// the f_block_size and row_blocks_size is not constant in such rows.
+void DetectStructure(const CompressedRowBlockStructure& bs,
+ const int num_eliminate_blocks,
+ int* row_block_size,
+ int* e_block_size,
+ int* f_block_size);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_
--- /dev/null
+// 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 "Eigen/Core"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/block_structure.h"
+#include "ceres/detect_structure.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(DetectStructure, EverythingStatic) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = 4;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicRow) {
+ const int expected_row_block_size = Eigen::Dynamic;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = 4;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockDifferentRows) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = Eigen::Dynamic;
+
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicEBlock) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = Eigen::Dynamic;
+ const int expected_f_block_size = 3;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 2;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockSameRow) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = Eigen::Dynamic;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/dogleg_strategy.h"
+
+#include <cmath>
+#include "Eigen/Dense"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/polynomial.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+const double kMaxMu = 1.0;
+const double kMinMu = 1e-8;
+}
+
+DoglegStrategy::DoglegStrategy(const TrustRegionStrategy::Options& options)
+ : linear_solver_(options.linear_solver),
+ radius_(options.initial_radius),
+ max_radius_(options.max_radius),
+ min_diagonal_(options.min_lm_diagonal),
+ max_diagonal_(options.max_lm_diagonal),
+ mu_(kMinMu),
+ min_mu_(kMinMu),
+ max_mu_(kMaxMu),
+ mu_increase_factor_(10.0),
+ increase_threshold_(0.75),
+ decrease_threshold_(0.25),
+ dogleg_step_norm_(0.0),
+ reuse_(false),
+ dogleg_type_(options.dogleg_type) {
+ CHECK_NOTNULL(linear_solver_);
+ CHECK_GT(min_diagonal_, 0.0);
+ CHECK_LE(min_diagonal_, max_diagonal_);
+ CHECK_GT(max_radius_, 0.0);
+}
+
+// If the reuse_ flag is not set, then the Cauchy point (scaled
+// gradient) and the new Gauss-Newton step are computed from
+// scratch. The Dogleg step is then computed as interpolation of these
+// two vectors.
+TrustRegionStrategy::Summary DoglegStrategy::ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) {
+ CHECK_NOTNULL(jacobian);
+ CHECK_NOTNULL(residuals);
+ CHECK_NOTNULL(step);
+
+ const int n = jacobian->num_cols();
+ if (reuse_) {
+ // Gauss-Newton and gradient vectors are always available, only a
+ // new interpolant need to be computed. For the subspace case,
+ // the subspace and the two-dimensional model are also still valid.
+ switch (dogleg_type_) {
+ case TRADITIONAL_DOGLEG:
+ ComputeTraditionalDoglegStep(step);
+ break;
+
+ case SUBSPACE_DOGLEG:
+ ComputeSubspaceDoglegStep(step);
+ break;
+ }
+ TrustRegionStrategy::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ return summary;
+ }
+
+ reuse_ = true;
+ // Check that we have the storage needed to hold the various
+ // temporary vectors.
+ if (diagonal_.rows() != n) {
+ diagonal_.resize(n, 1);
+ gradient_.resize(n, 1);
+ gauss_newton_step_.resize(n, 1);
+ }
+
+ // Vector used to form the diagonal matrix that is used to
+ // regularize the Gauss-Newton solve and that defines the
+ // elliptical trust region
+ //
+ // || D * step || <= radius_ .
+ //
+ jacobian->SquaredColumnNorm(diagonal_.data());
+ for (int i = 0; i < n; ++i) {
+ diagonal_[i] = std::min(std::max(diagonal_[i], min_diagonal_),
+ max_diagonal_);
+ }
+ diagonal_ = diagonal_.array().sqrt();
+
+ ComputeGradient(jacobian, residuals);
+ ComputeCauchyPoint(jacobian);
+
+ LinearSolver::Summary linear_solver_summary =
+ ComputeGaussNewtonStep(per_solve_options, jacobian, residuals);
+
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+
+ if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+ return summary;
+ }
+
+ if (linear_solver_summary.termination_type != LINEAR_SOLVER_FAILURE) {
+ switch (dogleg_type_) {
+ // Interpolate the Cauchy point and the Gauss-Newton step.
+ case TRADITIONAL_DOGLEG:
+ ComputeTraditionalDoglegStep(step);
+ break;
+
+ // Find the minimum in the subspace defined by the
+ // Cauchy point and the (Gauss-)Newton step.
+ case SUBSPACE_DOGLEG:
+ if (!ComputeSubspaceModel(jacobian)) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ break;
+ }
+ ComputeSubspaceDoglegStep(step);
+ break;
+ }
+ }
+
+ return summary;
+}
+
+// The trust region is assumed to be elliptical with the
+// diagonal scaling matrix D defined by sqrt(diagonal_).
+// It is implemented by substituting step' = D * step.
+// The trust region for step' is spherical.
+// The gradient, the Gauss-Newton step, the Cauchy point,
+// and all calculations involving the Jacobian have to
+// be adjusted accordingly.
+void DoglegStrategy::ComputeGradient(
+ SparseMatrix* jacobian,
+ const double* residuals) {
+ gradient_.setZero();
+ jacobian->LeftMultiply(residuals, gradient_.data());
+ gradient_.array() /= diagonal_.array();
+}
+
+// The Cauchy point is the global minimizer of the quadratic model
+// along the one-dimensional subspace spanned by the gradient.
+void DoglegStrategy::ComputeCauchyPoint(SparseMatrix* jacobian) {
+ // alpha * -gradient is the Cauchy point.
+ Vector Jg(jacobian->num_rows());
+ Jg.setZero();
+ // The Jacobian is scaled implicitly by computing J * (D^-1 * (D^-1 * g))
+ // instead of (J * D^-1) * (D^-1 * g).
+ Vector scaled_gradient =
+ (gradient_.array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(scaled_gradient.data(), Jg.data());
+ alpha_ = gradient_.squaredNorm() / Jg.squaredNorm();
+}
+
+// The dogleg step is defined as the intersection of the trust region
+// boundary with the piecewise linear path from the origin to the Cauchy
+// point and then from there to the Gauss-Newton point (global minimizer
+// of the model function). The Gauss-Newton point is taken if it lies
+// within the trust region.
+void DoglegStrategy::ComputeTraditionalDoglegStep(double* dogleg) {
+ VectorRef dogleg_step(dogleg, gradient_.rows());
+
+ // Case 1. The Gauss-Newton step lies inside the trust region, and
+ // is therefore the optimal solution to the trust-region problem.
+ const double gradient_norm = gradient_.norm();
+ const double gauss_newton_norm = gauss_newton_step_.norm();
+ if (gauss_newton_norm <= radius_) {
+ dogleg_step = gauss_newton_step_;
+ dogleg_step_norm_ = gauss_newton_norm;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // Case 2. The Cauchy point and the Gauss-Newton steps lie outside
+ // the trust region. Rescale the Cauchy point to the trust region
+ // and return.
+ if (gradient_norm * alpha_ >= radius_) {
+ dogleg_step = -(radius_ / gradient_norm) * gradient_;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Cauchy step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // Case 3. The Cauchy point is inside the trust region and the
+ // Gauss-Newton step is outside. Compute the line joining the two
+ // points and the point on it which intersects the trust region
+ // boundary.
+
+ // a = alpha * -gradient
+ // b = gauss_newton_step
+ const double b_dot_a = -alpha_ * gradient_.dot(gauss_newton_step_);
+ const double a_squared_norm = pow(alpha_ * gradient_norm, 2.0);
+ const double b_minus_a_squared_norm =
+ a_squared_norm - 2 * b_dot_a + pow(gauss_newton_norm, 2);
+
+ // c = a' (b - a)
+ // = alpha * -gradient' gauss_newton_step - alpha^2 |gradient|^2
+ const double c = b_dot_a - a_squared_norm;
+ const double d = sqrt(c * c + b_minus_a_squared_norm *
+ (pow(radius_, 2.0) - a_squared_norm));
+
+ double beta =
+ (c <= 0)
+ ? (d - c) / b_minus_a_squared_norm
+ : (radius_ * radius_ - a_squared_norm) / (d + c);
+ dogleg_step = (-alpha_ * (1.0 - beta)) * gradient_
+ + beta * gauss_newton_step_;
+ dogleg_step_norm_ = dogleg_step.norm();
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+}
+
+// The subspace method finds the minimum of the two-dimensional problem
+//
+// min. 1/2 x' B' H B x + g' B x
+// s.t. || B x ||^2 <= r^2
+//
+// where r is the trust region radius and B is the matrix with unit columns
+// spanning the subspace defined by the steepest descent and Newton direction.
+// This subspace by definition includes the Gauss-Newton point, which is
+// therefore taken if it lies within the trust region.
+void DoglegStrategy::ComputeSubspaceDoglegStep(double* dogleg) {
+ VectorRef dogleg_step(dogleg, gradient_.rows());
+
+ // The Gauss-Newton point is inside the trust region if |GN| <= radius_.
+ // This test is valid even though radius_ is a length in the two-dimensional
+ // subspace while gauss_newton_step_ is expressed in the (scaled)
+ // higher dimensional original space. This is because
+ //
+ // 1. gauss_newton_step_ by definition lies in the subspace, and
+ // 2. the subspace basis is orthonormal.
+ //
+ // As a consequence, the norm of the gauss_newton_step_ in the subspace is
+ // the same as its norm in the original space.
+ const double gauss_newton_norm = gauss_newton_step_.norm();
+ if (gauss_newton_norm <= radius_) {
+ dogleg_step = gauss_newton_step_;
+ dogleg_step_norm_ = gauss_newton_norm;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // The optimum lies on the boundary of the trust region. The above problem
+ // therefore becomes
+ //
+ // min. 1/2 x^T B^T H B x + g^T B x
+ // s.t. || B x ||^2 = r^2
+ //
+ // Notice the equality in the constraint.
+ //
+ // This can be solved by forming the Lagrangian, solving for x(y), where
+ // y is the Lagrange multiplier, using the gradient of the objective, and
+ // putting x(y) back into the constraint. This results in a fourth order
+ // polynomial in y, which can be solved using e.g. the companion matrix.
+ // See the description of MakePolynomialForBoundaryConstrainedProblem for
+ // details. The result is up to four real roots y*, not all of which
+ // correspond to feasible points. The feasible points x(y*) have to be
+ // tested for optimality.
+
+ if (subspace_is_one_dimensional_) {
+ // The subspace is one-dimensional, so both the gradient and
+ // the Gauss-Newton step point towards the same direction.
+ // In this case, we move along the gradient until we reach the trust
+ // region boundary.
+ dogleg_step = -(radius_ / gradient_.norm()) * gradient_;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg subspace step size (1D): " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ Vector2d minimum(0.0, 0.0);
+ if (!FindMinimumOnTrustRegionBoundary(&minimum)) {
+ // For the positive semi-definite case, a traditional dogleg step
+ // is taken in this case.
+ LOG(WARNING) << "Failed to compute polynomial roots. "
+ << "Taking traditional dogleg step instead.";
+ ComputeTraditionalDoglegStep(dogleg);
+ return;
+ }
+
+ // Test first order optimality at the minimum.
+ // The first order KKT conditions state that the minimum x*
+ // has to satisfy either || x* ||^2 < r^2 (i.e. has to lie within
+ // the trust region), or
+ //
+ // (B x* + g) + y x* = 0
+ //
+ // for some positive scalar y.
+ // Here, as it is already known that the minimum lies on the boundary, the
+ // latter condition is tested. To allow for small imprecisions, we test if
+ // the angle between (B x* + g) and -x* is smaller than acos(0.99).
+ // The exact value of the cosine is arbitrary but should be close to 1.
+ //
+ // This condition should not be violated. If it is, the minimum was not
+ // correctly determined.
+ const double kCosineThreshold = 0.99;
+ const Vector2d grad_minimum = subspace_B_ * minimum + subspace_g_;
+ const double cosine_angle = -minimum.dot(grad_minimum) /
+ (minimum.norm() * grad_minimum.norm());
+ if (cosine_angle < kCosineThreshold) {
+ LOG(WARNING) << "First order optimality seems to be violated "
+ << "in the subspace method!\n"
+ << "Cosine of angle between x and B x + g is "
+ << cosine_angle << ".\n"
+ << "Taking a regular dogleg step instead.\n"
+ << "Please consider filing a bug report if this "
+ << "happens frequently or consistently.\n";
+ ComputeTraditionalDoglegStep(dogleg);
+ return;
+ }
+
+ // Create the full step from the optimal 2d solution.
+ dogleg_step = subspace_basis_ * minimum;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg subspace step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+}
+
+// Build the polynomial that defines the optimal Lagrange multipliers.
+// Let the Lagrangian be
+//
+// L(x, y) = 0.5 x^T B x + x^T g + y (0.5 x^T x - 0.5 r^2). (1)
+//
+// Stationary points of the Lagrangian are given by
+//
+// 0 = d L(x, y) / dx = Bx + g + y x (2)
+// 0 = d L(x, y) / dy = 0.5 x^T x - 0.5 r^2 (3)
+//
+// For any given y, we can solve (2) for x as
+//
+// x(y) = -(B + y I)^-1 g . (4)
+//
+// As B + y I is 2x2, we form the inverse explicitly:
+//
+// (B + y I)^-1 = (1 / det(B + y I)) adj(B + y I) (5)
+//
+// where adj() denotes adjugation. This should be safe, as B is positive
+// semi-definite and y is necessarily positive, so (B + y I) is indeed
+// invertible.
+// Plugging (5) into (4) and the result into (3), then dividing by 0.5 we
+// obtain
+//
+// 0 = (1 / det(B + y I))^2 g^T adj(B + y I)^T adj(B + y I) g - r^2
+// (6)
+//
+// or
+//
+// det(B + y I)^2 r^2 = g^T adj(B + y I)^T adj(B + y I) g (7a)
+// = g^T adj(B)^T adj(B) g
+// + 2 y g^T adj(B)^T g + y^2 g^T g (7b)
+//
+// as
+//
+// adj(B + y I) = adj(B) + y I = adj(B)^T + y I . (8)
+//
+// The left hand side can be expressed explicitly using
+//
+// det(B + y I) = det(B) + y tr(B) + y^2 . (9)
+//
+// So (7) is a polynomial in y of degree four.
+// Bringing everything back to the left hand side, the coefficients can
+// be read off as
+//
+// y^4 r^2
+// + y^3 2 r^2 tr(B)
+// + y^2 (r^2 tr(B)^2 + 2 r^2 det(B) - g^T g)
+// + y^1 (2 r^2 det(B) tr(B) - 2 g^T adj(B)^T g)
+// + y^0 (r^2 det(B)^2 - g^T adj(B)^T adj(B) g)
+//
+Vector DoglegStrategy::MakePolynomialForBoundaryConstrainedProblem() const {
+ const double detB = subspace_B_.determinant();
+ const double trB = subspace_B_.trace();
+ const double r2 = radius_ * radius_;
+ Matrix2d B_adj;
+ B_adj << subspace_B_(1, 1) , -subspace_B_(0, 1),
+ -subspace_B_(1, 0) , subspace_B_(0, 0);
+
+ Vector polynomial(5);
+ polynomial(0) = r2;
+ polynomial(1) = 2.0 * r2 * trB;
+ polynomial(2) = r2 * (trB * trB + 2.0 * detB) - subspace_g_.squaredNorm();
+ polynomial(3) = -2.0 * (subspace_g_.transpose() * B_adj * subspace_g_
+ - r2 * detB * trB);
+ polynomial(4) = r2 * detB * detB - (B_adj * subspace_g_).squaredNorm();
+
+ return polynomial;
+}
+
+// Given a Lagrange multiplier y that corresponds to a stationary point
+// of the Lagrangian L(x, y), compute the corresponding x from the
+// equation
+//
+// 0 = d L(x, y) / dx
+// = B * x + g + y * x
+// = (B + y * I) * x + g
+//
+DoglegStrategy::Vector2d DoglegStrategy::ComputeSubspaceStepFromRoot(
+ double y) const {
+ const Matrix2d B_i = subspace_B_ + y * Matrix2d::Identity();
+ return -B_i.partialPivLu().solve(subspace_g_);
+}
+
+// This function evaluates the quadratic model at a point x in the
+// subspace spanned by subspace_basis_.
+double DoglegStrategy::EvaluateSubspaceModel(const Vector2d& x) const {
+ return 0.5 * x.dot(subspace_B_ * x) + subspace_g_.dot(x);
+}
+
+// This function attempts to solve the boundary-constrained subspace problem
+//
+// min. 1/2 x^T B^T H B x + g^T B x
+// s.t. || B x ||^2 = r^2
+//
+// where B is an orthonormal subspace basis and r is the trust-region radius.
+//
+// This is done by finding the roots of a fourth degree polynomial. If the
+// root finding fails, the function returns false and minimum will be set
+// to (0, 0). If it succeeds, true is returned.
+//
+// In the failure case, another step should be taken, such as the traditional
+// dogleg step.
+bool DoglegStrategy::FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const {
+ CHECK_NOTNULL(minimum);
+
+ // Return (0, 0) in all error cases.
+ minimum->setZero();
+
+ // Create the fourth-degree polynomial that is a necessary condition for
+ // optimality.
+ const Vector polynomial = MakePolynomialForBoundaryConstrainedProblem();
+
+ // Find the real parts y_i of its roots (not only the real roots).
+ Vector roots_real;
+ if (!FindPolynomialRoots(polynomial, &roots_real, NULL)) {
+ // Failed to find the roots of the polynomial, i.e. the candidate
+ // solutions of the constrained problem. Report this back to the caller.
+ return false;
+ }
+
+ // For each root y, compute B x(y) and check for feasibility.
+ // Notice that there should always be four roots, as the leading term of
+ // the polynomial is r^2 and therefore non-zero. However, as some roots
+ // may be complex, the real parts are not necessarily unique.
+ double minimum_value = std::numeric_limits<double>::max();
+ bool valid_root_found = false;
+ for (int i = 0; i < roots_real.size(); ++i) {
+ const Vector2d x_i = ComputeSubspaceStepFromRoot(roots_real(i));
+
+ // Not all roots correspond to points on the trust region boundary.
+ // There are at most four candidate solutions. As we are interested
+ // in the minimum, it is safe to consider all of them after projecting
+ // them onto the trust region boundary.
+ if (x_i.norm() > 0) {
+ const double f_i = EvaluateSubspaceModel((radius_ / x_i.norm()) * x_i);
+ valid_root_found = true;
+ if (f_i < minimum_value) {
+ minimum_value = f_i;
+ *minimum = x_i;
+ }
+ }
+ }
+
+ return valid_root_found;
+}
+
+LinearSolver::Summary DoglegStrategy::ComputeGaussNewtonStep(
+ const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals) {
+ const int n = jacobian->num_cols();
+ LinearSolver::Summary linear_solver_summary;
+ linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+
+ // The Jacobian matrix is often quite poorly conditioned. Thus it is
+ // necessary to add a diagonal matrix at the bottom to prevent the
+ // linear solver from failing.
+ //
+ // We do this by computing the same diagonal matrix as the one used
+ // by Levenberg-Marquardt (other choices are possible), and scaling
+ // it by a small constant (independent of the trust region radius).
+ //
+ // If the solve fails, the multiplier to the diagonal is increased
+ // up to max_mu_ by a factor of mu_increase_factor_ every time. If
+ // the linear solver is still not successful, the strategy returns
+ // with LINEAR_SOLVER_FAILURE.
+ //
+ // Next time when a new Gauss-Newton step is requested, the
+ // multiplier starts out from the last successful solve.
+ //
+ // When a step is declared successful, the multiplier is decreased
+ // by half of mu_increase_factor_.
+
+ while (mu_ < max_mu_) {
+ // Dogleg, as far as I (sameeragarwal) understand it, requires a
+ // reasonably good estimate of the Gauss-Newton step. This means
+ // that we need to solve the normal equations more or less
+ // exactly. This is reflected in the values of the tolerances set
+ // below.
+ //
+ // For now, this strategy should only be used with exact
+ // factorization based solvers, for which these tolerances are
+ // automatically satisfied.
+ //
+ // The right way to combine inexact solves with trust region
+ // methods is to use Stiehaug's method.
+ LinearSolver::PerSolveOptions solve_options;
+ solve_options.q_tolerance = 0.0;
+ solve_options.r_tolerance = 0.0;
+
+ lm_diagonal_ = diagonal_ * std::sqrt(mu_);
+ solve_options.D = lm_diagonal_.data();
+
+ // As in the LevenbergMarquardtStrategy, solve Jy = r instead
+ // of Jx = -r and later set x = -y to avoid having to modify
+ // either jacobian or residuals.
+ InvalidateArray(n, gauss_newton_step_.data());
+ linear_solver_summary = linear_solver_->Solve(jacobian,
+ residuals,
+ solve_options,
+ gauss_newton_step_.data());
+
+ if (per_solve_options.dump_format_type == CONSOLE ||
+ (per_solve_options.dump_format_type != CONSOLE &&
+ !per_solve_options.dump_filename_base.empty())) {
+ if (!DumpLinearLeastSquaresProblem(per_solve_options.dump_filename_base,
+ per_solve_options.dump_format_type,
+ jacobian,
+ solve_options.D,
+ residuals,
+ gauss_newton_step_.data(),
+ 0)) {
+ LOG(ERROR) << "Unable to dump trust region problem."
+ << " Filename base: "
+ << per_solve_options.dump_filename_base;
+ }
+ }
+
+ if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+ return linear_solver_summary;
+ }
+
+ if (linear_solver_summary.termination_type == LINEAR_SOLVER_FAILURE ||
+ !IsArrayValid(n, gauss_newton_step_.data())) {
+ mu_ *= mu_increase_factor_;
+ VLOG(2) << "Increasing mu " << mu_;
+ linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+ continue;
+ }
+ break;
+ }
+
+ if (linear_solver_summary.termination_type != LINEAR_SOLVER_FAILURE) {
+ // The scaled Gauss-Newton step is D * GN:
+ //
+ // - (D^-1 J^T J D^-1)^-1 (D^-1 g)
+ // = - D (J^T J)^-1 D D^-1 g
+ // = D -(J^T J)^-1 g
+ //
+ gauss_newton_step_.array() *= -diagonal_.array();
+ }
+
+ return linear_solver_summary;
+}
+
+void DoglegStrategy::StepAccepted(double step_quality) {
+ CHECK_GT(step_quality, 0.0);
+
+ if (step_quality < decrease_threshold_) {
+ radius_ *= 0.5;
+ }
+
+ if (step_quality > increase_threshold_) {
+ radius_ = std::max(radius_, 3.0 * dogleg_step_norm_);
+ }
+
+ // Reduce the regularization multiplier, in the hope that whatever
+ // was causing the rank deficiency has gone away and we can return
+ // to doing a pure Gauss-Newton solve.
+ mu_ = std::max(min_mu_, 2.0 * mu_ / mu_increase_factor_);
+ reuse_ = false;
+}
+
+void DoglegStrategy::StepRejected(double step_quality) {
+ radius_ *= 0.5;
+ reuse_ = true;
+}
+
+void DoglegStrategy::StepIsInvalid() {
+ mu_ *= mu_increase_factor_;
+ reuse_ = false;
+}
+
+double DoglegStrategy::Radius() const {
+ return radius_;
+}
+
+bool DoglegStrategy::ComputeSubspaceModel(SparseMatrix* jacobian) {
+ // Compute an orthogonal basis for the subspace using QR decomposition.
+ Matrix basis_vectors(jacobian->num_cols(), 2);
+ basis_vectors.col(0) = gradient_;
+ basis_vectors.col(1) = gauss_newton_step_;
+ Eigen::ColPivHouseholderQR<Matrix> basis_qr(basis_vectors);
+
+ switch (basis_qr.rank()) {
+ case 0:
+ // This should never happen, as it implies that both the gradient
+ // and the Gauss-Newton step are zero. In this case, the minimizer should
+ // have stopped due to the gradient being too small.
+ LOG(ERROR) << "Rank of subspace basis is 0. "
+ << "This means that the gradient at the current iterate is "
+ << "zero but the optimization has not been terminated. "
+ << "You may have found a bug in Ceres.";
+ return false;
+
+ case 1:
+ // Gradient and Gauss-Newton step coincide, so we lie on one of the
+ // major axes of the quadratic problem. In this case, we simply move
+ // along the gradient until we reach the trust region boundary.
+ subspace_is_one_dimensional_ = true;
+ return true;
+
+ case 2:
+ subspace_is_one_dimensional_ = false;
+ break;
+
+ default:
+ LOG(ERROR) << "Rank of the subspace basis matrix is reported to be "
+ << "greater than 2. As the matrix contains only two "
+ << "columns this cannot be true and is indicative of "
+ << "a bug.";
+ return false;
+ }
+
+ // The subspace is two-dimensional, so compute the subspace model.
+ // Given the basis U, this is
+ //
+ // subspace_g_ = g_scaled^T U
+ //
+ // and
+ //
+ // subspace_B_ = U^T (J_scaled^T J_scaled) U
+ //
+ // As J_scaled = J * D^-1, the latter becomes
+ //
+ // subspace_B_ = ((U^T D^-1) J^T) (J (D^-1 U))
+ // = (J (D^-1 U))^T (J (D^-1 U))
+
+ subspace_basis_ =
+ basis_qr.householderQ() * Matrix::Identity(jacobian->num_cols(), 2);
+
+ subspace_g_ = subspace_basis_.transpose() * gradient_;
+
+ Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::RowMajor>
+ Jb(2, jacobian->num_rows());
+ Jb.setZero();
+
+ Vector tmp;
+ tmp = (subspace_basis_.col(0).array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(tmp.data(), Jb.row(0).data());
+ tmp = (subspace_basis_.col(1).array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(tmp.data(), Jb.row(1).data());
+
+ subspace_B_ = Jb * Jb.transpose();
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_DOGLEG_STRATEGY_H_
+#define CERES_INTERNAL_DOGLEG_STRATEGY_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Dogleg step computation and trust region sizing strategy based on
+// on "Methods for Nonlinear Least Squares" by K. Madsen, H.B. Nielsen
+// and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+//
+// One minor modification is that instead of computing the pure
+// Gauss-Newton step, we compute a regularized version of it. This is
+// because the Jacobian is often rank-deficient and in such cases
+// using a direct solver leads to numerical failure.
+//
+// If SUBSPACE is passed as the type argument to the constructor, the
+// DoglegStrategy follows the approach by Shultz, Schnabel, Byrd.
+// This finds the exact optimum over the two-dimensional subspace
+// spanned by the two Dogleg vectors.
+class DoglegStrategy : public TrustRegionStrategy {
+ public:
+ explicit DoglegStrategy(const TrustRegionStrategy::Options& options);
+ virtual ~DoglegStrategy() {}
+
+ // TrustRegionStrategy interface
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step);
+ virtual void StepAccepted(double step_quality);
+ virtual void StepRejected(double step_quality);
+ virtual void StepIsInvalid();
+
+ virtual double Radius() const;
+
+ // These functions are predominantly for testing.
+ Vector gradient() const { return gradient_; }
+ Vector gauss_newton_step() const { return gauss_newton_step_; }
+ Matrix subspace_basis() const { return subspace_basis_; }
+ Vector subspace_g() const { return subspace_g_; }
+ Matrix subspace_B() const { return subspace_B_; }
+
+ private:
+ typedef Eigen::Matrix<double, 2, 1, Eigen::DontAlign> Vector2d;
+ typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign> Matrix2d;
+
+ LinearSolver::Summary ComputeGaussNewtonStep(
+ const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals);
+ void ComputeCauchyPoint(SparseMatrix* jacobian);
+ void ComputeGradient(SparseMatrix* jacobian, const double* residuals);
+ void ComputeTraditionalDoglegStep(double* step);
+ bool ComputeSubspaceModel(SparseMatrix* jacobian);
+ void ComputeSubspaceDoglegStep(double* step);
+
+ bool FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const;
+ Vector MakePolynomialForBoundaryConstrainedProblem() const;
+ Vector2d ComputeSubspaceStepFromRoot(double lambda) const;
+ double EvaluateSubspaceModel(const Vector2d& x) const;
+
+ LinearSolver* linear_solver_;
+ double radius_;
+ const double max_radius_;
+
+ const double min_diagonal_;
+ const double max_diagonal_;
+
+ // mu is used to scale the diagonal matrix used to make the
+ // Gauss-Newton solve full rank. In each solve, the strategy starts
+ // out with mu = min_mu, and tries values upto max_mu. If the user
+ // reports an invalid step, the value of mu_ is increased so that
+ // the next solve starts with a stronger regularization.
+ //
+ // If a successful step is reported, then the value of mu_ is
+ // decreased with a lower bound of min_mu_.
+ double mu_;
+ const double min_mu_;
+ const double max_mu_;
+ const double mu_increase_factor_;
+ const double increase_threshold_;
+ const double decrease_threshold_;
+
+ Vector diagonal_; // sqrt(diag(J^T J))
+ Vector lm_diagonal_;
+
+ Vector gradient_;
+ Vector gauss_newton_step_;
+
+ // cauchy_step = alpha * gradient
+ double alpha_;
+ double dogleg_step_norm_;
+
+ // When, ComputeStep is called, reuse_ indicates whether the
+ // Gauss-Newton and Cauchy steps from the last call to ComputeStep
+ // can be reused or not.
+ //
+ // If the user called StepAccepted, then it is expected that the
+ // user has recomputed the Jacobian matrix and new Gauss-Newton
+ // solve is needed and reuse is set to false.
+ //
+ // If the user called StepRejected, then it is expected that the
+ // user wants to solve the trust region problem with the same matrix
+ // but a different trust region radius and the Gauss-Newton and
+ // Cauchy steps can be reused to compute the Dogleg, thus reuse is
+ // set to true.
+ //
+ // If the user called StepIsInvalid, then there was a numerical
+ // problem with the step computed in the last call to ComputeStep,
+ // and the regularization used to do the Gauss-Newton solve is
+ // increased and a new solve should be done when ComputeStep is
+ // called again, thus reuse is set to false.
+ bool reuse_;
+
+ // The dogleg type determines how the minimum of the local
+ // quadratic model is found.
+ DoglegType dogleg_type_;
+
+ // If the type is SUBSPACE_DOGLEG, the two-dimensional
+ // model 1/2 x^T B x + g^T x has to be computed and stored.
+ bool subspace_is_one_dimensional_;
+ Matrix subspace_basis_;
+ Vector2d subspace_g_;
+ Matrix2d subspace_B_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DOGLEG_STRATEGY_H_
--- /dev/null
+// 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: moll.markus@arcor.de (Markus Moll)
+
+#include <limits>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+class Fixture : public testing::Test {
+ protected:
+ scoped_ptr<DenseSparseMatrix> jacobian_;
+ Vector residual_;
+ Vector x_;
+ TrustRegionStrategy::Options options_;
+};
+
+// A test problem where
+//
+// J^T J = Q diag([1 2 4 8 16 32]) Q^T
+//
+// where Q is a randomly chosen orthonormal basis of R^6.
+// The residual is chosen so that the minimum of the quadratic function is
+// at (1, 1, 1, 1, 1, 1). It is therefore at a distance of sqrt(6) ~ 2.45
+// from the origin.
+class DoglegStrategyFixtureEllipse : public Fixture {
+ protected:
+ virtual void SetUp() {
+ Matrix basis(6, 6);
+ // The following lines exceed 80 characters for better readability.
+ basis << -0.1046920933796121, -0.7449367449921986, -0.4190744502875876, -0.4480450716142566, 0.2375351607929440, -0.0363053418882862, // NOLINT
+ 0.4064975684355914, 0.2681113508511354, -0.7463625494601520, -0.0803264850508117, -0.4463149623021321, 0.0130224954867195, // NOLINT
+ -0.5514387729089798, 0.1026621026168657, -0.5008316122125011, 0.5738122212666414, 0.2974664724007106, 0.1296020877535158, // NOLINT
+ 0.5037835370947156, 0.2668479925183712, -0.1051754618492798, -0.0272739396578799, 0.7947481647088278, -0.1776623363955670, // NOLINT
+ -0.4005458426625444, 0.2939330589634109, -0.0682629380550051, -0.2895448882503687, -0.0457239396341685, -0.8139899477847840, // NOLINT
+ -0.3247764582762654, 0.4528151365941945, -0.0276683863102816, -0.6155994592510784, 0.1489240599972848, 0.5362574892189350; // NOLINT
+
+ Vector Ddiag(6);
+ Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+ Matrix sqrtD = Ddiag.array().sqrt().matrix().asDiagonal();
+ Matrix jacobian = sqrtD * basis;
+ jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+ Vector minimum(6);
+ minimum << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
+ residual_ = -jacobian * minimum;
+
+ x_.resize(6);
+ x_.setZero();
+
+ options_.min_lm_diagonal = 1.0;
+ options_.max_lm_diagonal = 1.0;
+ }
+};
+
+// A test problem where
+//
+// J^T J = diag([1 2 4 8 16 32]) .
+//
+// The residual is chosen so that the minimum of the quadratic function is
+// at (0, 0, 1, 0, 0, 0). It is therefore at a distance of 1 from the origin.
+// The gradient at the origin points towards the global minimum.
+class DoglegStrategyFixtureValley : public Fixture {
+ protected:
+ virtual void SetUp() {
+ Vector Ddiag(6);
+ Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+ Matrix jacobian = Ddiag.asDiagonal();
+ jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+ Vector minimum(6);
+ minimum << 0.0, 0.0, 1.0, 0.0, 0.0, 0.0;
+ residual_ = -jacobian * minimum;
+
+ x_.resize(6);
+ x_.setZero();
+
+ options_.min_lm_diagonal = 1.0;
+ options_.max_lm_diagonal = 1.0;
+ }
+};
+
+const double kTolerance = 1e-14;
+const double kToleranceLoose = 1e-5;
+const double kEpsilon = std::numeric_limits<double>::epsilon();
+
+} // namespace
+
+// The DoglegStrategy must never return a step that is longer than the current
+// trust region radius.
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedTraditional) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ // The global minimum is at (1, 1, ..., 1), so the distance to it is
+ // sqrt(6.0). By restricting the trust region to a radius of 2.0,
+ // we test if the trust region is actually obeyed.
+ options_.dogleg_type = TRADITIONAL_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedSubspace) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, CorrectGaussNewtonStep) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 10.0;
+ options_.max_radius = 10.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ EXPECT_NEAR(x_(0), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 1.0, kToleranceLoose);
+}
+
+// Test if the subspace basis is a valid orthonormal basis of the space spanned
+// by the gradient and the Gauss-Newton point.
+TEST_F(DoglegStrategyFixtureEllipse, ValidSubspaceBasis) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ strategy.ComputeStep(pso, jacobian_.get(), residual_.data(), x_.data());
+
+ // Check if the basis is orthonormal.
+ const Matrix basis = strategy.subspace_basis();
+ EXPECT_NEAR(basis.col(0).norm(), 1.0, kTolerance);
+ EXPECT_NEAR(basis.col(1).norm(), 1.0, kTolerance);
+ EXPECT_NEAR(basis.col(0).dot(basis.col(1)), 0.0, kTolerance);
+
+ // Check if the gradient projects onto itself.
+ const Vector gradient = strategy.gradient();
+ EXPECT_NEAR((gradient - basis*(basis.transpose()*gradient)).norm(),
+ 0.0,
+ kTolerance);
+
+ // Check if the Gauss-Newton point projects onto itself.
+ const Vector gn = strategy.gauss_newton_step();
+ EXPECT_NEAR((gn - basis*(basis.transpose()*gn)).norm(),
+ 0.0,
+ kTolerance);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is outside the trust region,
+// i.e. the trust region is active.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepLocalOptimumAlongGradient) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 0.25;
+ options_.max_radius = 0.25;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), options_.initial_radius, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is inside the trust region,
+// i.e. the trust region is inactive.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepGlobalOptimumAlongGradient) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: thadh@gmail.com (Thad Hughes)
+// mierle@gmail.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cstddef>
+
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Takes 2 parameter blocks:
+// parameters[0] is size 10.
+// parameters[1] is size 5.
+// Emits 21 residuals:
+// A: i - parameters[0][i], for i in [0,10) -- this is 10 residuals
+// B: parameters[0][i] - i, for i in [0,10) -- this is another 10.
+// C: sum(parameters[0][i]^2 - 8*parameters[0][i]) + sum(parameters[1][i])
+class MyCostFunctor {
+ public:
+ template <typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ const T* params0 = parameters[0];
+ int r = 0;
+ for (int i = 0; i < 10; ++i) {
+ residuals[r++] = T(i) - params0[i];
+ residuals[r++] = params0[i] - T(i);
+ }
+
+ T c_residual(0.0);
+ for (int i = 0; i < 10; ++i) {
+ c_residual += pow(params0[i], 2) - T(8) * params0[i];
+ }
+
+ const T* params1 = parameters[1];
+ for (int i = 0; i < 5; ++i) {
+ c_residual += params1[i];
+ }
+ residuals[r++] = c_residual;
+ return true;
+ }
+};
+
+TEST(DynamicAutodiffCostFunctionTest, TestResiduals) {
+ vector<double> param_block_0(10, 0.0);
+ vector<double> param_block_1(5, 0.0);
+ DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Test residual computation.
+ vector<double> residuals(21, -100000);
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+ EXPECT_TRUE(cost_function.Evaluate(¶meter_blocks[0],
+ residuals.data(),
+ NULL));
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(0, residuals.at(20));
+}
+
+TEST(DynamicAutodiffCostFunctionTest, TestJacobian) {
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect[0].data());
+ jacobian.push_back(jacobian_vect[1].data());
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+ for (int p = 0; p < 10; ++p) {
+ // Check "A" Jacobian.
+ EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
+ // Check "B" Jacobian.
+ EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
+ jacobian_vect[0][2*p * 10 + p] = 0.0;
+ jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+ }
+
+ // Check "C" Jacobian for first parameter block.
+ for (int p = 0; p < 10; ++p) {
+ EXPECT_EQ(4 * p - 8, jacobian_vect[0][20 * 10 + p]);
+ jacobian_vect[0][20 * 10 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[0][i]);
+ }
+
+ // Check "C" Jacobian for second parameter block.
+ for (int p = 0; p < 5; ++p) {
+ EXPECT_EQ(1.0, jacobian_vect[1][20 * 5 + p]);
+ jacobian_vect[1][20 * 5 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[1][i]);
+ }
+}
+
+TEST(DynamicAutodiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) {
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect[1].data());
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+
+ // Check "C" Jacobian for second parameter block.
+ for (int p = 0; p < 5; ++p) {
+ EXPECT_EQ(1.0, jacobian_vect[1][20 * 5 + p]);
+ jacobian_vect[1][20 * 5 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[1][i]);
+ }
+}
+
+TEST(DynamicAutodiffCostFunctionTest, JacobianWithSecondParameterBlockConstant) { // NOLINT
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect[0].data());
+ jacobian.push_back(NULL);
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+ for (int p = 0; p < 10; ++p) {
+ // Check "A" Jacobian.
+ EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
+ // Check "B" Jacobian.
+ EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
+ jacobian_vect[0][2*p * 10 + p] = 0.0;
+ jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+ }
+
+ // Check "C" Jacobian for first parameter block.
+ for (int p = 0; p < 10; ++p) {
+ EXPECT_EQ(4 * p - 8, jacobian_vect[0][20 * 10 + p]);
+ jacobian_vect[0][20 * 10 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[0][i]);
+ }
+}
+
+// Takes 3 parameter blocks:
+// parameters[0] (x) is size 1.
+// parameters[1] (y) is size 2.
+// parameters[2] (z) is size 3.
+// Emits 7 residuals:
+// A: x[0] (= sum_x)
+// B: y[0] + 2.0 * y[1] (= sum_y)
+// C: z[0] + 3.0 * z[1] + 6.0 * z[2] (= sum_z)
+// D: sum_x * sum_y
+// E: sum_y * sum_z
+// F: sum_x * sum_z
+// G: sum_x * sum_y * sum_z
+class MyThreeParameterCostFunctor {
+ public:
+ template <typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ const T* x = parameters[0];
+ const T* y = parameters[1];
+ const T* z = parameters[2];
+
+ T sum_x = x[0];
+ T sum_y = y[0] + 2.0 * y[1];
+ T sum_z = z[0] + 3.0 * z[1] + 6.0 * z[2];
+
+ residuals[0] = sum_x;
+ residuals[1] = sum_y;
+ residuals[2] = sum_z;
+ residuals[3] = sum_x * sum_y;
+ residuals[4] = sum_y * sum_z;
+ residuals[5] = sum_x * sum_z;
+ residuals[6] = sum_x * sum_y * sum_z;
+ return true;
+ }
+};
+
+class ThreeParameterCostFunctorTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ // Prepare the parameters.
+ x_.resize(1);
+ x_[0] = 0.0;
+
+ y_.resize(2);
+ y_[0] = 1.0;
+ y_[1] = 3.0;
+
+ z_.resize(3);
+ z_[0] = 2.0;
+ z_[1] = 4.0;
+ z_[2] = 6.0;
+
+ parameter_blocks_.resize(3);
+ parameter_blocks_[0] = &x_[0];
+ parameter_blocks_[1] = &y_[0];
+ parameter_blocks_[2] = &z_[0];
+
+ // Prepare the cost function.
+ typedef DynamicAutoDiffCostFunction<MyThreeParameterCostFunctor, 3>
+ DynamicMyThreeParameterCostFunction;
+ DynamicMyThreeParameterCostFunction * cost_function =
+ new DynamicMyThreeParameterCostFunction(
+ new MyThreeParameterCostFunctor());
+ cost_function->AddParameterBlock(1);
+ cost_function->AddParameterBlock(2);
+ cost_function->AddParameterBlock(3);
+ cost_function->SetNumResiduals(7);
+
+ cost_function_.reset(cost_function);
+
+ // Setup jacobian data.
+ jacobian_vect_.resize(3);
+ jacobian_vect_[0].resize(7 * x_.size(), -100000);
+ jacobian_vect_[1].resize(7 * y_.size(), -100000);
+ jacobian_vect_[2].resize(7 * z_.size(), -100000);
+
+ // Prepare the expected residuals.
+ const double sum_x = x_[0];
+ const double sum_y = y_[0] + 2.0 * y_[1];
+ const double sum_z = z_[0] + 3.0 * z_[1] + 6.0 * z_[2];
+
+ expected_residuals_.resize(7);
+ expected_residuals_[0] = sum_x;
+ expected_residuals_[1] = sum_y;
+ expected_residuals_[2] = sum_z;
+ expected_residuals_[3] = sum_x * sum_y;
+ expected_residuals_[4] = sum_y * sum_z;
+ expected_residuals_[5] = sum_x * sum_z;
+ expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+ // Prepare the expected jacobian entries.
+ expected_jacobian_x_.resize(7);
+ expected_jacobian_x_[0] = 1.0;
+ expected_jacobian_x_[1] = 0.0;
+ expected_jacobian_x_[2] = 0.0;
+ expected_jacobian_x_[3] = sum_y;
+ expected_jacobian_x_[4] = 0.0;
+ expected_jacobian_x_[5] = sum_z;
+ expected_jacobian_x_[6] = sum_y * sum_z;
+
+ expected_jacobian_y_.resize(14);
+ expected_jacobian_y_[0] = 0.0;
+ expected_jacobian_y_[1] = 0.0;
+ expected_jacobian_y_[2] = 1.0;
+ expected_jacobian_y_[3] = 2.0;
+ expected_jacobian_y_[4] = 0.0;
+ expected_jacobian_y_[5] = 0.0;
+ expected_jacobian_y_[6] = sum_x;
+ expected_jacobian_y_[7] = 2.0 * sum_x;
+ expected_jacobian_y_[8] = sum_z;
+ expected_jacobian_y_[9] = 2.0 * sum_z;
+ expected_jacobian_y_[10] = 0.0;
+ expected_jacobian_y_[11] = 0.0;
+ expected_jacobian_y_[12] = sum_x * sum_z;
+ expected_jacobian_y_[13] = 2.0 * sum_x * sum_z;
+
+ expected_jacobian_z_.resize(21);
+ expected_jacobian_z_[0] = 0.0;
+ expected_jacobian_z_[1] = 0.0;
+ expected_jacobian_z_[2] = 0.0;
+ expected_jacobian_z_[3] = 0.0;
+ expected_jacobian_z_[4] = 0.0;
+ expected_jacobian_z_[5] = 0.0;
+ expected_jacobian_z_[6] = 1.0;
+ expected_jacobian_z_[7] = 3.0;
+ expected_jacobian_z_[8] = 6.0;
+ expected_jacobian_z_[9] = 0.0;
+ expected_jacobian_z_[10] = 0.0;
+ expected_jacobian_z_[11] = 0.0;
+ expected_jacobian_z_[12] = sum_y;
+ expected_jacobian_z_[13] = 3.0 * sum_y;
+ expected_jacobian_z_[14] = 6.0 * sum_y;
+ expected_jacobian_z_[15] = sum_x;
+ expected_jacobian_z_[16] = 3.0 * sum_x;
+ expected_jacobian_z_[17] = 6.0 * sum_x;
+ expected_jacobian_z_[18] = sum_x * sum_y;
+ expected_jacobian_z_[19] = 3.0 * sum_x * sum_y;
+ expected_jacobian_z_[20] = 6.0 * sum_x * sum_y;
+ }
+
+ protected:
+ vector<double> x_;
+ vector<double> y_;
+ vector<double> z_;
+
+ vector<double*> parameter_blocks_;
+
+ scoped_ptr<CostFunction> cost_function_;
+
+ vector<vector<double> > jacobian_vect_;
+
+ vector<double> expected_residuals_;
+
+ vector<double> expected_jacobian_x_;
+ vector<double> expected_jacobian_y_;
+ vector<double> expected_jacobian_z_;
+};
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
+ vector<double> residuals(7, -100000);
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ NULL));
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(jacobian_vect_[2].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_jacobian_x_[i], jacobian[0][i]);
+ }
+
+ for (int i = 0; i < 14; ++i) {
+ EXPECT_EQ(expected_jacobian_y_[i], jacobian[1][i]);
+ }
+
+ for (int i = 0; i < 21; ++i) {
+ EXPECT_EQ(expected_jacobian_z_[i], jacobian[2][i]);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+ ThreeParameterJacobianWithFirstAndLastParameterBlockConstant) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(NULL);
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 14; ++i) {
+ EXPECT_EQ(expected_jacobian_y_[i], jacobian[1][i]);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+ ThreeParameterJacobianWithSecondParameterBlockConstant) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[2].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_jacobian_x_[i], jacobian[0][i]);
+ }
+
+ for (int i = 0; i < 21; ++i) {
+ EXPECT_EQ(expected_jacobian_z_[i], jacobian[2][i]);
+ }
+}
+
+// Takes 6 parameter blocks all of size 1:
+// x0, y0, y1, z0, z1, z2
+// Same 7 residuals as MyThreeParameterCostFunctor.
+// Naming convention for tests is (V)ariable and (C)onstant.
+class MySixParameterCostFunctor {
+ public:
+ template <typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ const T* x0 = parameters[0];
+ const T* y0 = parameters[1];
+ const T* y1 = parameters[2];
+ const T* z0 = parameters[3];
+ const T* z1 = parameters[4];
+ const T* z2 = parameters[5];
+
+ T sum_x = x0[0];
+ T sum_y = y0[0] + 2.0 * y1[0];
+ T sum_z = z0[0] + 3.0 * z1[0] + 6.0 * z2[0];
+
+ residuals[0] = sum_x;
+ residuals[1] = sum_y;
+ residuals[2] = sum_z;
+ residuals[3] = sum_x * sum_y;
+ residuals[4] = sum_y * sum_z;
+ residuals[5] = sum_x * sum_z;
+ residuals[6] = sum_x * sum_y * sum_z;
+ return true;
+ }
+};
+
+class SixParameterCostFunctorTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ // Prepare the parameters.
+ x0_ = 0.0;
+ y0_ = 1.0;
+ y1_ = 3.0;
+ z0_ = 2.0;
+ z1_ = 4.0;
+ z2_ = 6.0;
+
+ parameter_blocks_.resize(6);
+ parameter_blocks_[0] = &x0_;
+ parameter_blocks_[1] = &y0_;
+ parameter_blocks_[2] = &y1_;
+ parameter_blocks_[3] = &z0_;
+ parameter_blocks_[4] = &z1_;
+ parameter_blocks_[5] = &z2_;
+
+ // Prepare the cost function.
+ typedef DynamicAutoDiffCostFunction<MySixParameterCostFunctor, 3>
+ DynamicMySixParameterCostFunction;
+ DynamicMySixParameterCostFunction * cost_function =
+ new DynamicMySixParameterCostFunction(
+ new MySixParameterCostFunctor());
+ for (int i = 0; i < 6; ++i) {
+ cost_function->AddParameterBlock(1);
+ }
+ cost_function->SetNumResiduals(7);
+
+ cost_function_.reset(cost_function);
+
+ // Setup jacobian data.
+ jacobian_vect_.resize(6);
+ for (int i = 0; i < 6; ++i) {
+ jacobian_vect_[i].resize(7, -100000);
+ }
+
+ // Prepare the expected residuals.
+ const double sum_x = x0_;
+ const double sum_y = y0_ + 2.0 * y1_;
+ const double sum_z = z0_ + 3.0 * z1_ + 6.0 * z2_;
+
+ expected_residuals_.resize(7);
+ expected_residuals_[0] = sum_x;
+ expected_residuals_[1] = sum_y;
+ expected_residuals_[2] = sum_z;
+ expected_residuals_[3] = sum_x * sum_y;
+ expected_residuals_[4] = sum_y * sum_z;
+ expected_residuals_[5] = sum_x * sum_z;
+ expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+ // Prepare the expected jacobian entries.
+ expected_jacobians_.resize(6);
+ expected_jacobians_[0].resize(7);
+ expected_jacobians_[0][0] = 1.0;
+ expected_jacobians_[0][1] = 0.0;
+ expected_jacobians_[0][2] = 0.0;
+ expected_jacobians_[0][3] = sum_y;
+ expected_jacobians_[0][4] = 0.0;
+ expected_jacobians_[0][5] = sum_z;
+ expected_jacobians_[0][6] = sum_y * sum_z;
+
+ expected_jacobians_[1].resize(7);
+ expected_jacobians_[1][0] = 0.0;
+ expected_jacobians_[1][1] = 1.0;
+ expected_jacobians_[1][2] = 0.0;
+ expected_jacobians_[1][3] = sum_x;
+ expected_jacobians_[1][4] = sum_z;
+ expected_jacobians_[1][5] = 0.0;
+ expected_jacobians_[1][6] = sum_x * sum_z;
+
+ expected_jacobians_[2].resize(7);
+ expected_jacobians_[2][0] = 0.0;
+ expected_jacobians_[2][1] = 2.0;
+ expected_jacobians_[2][2] = 0.0;
+ expected_jacobians_[2][3] = 2.0 * sum_x;
+ expected_jacobians_[2][4] = 2.0 * sum_z;
+ expected_jacobians_[2][5] = 0.0;
+ expected_jacobians_[2][6] = 2.0 * sum_x * sum_z;
+
+ expected_jacobians_[3].resize(7);
+ expected_jacobians_[3][0] = 0.0;
+ expected_jacobians_[3][1] = 0.0;
+ expected_jacobians_[3][2] = 1.0;
+ expected_jacobians_[3][3] = 0.0;
+ expected_jacobians_[3][4] = sum_y;
+ expected_jacobians_[3][5] = sum_x;
+ expected_jacobians_[3][6] = sum_x * sum_y;
+
+ expected_jacobians_[4].resize(7);
+ expected_jacobians_[4][0] = 0.0;
+ expected_jacobians_[4][1] = 0.0;
+ expected_jacobians_[4][2] = 3.0;
+ expected_jacobians_[4][3] = 0.0;
+ expected_jacobians_[4][4] = 3.0 * sum_y;
+ expected_jacobians_[4][5] = 3.0 * sum_x;
+ expected_jacobians_[4][6] = 3.0 * sum_x * sum_y;
+
+ expected_jacobians_[5].resize(7);
+ expected_jacobians_[5][0] = 0.0;
+ expected_jacobians_[5][1] = 0.0;
+ expected_jacobians_[5][2] = 6.0;
+ expected_jacobians_[5][3] = 0.0;
+ expected_jacobians_[5][4] = 6.0 * sum_y;
+ expected_jacobians_[5][5] = 6.0 * sum_x;
+ expected_jacobians_[5][6] = 6.0 * sum_x * sum_y;
+ }
+
+ protected:
+ double x0_;
+ double y0_;
+ double y1_;
+ double z0_;
+ double z1_;
+ double z2_;
+
+ vector<double*> parameter_blocks_;
+
+ scoped_ptr<CostFunction> cost_function_;
+
+ vector<vector<double> > jacobian_vect_;
+
+ vector<double> expected_residuals_;
+ vector<vector<double> > expected_jacobians_;
+};
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterResiduals) {
+ vector<double> residuals(7, -100000);
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ NULL));
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobian) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(jacobian_vect_[2].data());
+ jacobian.push_back(jacobian_vect_[3].data());
+ jacobian.push_back(jacobian_vect_[4].data());
+ jacobian.push_back(jacobian_vect_[5].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ for (int j = 0; j < 7; ++j) {
+ EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+ }
+ }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVVCVVC) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[3].data());
+ jacobian.push_back(jacobian_vect_[4].data());
+ jacobian.push_back(NULL);
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ // Skip the constant variables.
+ if (i == 2 || i == 5) {
+ continue;
+ }
+
+ for (int j = 0; j < 7; ++j) {
+ EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+ }
+ }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVCCVCV) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(NULL);
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[3].data());
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[5].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ // Skip the constant variables.
+ if (i == 1 || i == 2 || i == 4) {
+ continue;
+ }
+
+ for (int j = 0; j < 7; ++j) {
+ EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALIZER_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALIZER_H_
+
+#include "ceres/casts.h"
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+struct DynamicCompressedRowJacobianFinalizer {
+ void operator()(SparseMatrix* base_jacobian, int num_parameters) {
+ DynamicCompressedRowSparseMatrix* jacobian =
+ down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
+ jacobian->Finalize(num_parameters);
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALISER_H_
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include "ceres/dynamic_compressed_row_jacobian_writer.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+using std::pair;
+using std::vector;
+
+ScratchEvaluatePreparer*
+DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+}
+
+SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
+ DynamicCompressedRowSparseMatrix* jacobian =
+ new DynamicCompressedRowSparseMatrix(program_->NumResiduals(),
+ program_->NumEffectiveParameters(),
+ 0 /* max_num_nonzeros */);
+ return jacobian;
+}
+
+void DynamicCompressedRowJacobianWriter::Write(int residual_id,
+ int residual_offset,
+ double** jacobians,
+ SparseMatrix* base_jacobian) {
+ DynamicCompressedRowSparseMatrix* jacobian =
+ down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
+
+ // Get the `residual_block` of interest.
+ const ResidualBlock* residual_block =
+ program_->residual_blocks()[residual_id];
+ const int num_residuals = residual_block->NumResiduals();
+
+ vector<pair<int, int> > evaluated_jacobian_blocks;
+ CompressedRowJacobianWriter::GetOrderedParameterBlocks(
+ program_, residual_id, &evaluated_jacobian_blocks);
+
+ // `residual_offset` is the residual row in the global jacobian.
+ // Empty the jacobian rows.
+ jacobian->ClearRows(residual_offset, num_residuals);
+
+ // Iterate over each parameter block.
+ for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
+ const ParameterBlock* parameter_block =
+ program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
+ const int parameter_block_jacobian_index =
+ evaluated_jacobian_blocks[i].second;
+ const int parameter_block_size = parameter_block->LocalSize();
+
+ // For each parameter block only insert its non-zero entries.
+ for (int r = 0; r < num_residuals; ++r) {
+ for (int c = 0; c < parameter_block_size; ++c) {
+ const double& v = jacobians[parameter_block_jacobian_index]
+ [r * parameter_block_size + c];
+ // Only insert non-zero entries.
+ if (v != 0.0) {
+ jacobian->InsertEntry(
+ residual_offset + r, parameter_block->delta_offset() + c, v);
+ }
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// A jacobian writer that directly writes to dynamic compressed row sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+class DynamicCompressedRowJacobianWriter {
+ public:
+ DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // JacobianWriter interface.
+
+ // The compressed row matrix has different layout than that assumed by
+ // the cost functions. The scratch space is therefore used to store
+ // the jacobians (including zeros) temporarily before only the non-zero
+ // entries are copied over to the larger jacobian in `Write`.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+
+ // Return a `DynamicCompressedRowSparseMatrix` which is filled by
+ // `Write`. Note that `Finalize` must be called to make the
+ // `CompressedRowSparseMatrix` interface valid.
+ SparseMatrix* CreateJacobian() const;
+
+ // Write only the non-zero jacobian entries for a residual block
+ // (specified by `residual_id`) into `base_jacobian`, starting at the row
+ // specifed by `residual_offset`.
+ //
+ // This method is thread-safe over residual blocks (each `residual_id`).
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian);
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include <cstring>
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix(
+ int num_rows,
+ int num_cols,
+ int initial_max_num_nonzeros)
+ : CompressedRowSparseMatrix(num_rows,
+ num_cols,
+ initial_max_num_nonzeros) {
+ dynamic_cols_.resize(num_rows);
+ dynamic_values_.resize(num_rows);
+ }
+
+void DynamicCompressedRowSparseMatrix::InsertEntry(int row,
+ int col,
+ const double& value) {
+ CHECK_GE(row, 0);
+ CHECK_LT(row, num_rows());
+ CHECK_GE(col, 0);
+ CHECK_LT(col, num_cols());
+ dynamic_cols_[row].push_back(col);
+ dynamic_values_[row].push_back(value);
+}
+
+void DynamicCompressedRowSparseMatrix::ClearRows(int row_start,
+ int num_rows) {
+ for (int r = 0; r < num_rows; ++r) {
+ const int i = row_start + r;
+ CHECK_GE(i, 0);
+ CHECK_LT(i, this->num_rows());
+ dynamic_cols_[i].resize(0);
+ dynamic_values_[i].resize(0);
+ }
+}
+
+void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) {
+ // `num_additional_elements` is provided as an argument so that additional
+ // storage can be reserved when it is known by the finalizer.
+ CHECK_GE(num_additional_elements, 0);
+
+ // Count the number of non-zeros and resize `cols_` and `values_`.
+ int num_jacobian_nonzeros = 0;
+ for (int i = 0; i < dynamic_cols_.size(); ++i) {
+ num_jacobian_nonzeros += dynamic_cols_[i].size();
+ }
+
+ SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements);
+
+ // Flatten `dynamic_cols_` into `cols_` and `dynamic_values_`
+ // into `values_`.
+ int index_into_values_and_cols = 0;
+ for (int i = 0; i < num_rows(); ++i) {
+ mutable_rows()[i] = index_into_values_and_cols;
+ const int num_nonzero_columns = dynamic_cols_[i].size();
+ if (num_nonzero_columns > 0) {
+ memcpy(mutable_cols() + index_into_values_and_cols,
+ &dynamic_cols_[i][0],
+ dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0]));
+ memcpy(mutable_values() + index_into_values_and_cols,
+ &dynamic_values_[i][0],
+ dynamic_values_[i].size() * sizeof(dynamic_values_[0][0]));
+ index_into_values_and_cols += dynamic_cols_[i].size();
+ }
+ }
+ mutable_rows()[num_rows()] = index_into_values_and_cols;
+
+ CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros)
+ << "Ceres bug: final index into values_ and cols_ should be equal to "
+ << "the number of jacobian nonzeros. Please contact the developers!";
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// A compressed row sparse matrix that provides an extended interface to
+// allow dynamic insertion of entries. This is provided for the use case
+// where the sparsity structure and number of non-zero entries is dynamic.
+// This flexibility is achieved by using an (internal) scratch space that
+// allows independent insertion of entries into each row (thread-safe).
+// Once insertion is complete, the `Finalize` method must be called to ensure
+// that the underlying `CompressedRowSparseMatrix` is consistent.
+//
+// This should only be used if you really do need a dynamic sparsity pattern.
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
+
+#include <vector>
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+class DynamicCompressedRowSparseMatrix : public CompressedRowSparseMatrix {
+ public:
+ // Set the number of rows and columns for the underlyig
+ // `CompressedRowSparseMatrix` and set the initial number of maximum non-zero
+ // entries. Note that following the insertion of entries, when `Finalize`
+ // is called the number of non-zeros is determined and all internal
+ // structures are adjusted as required. If you know the upper limit on the
+ // number of non-zeros, then passing this value here can prevent future
+ // memory reallocations which may improve performance. Otherwise, if no
+ // upper limit is available a value of 0 is sufficient.
+ //
+ // Typical usage of this class is to define a new instance with a given
+ // number of rows, columns and maximum number of non-zero elements
+ // (if available). Next, entries are inserted at row and column positions
+ // using `InsertEntry`. Finally, once all elements have been inserted,
+ // `Finalize` must be called to make the underlying
+ // `CompressedRowSparseMatrix` consistent.
+ DynamicCompressedRowSparseMatrix(int num_rows,
+ int num_cols,
+ int initial_max_num_nonzeros);
+
+ // Insert an entry at a given row and column position. This method is
+ // thread-safe across rows i.e. different threads can insert values
+ // simultaneously into different rows. It should be emphasised that this
+ // method always inserts a new entry and does not check for existing
+ // entries at the specified row and column position. Duplicate entries
+ // for a given row and column position will result in undefined
+ // behavior.
+ void InsertEntry(int row, int col, const double& value);
+
+ // Clear all entries for rows, starting from row index `row_start`
+ // and proceeding for `num_rows`.
+ void ClearRows(int row_start, int num_rows);
+
+ // Make the underlying internal `CompressedRowSparseMatrix` data structures
+ // consistent. Additional space for non-zero entries in the
+ // `CompressedRowSparseMatrix` can be reserved by specifying
+ // `num_additional_elements`. This is useful when it is known that rows will
+ // be appended to the `CompressedRowSparseMatrix` (e.g. appending a diagonal
+ // matrix to the jacobian) as it prevents need for future reallocation.
+ void Finalize(int num_additional_elements);
+
+ private:
+ std::vector<std::vector<int> > dynamic_cols_;
+ std::vector<std::vector<double> > dynamic_values_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
--- /dev/null
+// 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: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::copy;
+using std::vector;
+
+class DynamicCompressedRowSparseMatrixTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ num_rows = 7;
+ num_cols = 4;
+
+ // The number of additional elements reserved when `Finalize` is called
+ // should have no effect on the number of rows, columns or nonzeros.
+ // Set this to some nonzero value to be sure.
+ num_additional_elements = 13;
+
+ expected_num_nonzeros = num_rows * num_cols - std::min(num_rows, num_cols);
+
+ InitialiseDenseReference();
+ InitialiseSparseMatrixReferences();
+
+ dcrsm.reset(new DynamicCompressedRowSparseMatrix(num_rows,
+ num_cols,
+ 0));
+ }
+
+ void Finalize() {
+ dcrsm->Finalize(num_additional_elements);
+ }
+
+ void InitialiseDenseReference() {
+ dense.resize(num_rows, num_cols);
+ dense.setZero();
+ int num_nonzeros = 0;
+ for (int i = 0; i < (num_rows * num_cols); ++i) {
+ const int r = i / num_cols, c = i % num_cols;
+ if (r != c) {
+ dense(r, c) = i + 1;
+ ++num_nonzeros;
+ }
+ }
+ ASSERT_EQ(num_nonzeros, expected_num_nonzeros);
+ }
+
+ void InitialiseSparseMatrixReferences() {
+ vector<int> rows, cols;
+ vector<double> values;
+ for (int i = 0; i < (num_rows * num_cols); ++i) {
+ const int r = i / num_cols, c = i % num_cols;
+ if (r != c) {
+ rows.push_back(r);
+ cols.push_back(c);
+ values.push_back(i + 1);
+ }
+ }
+ ASSERT_EQ(values.size(), expected_num_nonzeros);
+
+ tsm.reset(new TripletSparseMatrix(num_rows,
+ num_cols,
+ expected_num_nonzeros));
+ copy(rows.begin(), rows.end(), tsm->mutable_rows());
+ copy(cols.begin(), cols.end(), tsm->mutable_cols());
+ copy(values.begin(), values.end(), tsm->mutable_values());
+ tsm->set_num_nonzeros(values.size());
+
+ Matrix dense_from_tsm;
+ tsm->ToDenseMatrix(&dense_from_tsm);
+ ASSERT_TRUE((dense.array() == dense_from_tsm.array()).all());
+
+ crsm.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+ Matrix dense_from_crsm;
+ crsm->ToDenseMatrix(&dense_from_crsm);
+ ASSERT_TRUE((dense.array() == dense_from_crsm.array()).all());
+ }
+
+ void InsertNonZeroEntriesFromDenseReference() {
+ for (int r = 0; r < num_rows; ++r) {
+ for (int c = 0; c < num_cols; ++c) {
+ const double& v = dense(r, c);
+ if (v != 0.0) {
+ dcrsm->InsertEntry(r, c, v);
+ }
+ }
+ }
+ }
+
+ void ExpectEmpty() {
+ EXPECT_EQ(dcrsm->num_rows(), num_rows);
+ EXPECT_EQ(dcrsm->num_cols(), num_cols);
+ EXPECT_EQ(dcrsm->num_nonzeros(), 0);
+
+ Matrix dense_from_dcrsm;
+ dcrsm->ToDenseMatrix(&dense_from_dcrsm);
+ EXPECT_EQ(dense_from_dcrsm.rows(), num_rows);
+ EXPECT_EQ(dense_from_dcrsm.cols(), num_cols);
+ EXPECT_TRUE((dense_from_dcrsm.array() == 0.0).all());
+ }
+
+ void ExpectEqualToDenseReference() {
+ Matrix dense_from_dcrsm;
+ dcrsm->ToDenseMatrix(&dense_from_dcrsm);
+ EXPECT_TRUE((dense.array() == dense_from_dcrsm.array()).all());
+ }
+
+ void ExpectEqualToCompressedRowSparseMatrixReference() {
+ typedef Eigen::Map<const Eigen::VectorXi> ConstIntVectorRef;
+
+ ConstIntVectorRef crsm_rows(crsm->rows(), crsm->num_rows() + 1);
+ ConstIntVectorRef dcrsm_rows(dcrsm->rows(), dcrsm->num_rows() + 1);
+ EXPECT_TRUE((crsm_rows.array() == dcrsm_rows.array()).all());
+
+ ConstIntVectorRef crsm_cols(crsm->cols(), crsm->num_nonzeros());
+ ConstIntVectorRef dcrsm_cols(dcrsm->cols(), dcrsm->num_nonzeros());
+ EXPECT_TRUE((crsm_cols.array() == dcrsm_cols.array()).all());
+
+ ConstVectorRef crsm_values(crsm->values(), crsm->num_nonzeros());
+ ConstVectorRef dcrsm_values(dcrsm->values(), dcrsm->num_nonzeros());
+ EXPECT_TRUE((crsm_values.array() == dcrsm_values.array()).all());
+ }
+
+ int num_rows;
+ int num_cols;
+
+ int num_additional_elements;
+
+ int expected_num_nonzeros;
+
+ Matrix dense;
+ scoped_ptr<TripletSparseMatrix> tsm;
+ scoped_ptr<CompressedRowSparseMatrix> crsm;
+
+ scoped_ptr<DynamicCompressedRowSparseMatrix> dcrsm;
+};
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, Initialization) {
+ ExpectEmpty();
+
+ Finalize();
+ ExpectEmpty();
+}
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, InsertEntryAndFinalize) {
+ InsertNonZeroEntriesFromDenseReference();
+ ExpectEmpty();
+
+ Finalize();
+ ExpectEqualToDenseReference();
+ ExpectEqualToCompressedRowSparseMatrixReference();
+}
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, ClearRows) {
+ InsertNonZeroEntriesFromDenseReference();
+ Finalize();
+ ExpectEqualToDenseReference();
+ ExpectEqualToCompressedRowSparseMatrixReference();
+
+ dcrsm->ClearRows(0, 0);
+ Finalize();
+ ExpectEqualToDenseReference();
+ ExpectEqualToCompressedRowSparseMatrixReference();
+
+ dcrsm->ClearRows(0, num_rows);
+ ExpectEqualToCompressedRowSparseMatrixReference();
+
+ Finalize();
+ ExpectEmpty();
+
+ InsertNonZeroEntriesFromDenseReference();
+ dcrsm->ClearRows(1, 2);
+ Finalize();
+ dense.block(1, 0, 2, num_cols).setZero();
+ ExpectEqualToDenseReference();
+
+ InitialiseDenseReference();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+// mierle@gmail.com (Keir Mierle)
+
+#include <cstddef>
+
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+const double kTolerance = 1e-6;
+
+// Takes 2 parameter blocks:
+// parameters[0] is size 10.
+// parameters[1] is size 5.
+// Emits 21 residuals:
+// A: i - parameters[0][i], for i in [0,10) -- this is 10 residuals
+// B: parameters[0][i] - i, for i in [0,10) -- this is another 10.
+// C: sum(parameters[0][i]^2 - 8*parameters[0][i]) + sum(parameters[1][i])
+class MyCostFunctor {
+ public:
+ bool operator()(double const* const* parameters, double* residuals) const {
+ const double* params0 = parameters[0];
+ int r = 0;
+ for (int i = 0; i < 10; ++i) {
+ residuals[r++] = i - params0[i];
+ residuals[r++] = params0[i] - i;
+ }
+
+ double c_residual = 0.0;
+ for (int i = 0; i < 10; ++i) {
+ c_residual += pow(params0[i], 2) - 8.0 * params0[i];
+ }
+
+ const double* params1 = parameters[1];
+ for (int i = 0; i < 5; ++i) {
+ c_residual += params1[i];
+ }
+ residuals[r++] = c_residual;
+ return true;
+ }
+};
+
+TEST(DynamicNumericdiffCostFunctionTest, TestResiduals) {
+ vector<double> param_block_0(10, 0.0);
+ vector<double> param_block_1(5, 0.0);
+ DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Test residual computation.
+ vector<double> residuals(21, -100000);
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+ EXPECT_TRUE(cost_function.Evaluate(¶meter_blocks[0],
+ residuals.data(),
+ NULL));
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(0, residuals.at(20));
+}
+
+
+TEST(DynamicNumericdiffCostFunctionTest, TestJacobian) {
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect[0].data());
+ jacobian.push_back(jacobian_vect[1].data());
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+ for (int p = 0; p < 10; ++p) {
+ // Check "A" Jacobian.
+ EXPECT_NEAR(-1.0, jacobian_vect[0][2*p * 10 + p], kTolerance);
+ // Check "B" Jacobian.
+ EXPECT_NEAR(+1.0, jacobian_vect[0][(2*p+1) * 10 + p], kTolerance);
+ jacobian_vect[0][2*p * 10 + p] = 0.0;
+ jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+ }
+
+ // Check "C" Jacobian for first parameter block.
+ for (int p = 0; p < 10; ++p) {
+ EXPECT_NEAR(4 * p - 8, jacobian_vect[0][20 * 10 + p], kTolerance);
+ jacobian_vect[0][20 * 10 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+ EXPECT_NEAR(0.0, jacobian_vect[0][i], kTolerance);
+ }
+
+ // Check "C" Jacobian for second parameter block.
+ for (int p = 0; p < 5; ++p) {
+ EXPECT_NEAR(1.0, jacobian_vect[1][20 * 5 + p], kTolerance);
+ jacobian_vect[1][20 * 5 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+ EXPECT_NEAR(0.0, jacobian_vect[1][i], kTolerance);
+ }
+}
+
+TEST(DynamicNumericdiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) { // NOLINT
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect[1].data());
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+
+ // Check "C" Jacobian for second parameter block.
+ for (int p = 0; p < 5; ++p) {
+ EXPECT_NEAR(1.0, jacobian_vect[1][20 * 5 + p], kTolerance);
+ jacobian_vect[1][20 * 5 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[1][i]);
+ }
+}
+
+TEST(DynamicNumericdiffCostFunctionTest, JacobianWithSecondParameterBlockConstant) { // NOLINT
+ // Test the residual counting.
+ vector<double> param_block_0(10, 0.0);
+ for (int i = 0; i < 10; ++i) {
+ param_block_0[i] = 2 * i;
+ }
+ vector<double> param_block_1(5, 0.0);
+ DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+ new MyCostFunctor());
+ cost_function.AddParameterBlock(param_block_0.size());
+ cost_function.AddParameterBlock(param_block_1.size());
+ cost_function.SetNumResiduals(21);
+
+ // Prepare the residuals.
+ vector<double> residuals(21, -100000);
+
+ // Prepare the parameters.
+ vector<double*> parameter_blocks(2);
+ parameter_blocks[0] = ¶m_block_0[0];
+ parameter_blocks[1] = ¶m_block_1[0];
+
+ // Prepare the jacobian.
+ vector<vector<double> > jacobian_vect(2);
+ jacobian_vect[0].resize(21 * 10, -100000);
+ jacobian_vect[1].resize(21 * 5, -100000);
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect[0].data());
+ jacobian.push_back(NULL);
+
+ // Test jacobian computation.
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int r = 0; r < 10; ++r) {
+ EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+ EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+ }
+ EXPECT_EQ(420, residuals.at(20));
+ for (int p = 0; p < 10; ++p) {
+ // Check "A" Jacobian.
+ EXPECT_NEAR(-1.0, jacobian_vect[0][2*p * 10 + p], kTolerance);
+ // Check "B" Jacobian.
+ EXPECT_NEAR(+1.0, jacobian_vect[0][(2*p+1) * 10 + p], kTolerance);
+ jacobian_vect[0][2*p * 10 + p] = 0.0;
+ jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+ }
+
+ // Check "C" Jacobian for first parameter block.
+ for (int p = 0; p < 10; ++p) {
+ EXPECT_NEAR(4 * p - 8, jacobian_vect[0][20 * 10 + p], kTolerance);
+ jacobian_vect[0][20 * 10 + p] = 0.0;
+ }
+ for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+ EXPECT_EQ(0.0, jacobian_vect[0][i]);
+ }
+}
+
+// Takes 3 parameter blocks:
+// parameters[0] (x) is size 1.
+// parameters[1] (y) is size 2.
+// parameters[2] (z) is size 3.
+// Emits 7 residuals:
+// A: x[0] (= sum_x)
+// B: y[0] + 2.0 * y[1] (= sum_y)
+// C: z[0] + 3.0 * z[1] + 6.0 * z[2] (= sum_z)
+// D: sum_x * sum_y
+// E: sum_y * sum_z
+// F: sum_x * sum_z
+// G: sum_x * sum_y * sum_z
+class MyThreeParameterCostFunctor {
+ public:
+ template <typename T>
+ bool operator()(T const* const* parameters, T* residuals) const {
+ const T* x = parameters[0];
+ const T* y = parameters[1];
+ const T* z = parameters[2];
+
+ T sum_x = x[0];
+ T sum_y = y[0] + 2.0 * y[1];
+ T sum_z = z[0] + 3.0 * z[1] + 6.0 * z[2];
+
+ residuals[0] = sum_x;
+ residuals[1] = sum_y;
+ residuals[2] = sum_z;
+ residuals[3] = sum_x * sum_y;
+ residuals[4] = sum_y * sum_z;
+ residuals[5] = sum_x * sum_z;
+ residuals[6] = sum_x * sum_y * sum_z;
+ return true;
+ }
+};
+
+class ThreeParameterCostFunctorTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ // Prepare the parameters.
+ x_.resize(1);
+ x_[0] = 0.0;
+
+ y_.resize(2);
+ y_[0] = 1.0;
+ y_[1] = 3.0;
+
+ z_.resize(3);
+ z_[0] = 2.0;
+ z_[1] = 4.0;
+ z_[2] = 6.0;
+
+ parameter_blocks_.resize(3);
+ parameter_blocks_[0] = &x_[0];
+ parameter_blocks_[1] = &y_[0];
+ parameter_blocks_[2] = &z_[0];
+
+ // Prepare the cost function.
+ typedef DynamicNumericDiffCostFunction<MyThreeParameterCostFunctor>
+ DynamicMyThreeParameterCostFunction;
+ DynamicMyThreeParameterCostFunction * cost_function =
+ new DynamicMyThreeParameterCostFunction(
+ new MyThreeParameterCostFunctor());
+ cost_function->AddParameterBlock(1);
+ cost_function->AddParameterBlock(2);
+ cost_function->AddParameterBlock(3);
+ cost_function->SetNumResiduals(7);
+
+ cost_function_.reset(cost_function);
+
+ // Setup jacobian data.
+ jacobian_vect_.resize(3);
+ jacobian_vect_[0].resize(7 * x_.size(), -100000);
+ jacobian_vect_[1].resize(7 * y_.size(), -100000);
+ jacobian_vect_[2].resize(7 * z_.size(), -100000);
+
+ // Prepare the expected residuals.
+ const double sum_x = x_[0];
+ const double sum_y = y_[0] + 2.0 * y_[1];
+ const double sum_z = z_[0] + 3.0 * z_[1] + 6.0 * z_[2];
+
+ expected_residuals_.resize(7);
+ expected_residuals_[0] = sum_x;
+ expected_residuals_[1] = sum_y;
+ expected_residuals_[2] = sum_z;
+ expected_residuals_[3] = sum_x * sum_y;
+ expected_residuals_[4] = sum_y * sum_z;
+ expected_residuals_[5] = sum_x * sum_z;
+ expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+ // Prepare the expected jacobian entries.
+ expected_jacobian_x_.resize(7);
+ expected_jacobian_x_[0] = 1.0;
+ expected_jacobian_x_[1] = 0.0;
+ expected_jacobian_x_[2] = 0.0;
+ expected_jacobian_x_[3] = sum_y;
+ expected_jacobian_x_[4] = 0.0;
+ expected_jacobian_x_[5] = sum_z;
+ expected_jacobian_x_[6] = sum_y * sum_z;
+
+ expected_jacobian_y_.resize(14);
+ expected_jacobian_y_[0] = 0.0;
+ expected_jacobian_y_[1] = 0.0;
+ expected_jacobian_y_[2] = 1.0;
+ expected_jacobian_y_[3] = 2.0;
+ expected_jacobian_y_[4] = 0.0;
+ expected_jacobian_y_[5] = 0.0;
+ expected_jacobian_y_[6] = sum_x;
+ expected_jacobian_y_[7] = 2.0 * sum_x;
+ expected_jacobian_y_[8] = sum_z;
+ expected_jacobian_y_[9] = 2.0 * sum_z;
+ expected_jacobian_y_[10] = 0.0;
+ expected_jacobian_y_[11] = 0.0;
+ expected_jacobian_y_[12] = sum_x * sum_z;
+ expected_jacobian_y_[13] = 2.0 * sum_x * sum_z;
+
+ expected_jacobian_z_.resize(21);
+ expected_jacobian_z_[0] = 0.0;
+ expected_jacobian_z_[1] = 0.0;
+ expected_jacobian_z_[2] = 0.0;
+ expected_jacobian_z_[3] = 0.0;
+ expected_jacobian_z_[4] = 0.0;
+ expected_jacobian_z_[5] = 0.0;
+ expected_jacobian_z_[6] = 1.0;
+ expected_jacobian_z_[7] = 3.0;
+ expected_jacobian_z_[8] = 6.0;
+ expected_jacobian_z_[9] = 0.0;
+ expected_jacobian_z_[10] = 0.0;
+ expected_jacobian_z_[11] = 0.0;
+ expected_jacobian_z_[12] = sum_y;
+ expected_jacobian_z_[13] = 3.0 * sum_y;
+ expected_jacobian_z_[14] = 6.0 * sum_y;
+ expected_jacobian_z_[15] = sum_x;
+ expected_jacobian_z_[16] = 3.0 * sum_x;
+ expected_jacobian_z_[17] = 6.0 * sum_x;
+ expected_jacobian_z_[18] = sum_x * sum_y;
+ expected_jacobian_z_[19] = 3.0 * sum_x * sum_y;
+ expected_jacobian_z_[20] = 6.0 * sum_x * sum_y;
+ }
+
+ protected:
+ vector<double> x_;
+ vector<double> y_;
+ vector<double> z_;
+
+ vector<double*> parameter_blocks_;
+
+ scoped_ptr<CostFunction> cost_function_;
+
+ vector<vector<double> > jacobian_vect_;
+
+ vector<double> expected_residuals_;
+
+ vector<double> expected_jacobian_x_;
+ vector<double> expected_jacobian_y_;
+ vector<double> expected_jacobian_z_;
+};
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
+ vector<double> residuals(7, -100000);
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ NULL));
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(jacobian_vect_[2].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_NEAR(expected_jacobian_x_[i], jacobian[0][i], kTolerance);
+ }
+
+ for (int i = 0; i < 14; ++i) {
+ EXPECT_NEAR(expected_jacobian_y_[i], jacobian[1][i], kTolerance);
+ }
+
+ for (int i = 0; i < 21; ++i) {
+ EXPECT_NEAR(expected_jacobian_z_[i], jacobian[2][i], kTolerance);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+ ThreeParameterJacobianWithFirstAndLastParameterBlockConstant) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[1].data());
+ jacobian.push_back(NULL);
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 14; ++i) {
+ EXPECT_NEAR(expected_jacobian_y_[i], jacobian[1][i], kTolerance);
+ }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+ ThreeParameterJacobianWithSecondParameterBlockConstant) {
+ vector<double> residuals(7, -100000);
+
+ vector<double*> jacobian;
+ jacobian.push_back(jacobian_vect_[0].data());
+ jacobian.push_back(NULL);
+ jacobian.push_back(jacobian_vect_[2].data());
+
+ EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+ residuals.data(),
+ jacobian.data()));
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_EQ(expected_residuals_[i], residuals[i]);
+ }
+
+ for (int i = 0; i < 7; ++i) {
+ EXPECT_NEAR(expected_jacobian_x_[i], jacobian[0][i], kTolerance);
+ }
+
+ for (int i = 0; i < 21; ++i) {
+ EXPECT_NEAR(expected_jacobian_z_[i], jacobian[2][i], kTolerance);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/dynamic_sparse_normal_cholesky_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+#include <sstream>
+
+#include "Eigen/SparseCore"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cxsparse.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/SparseCholesky"
+#endif
+
+namespace ceres {
+namespace internal {
+
+DynamicSparseNormalCholeskySolver::DynamicSparseNormalCholeskySolver(
+ const LinearSolver::Options& options)
+ : options_(options) {}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImpl(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ const int num_cols = A->num_cols();
+ VectorRef(x, num_cols).setZero();
+ A->LeftMultiply(b, x);
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ scoped_ptr<CompressedRowSparseMatrix> regularizer;
+ if (!A->col_blocks().empty()) {
+ regularizer.reset(CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+ per_solve_options.D, A->col_blocks()));
+ } else {
+ regularizer.reset(
+ new CompressedRowSparseMatrix(per_solve_options.D, num_cols));
+ }
+ A->AppendRows(*regularizer);
+ }
+
+ LinearSolver::Summary summary;
+ switch (options_.sparse_linear_algebra_library_type) {
+ case SUITE_SPARSE:
+ summary = SolveImplUsingSuiteSparse(A, x);
+ break;
+ case CX_SPARSE:
+ summary = SolveImplUsingCXSparse(A, x);
+ break;
+ case EIGEN_SPARSE:
+ summary = SolveImplUsingEigen(A, x);
+ break;
+ default:
+ LOG(FATAL) << "Unknown sparse linear algebra library : "
+ << options_.sparse_linear_algebra_library_type;
+ }
+
+ if (per_solve_options.D != NULL) {
+ A->DeleteRows(num_cols);
+ }
+
+ return summary;
+}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImplUsingEigen(
+ CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifndef CERES_USE_EIGEN_SPARSE
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+ summary.message =
+ "SPARSE_NORMAL_CHOLESKY cannot be used with EIGEN_SPARSE "
+ "because Ceres was not built with support for "
+ "Eigen's SimplicialLDLT decomposition. "
+ "This requires enabling building with -DEIGENSPARSE=ON.";
+ return summary;
+
+#else
+
+ EventLogger event_logger("DynamicSparseNormalCholeskySolver::Eigen::Solve");
+
+ Eigen::MappedSparseMatrix<double, Eigen::RowMajor> a(A->num_rows(),
+ A->num_cols(),
+ A->num_nonzeros(),
+ A->mutable_rows(),
+ A->mutable_cols(),
+ A->mutable_values());
+
+ Eigen::SparseMatrix<double> lhs = a.transpose() * a;
+ Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > solver;
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ solver.analyzePattern(lhs);
+ if (VLOG_IS_ON(2)) {
+ std::stringstream ss;
+ solver.dumpMemory(ss);
+ VLOG(2) << "Symbolic Analysis\n" << ss.str();
+ }
+
+ event_logger.AddEvent("Analyze");
+ if (solver.info() != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+ summary.message = "Eigen failure. Unable to find symbolic factorization.";
+ return summary;
+ }
+
+ solver.factorize(lhs);
+ event_logger.AddEvent("Factorize");
+ if (solver.info() != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "Eigen failure. Unable to find numeric factorization.";
+ return summary;
+ }
+
+ const Vector rhs = VectorRef(rhs_and_solution, lhs.cols());
+ VectorRef(rhs_and_solution, lhs.cols()) = solver.solve(rhs);
+ event_logger.AddEvent("Solve");
+ if (solver.info() != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "Eigen failure. Unable to do triangular solve.";
+ return summary;
+ }
+
+ return summary;
+#endif // CERES_USE_EIGEN_SPARSE
+}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifdef CERES_NO_CXSPARSE
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+ summary.message =
+ "SPARSE_NORMAL_CHOLESKY cannot be used with CX_SPARSE "
+ "because Ceres was not built with support for CXSparse. "
+ "This requires enabling building with -DCXSPARSE=ON.";
+
+ return summary;
+
+#else
+ EventLogger event_logger(
+ "DynamicSparseNormalCholeskySolver::CXSparse::Solve");
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ CXSparse cxsparse;
+
+ // Wrap the augmented Jacobian in a compressed sparse column matrix.
+ cs_di a_transpose = cxsparse.CreateSparseMatrixTransposeView(A);
+
+ // Compute the normal equations. J'J delta = J'f and solve them
+ // using a sparse Cholesky factorization. Notice that when compared
+ // to SuiteSparse we have to explicitly compute the transpose of Jt,
+ // and then the normal equations before they can be
+ // factorized. CHOLMOD/SuiteSparse on the other hand can just work
+ // off of Jt to compute the Cholesky factorization of the normal
+ // equations.
+ cs_di* a = cxsparse.TransposeMatrix(&a_transpose);
+ cs_di* lhs = cxsparse.MatrixMatrixMultiply(&a_transpose, a);
+ cxsparse.Free(a);
+ event_logger.AddEvent("NormalEquations");
+
+ if (!cxsparse.SolveCholesky(lhs, rhs_and_solution)) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "CXSparse::SolveCholesky failed";
+ }
+ event_logger.AddEvent("Solve");
+
+ cxsparse.Free(lhs);
+ event_logger.AddEvent("TearDown");
+ return summary;
+#endif
+}
+
+LinearSolver::Summary
+DynamicSparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifdef CERES_NO_SUITESPARSE
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+ summary.message =
+ "SPARSE_NORMAL_CHOLESKY cannot be used with SUITE_SPARSE "
+ "because Ceres was not built with support for SuiteSparse. "
+ "This requires enabling building with -DSUITESPARSE=ON.";
+ return summary;
+
+#else
+
+ EventLogger event_logger(
+ "DynamicSparseNormalCholeskySolver::SuiteSparse::Solve");
+ LinearSolver::Summary summary;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.num_iterations = 1;
+ summary.message = "Success.";
+
+ SuiteSparse ss;
+ const int num_cols = A->num_cols();
+ cholmod_sparse lhs = ss.CreateSparseMatrixTransposeView(A);
+ event_logger.AddEvent("Setup");
+ cholmod_factor* factor = ss.AnalyzeCholesky(&lhs, &summary.message);
+ event_logger.AddEvent("Analysis");
+
+ if (factor == NULL) {
+ summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+ return summary;
+ }
+
+ summary.termination_type = ss.Cholesky(&lhs, factor, &summary.message);
+ if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+ cholmod_dense* rhs =
+ ss.CreateDenseVector(rhs_and_solution, num_cols, num_cols);
+ cholmod_dense* solution = ss.Solve(factor, rhs, &summary.message);
+ event_logger.AddEvent("Solve");
+ ss.Free(rhs);
+ if (solution != NULL) {
+ memcpy(
+ rhs_and_solution, solution->x, num_cols * sizeof(*rhs_and_solution));
+ ss.Free(solution);
+ } else {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ }
+ }
+
+ ss.Free(factor);
+ event_logger.AddEvent("Teardown");
+ return summary;
+
+#endif
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include "ceres/internal/macros.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+// A variant of SparseNormalCholeskySolver in the case where matrix
+// sparsity is not constant across calls to Solve. This means that
+// there is no benefit to symbolically factorizing the matrix and
+// caching this factorization.
+class DynamicSparseNormalCholeskySolver
+ : public CompressedRowSparseMatrixSolver {
+ public:
+ explicit DynamicSparseNormalCholeskySolver(
+ const LinearSolver::Options& options);
+ virtual ~DynamicSparseNormalCholeskySolver() {}
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ LinearSolver::Summary SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A,
+ double* rhs_and_solution);
+
+ LinearSolver::Summary SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A,
+ double* rhs_and_solution);
+
+ LinearSolver::Summary SolveImplUsingEigen(
+ CompressedRowSparseMatrix* A,
+ double* rhs_and_solution);
+
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(DynamicSparseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): These tests needs to be re-written to be more
+// thorough, they do not really test the dynamic nature of the
+// sparsity.
+class DynamicSparseNormalCholeskySolverTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(1));
+ A_.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(
+ *down_cast<TripletSparseMatrix*>(problem->A.get())));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+ }
+
+ void TestSolver(const LinearSolver::Options& options, double* D) {
+ Matrix dense_A;
+ A_->ToDenseMatrix(&dense_A);
+ Matrix lhs = dense_A.transpose() * dense_A;
+ if (D != NULL) {
+ lhs += (ConstVectorRef(D, A_->num_cols()).array() *
+ ConstVectorRef(D, A_->num_cols()).array())
+ .matrix()
+ .asDiagonal();
+ }
+
+ Vector rhs(A_->num_cols());
+ rhs.setZero();
+ A_->LeftMultiply(b_.get(), rhs.data());
+ Vector expected_solution = lhs.llt().solve(rhs);
+
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D;
+ Vector actual_solution(A_->num_cols());
+ LinearSolver::Summary summary;
+ summary = solver->Solve(
+ A_.get(), b_.get(), per_solve_options, actual_solution.data());
+
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(expected_solution(i), actual_solution(i), 1e-8)
+ << "\nExpected: " << expected_solution.transpose()
+ << "\nActual: " << actual_solution.transpose();
+ }
+ }
+
+ void TestSolver(
+ const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
+ LinearSolver::Options options;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.dynamic_sparsity = true;
+ options.sparse_linear_algebra_library_type =
+ sparse_linear_algebra_library_type;
+ TestSolver(options, NULL);
+ TestSolver(options, D_.get());
+ }
+
+ scoped_ptr<CompressedRowSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, SuiteSparse) {
+ TestSolver(SUITE_SPARSE);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, CXSparse) {
+ TestSolver(CX_SPARSE);
+}
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, Eigen) {
+ TestSolver(EIGEN_SPARSE);
+}
+#endif // CERES_USE_EIGEN_SPARSE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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: richie.stebbing@gmail.com (Richard Stebbing)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Based on examples/ellipse_approximation.cc
+
+#include <cmath>
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Data generated with the following Python code.
+// import numpy as np
+// np.random.seed(1337)
+// t = np.linspace(0.0, 2.0 * np.pi, 212, endpoint=False)
+// t += 2.0 * np.pi * 0.01 * np.random.randn(t.size)
+// theta = np.deg2rad(15)
+// a, b = np.cos(theta), np.sin(theta)
+// R = np.array([[a, -b],
+// [b, a]])
+// Y = np.dot(np.c_[4.0 * np.cos(t), np.sin(t)], R.T)
+
+const int kYRows = 212;
+const int kYCols = 2;
+const double kYData[kYRows * kYCols] = {
+ +3.871364e+00, +9.916027e-01,
+ +3.864003e+00, +1.034148e+00,
+ +3.850651e+00, +1.072202e+00,
+ +3.868350e+00, +1.014408e+00,
+ +3.796381e+00, +1.153021e+00,
+ +3.857138e+00, +1.056102e+00,
+ +3.787532e+00, +1.162215e+00,
+ +3.704477e+00, +1.227272e+00,
+ +3.564711e+00, +1.294959e+00,
+ +3.754363e+00, +1.191948e+00,
+ +3.482098e+00, +1.322725e+00,
+ +3.602777e+00, +1.279658e+00,
+ +3.585433e+00, +1.286858e+00,
+ +3.347505e+00, +1.356415e+00,
+ +3.220855e+00, +1.378914e+00,
+ +3.558808e+00, +1.297174e+00,
+ +3.403618e+00, +1.343809e+00,
+ +3.179828e+00, +1.384721e+00,
+ +3.054789e+00, +1.398759e+00,
+ +3.294153e+00, +1.366808e+00,
+ +3.247312e+00, +1.374813e+00,
+ +2.988547e+00, +1.404247e+00,
+ +3.114508e+00, +1.392698e+00,
+ +2.899226e+00, +1.409802e+00,
+ +2.533256e+00, +1.414778e+00,
+ +2.654773e+00, +1.415909e+00,
+ +2.565100e+00, +1.415313e+00,
+ +2.976456e+00, +1.405118e+00,
+ +2.484200e+00, +1.413640e+00,
+ +2.324751e+00, +1.407476e+00,
+ +1.930468e+00, +1.378221e+00,
+ +2.329017e+00, +1.407688e+00,
+ +1.760640e+00, +1.360319e+00,
+ +2.147375e+00, +1.396603e+00,
+ +1.741989e+00, +1.358178e+00,
+ +1.743859e+00, +1.358394e+00,
+ +1.557372e+00, +1.335208e+00,
+ +1.280551e+00, +1.295087e+00,
+ +1.429880e+00, +1.317546e+00,
+ +1.213485e+00, +1.284400e+00,
+ +9.168172e-01, +1.232870e+00,
+ +1.311141e+00, +1.299839e+00,
+ +1.231969e+00, +1.287382e+00,
+ +7.453773e-01, +1.200049e+00,
+ +6.151587e-01, +1.173683e+00,
+ +5.935666e-01, +1.169193e+00,
+ +2.538707e-01, +1.094227e+00,
+ +6.806136e-01, +1.187089e+00,
+ +2.805447e-01, +1.100405e+00,
+ +6.184807e-01, +1.174371e+00,
+ +1.170550e-01, +1.061762e+00,
+ +2.890507e-01, +1.102365e+00,
+ +3.834234e-01, +1.123772e+00,
+ +3.980161e-04, +1.033061e+00,
+ -3.651680e-01, +9.370367e-01,
+ -8.386351e-01, +7.987201e-01,
+ -8.105704e-01, +8.073702e-01,
+ -8.735139e-01, +7.878886e-01,
+ -9.913836e-01, +7.506100e-01,
+ -8.784011e-01, +7.863636e-01,
+ -1.181440e+00, +6.882566e-01,
+ -1.229556e+00, +6.720191e-01,
+ -1.035839e+00, +7.362765e-01,
+ -8.031520e-01, +8.096470e-01,
+ -1.539136e+00, +5.629549e-01,
+ -1.755423e+00, +4.817306e-01,
+ -1.337589e+00, +6.348763e-01,
+ -1.836966e+00, +4.499485e-01,
+ -1.913367e+00, +4.195617e-01,
+ -2.126467e+00, +3.314900e-01,
+ -1.927625e+00, +4.138238e-01,
+ -2.339862e+00, +2.379074e-01,
+ -1.881736e+00, +4.322152e-01,
+ -2.116753e+00, +3.356163e-01,
+ -2.255733e+00, +2.754930e-01,
+ -2.555834e+00, +1.368473e-01,
+ -2.770277e+00, +2.895711e-02,
+ -2.563376e+00, +1.331890e-01,
+ -2.826715e+00, -9.000818e-04,
+ -2.978191e+00, -8.457804e-02,
+ -3.115855e+00, -1.658786e-01,
+ -2.982049e+00, -8.678322e-02,
+ -3.307892e+00, -2.902083e-01,
+ -3.038346e+00, -1.194222e-01,
+ -3.190057e+00, -2.122060e-01,
+ -3.279086e+00, -2.705777e-01,
+ -3.322028e+00, -2.999889e-01,
+ -3.122576e+00, -1.699965e-01,
+ -3.551973e+00, -4.768674e-01,
+ -3.581866e+00, -5.032175e-01,
+ -3.497799e+00, -4.315203e-01,
+ -3.565384e+00, -4.885602e-01,
+ -3.699493e+00, -6.199815e-01,
+ -3.585166e+00, -5.061925e-01,
+ -3.758914e+00, -6.918275e-01,
+ -3.741104e+00, -6.689131e-01,
+ -3.688331e+00, -6.077239e-01,
+ -3.810425e+00, -7.689015e-01,
+ -3.791829e+00, -7.386911e-01,
+ -3.789951e+00, -7.358189e-01,
+ -3.823100e+00, -7.918398e-01,
+ -3.857021e+00, -8.727074e-01,
+ -3.858250e+00, -8.767645e-01,
+ -3.872100e+00, -9.563174e-01,
+ -3.864397e+00, -1.032630e+00,
+ -3.846230e+00, -1.081669e+00,
+ -3.834799e+00, -1.102536e+00,
+ -3.866684e+00, -1.022901e+00,
+ -3.808643e+00, -1.139084e+00,
+ -3.868840e+00, -1.011569e+00,
+ -3.791071e+00, -1.158615e+00,
+ -3.797999e+00, -1.151267e+00,
+ -3.696278e+00, -1.232314e+00,
+ -3.779007e+00, -1.170504e+00,
+ -3.622855e+00, -1.270793e+00,
+ -3.647249e+00, -1.259166e+00,
+ -3.655412e+00, -1.255042e+00,
+ -3.573218e+00, -1.291696e+00,
+ -3.638019e+00, -1.263684e+00,
+ -3.498409e+00, -1.317750e+00,
+ -3.304143e+00, -1.364970e+00,
+ -3.183001e+00, -1.384295e+00,
+ -3.202456e+00, -1.381599e+00,
+ -3.244063e+00, -1.375332e+00,
+ -3.233308e+00, -1.377019e+00,
+ -3.060112e+00, -1.398264e+00,
+ -3.078187e+00, -1.396517e+00,
+ -2.689594e+00, -1.415761e+00,
+ -2.947662e+00, -1.407039e+00,
+ -2.854490e+00, -1.411860e+00,
+ -2.660499e+00, -1.415900e+00,
+ -2.875955e+00, -1.410930e+00,
+ -2.675385e+00, -1.415848e+00,
+ -2.813155e+00, -1.413363e+00,
+ -2.417673e+00, -1.411512e+00,
+ -2.725461e+00, -1.415373e+00,
+ -2.148334e+00, -1.396672e+00,
+ -2.108972e+00, -1.393738e+00,
+ -2.029905e+00, -1.387302e+00,
+ -2.046214e+00, -1.388687e+00,
+ -2.057402e+00, -1.389621e+00,
+ -1.650250e+00, -1.347160e+00,
+ -1.806764e+00, -1.365469e+00,
+ -1.206973e+00, -1.283343e+00,
+ -8.029259e-01, -1.211308e+00,
+ -1.229551e+00, -1.286993e+00,
+ -1.101507e+00, -1.265754e+00,
+ -9.110645e-01, -1.231804e+00,
+ -1.110046e+00, -1.267211e+00,
+ -8.465274e-01, -1.219677e+00,
+ -7.594163e-01, -1.202818e+00,
+ -8.023823e-01, -1.211203e+00,
+ -3.732519e-01, -1.121494e+00,
+ -1.918373e-01, -1.079668e+00,
+ -4.671988e-01, -1.142253e+00,
+ -4.033645e-01, -1.128215e+00,
+ -1.920740e-01, -1.079724e+00,
+ -3.022157e-01, -1.105389e+00,
+ -1.652831e-01, -1.073354e+00,
+ +4.671625e-01, -9.085886e-01,
+ +5.940178e-01, -8.721832e-01,
+ +3.147557e-01, -9.508290e-01,
+ +6.383631e-01, -8.591867e-01,
+ +9.888923e-01, -7.514088e-01,
+ +7.076339e-01, -8.386023e-01,
+ +1.326682e+00, -6.386698e-01,
+ +1.149834e+00, -6.988221e-01,
+ +1.257742e+00, -6.624207e-01,
+ +1.492352e+00, -5.799632e-01,
+ +1.595574e+00, -5.421766e-01,
+ +1.240173e+00, -6.684113e-01,
+ +1.706612e+00, -5.004442e-01,
+ +1.873984e+00, -4.353002e-01,
+ +1.985633e+00, -3.902561e-01,
+ +1.722880e+00, -4.942329e-01,
+ +2.095182e+00, -3.447402e-01,
+ +2.018118e+00, -3.768991e-01,
+ +2.422702e+00, -1.999563e-01,
+ +2.370611e+00, -2.239326e-01,
+ +2.152154e+00, -3.205250e-01,
+ +2.525121e+00, -1.516499e-01,
+ +2.422116e+00, -2.002280e-01,
+ +2.842806e+00, +9.536372e-03,
+ +3.030128e+00, +1.146027e-01,
+ +2.888424e+00, +3.433444e-02,
+ +2.991609e+00, +9.226409e-02,
+ +2.924807e+00, +5.445844e-02,
+ +3.007772e+00, +1.015875e-01,
+ +2.781973e+00, -2.282382e-02,
+ +3.164737e+00, +1.961781e-01,
+ +3.237671e+00, +2.430139e-01,
+ +3.046123e+00, +1.240014e-01,
+ +3.414834e+00, +3.669060e-01,
+ +3.436591e+00, +3.833600e-01,
+ +3.626207e+00, +5.444311e-01,
+ +3.223325e+00, +2.336361e-01,
+ +3.511963e+00, +4.431060e-01,
+ +3.698380e+00, +6.187442e-01,
+ +3.670244e+00, +5.884943e-01,
+ +3.558833e+00, +4.828230e-01,
+ +3.661807e+00, +5.797689e-01,
+ +3.767261e+00, +7.030893e-01,
+ +3.801065e+00, +7.532650e-01,
+ +3.828523e+00, +8.024454e-01,
+ +3.840719e+00, +8.287032e-01,
+ +3.848748e+00, +8.485921e-01,
+ +3.865801e+00, +9.066551e-01,
+ +3.870983e+00, +9.404873e-01,
+ +3.870263e+00, +1.001884e+00,
+ +3.864462e+00, +1.032374e+00,
+ +3.870542e+00, +9.996121e-01,
+ +3.865424e+00, +1.028474e+00
+};
+
+ConstMatrixRef kY(kYData, kYRows, kYCols);
+
+class PointToLineSegmentContourCostFunction : public CostFunction {
+ public:
+ PointToLineSegmentContourCostFunction(const int num_segments,
+ const Eigen::Vector2d& y)
+ : num_segments_(num_segments), y_(y) {
+ // The first parameter is the preimage position.
+ mutable_parameter_block_sizes()->push_back(1);
+ // The next parameters are the control points for the line segment contour.
+ for (int i = 0; i < num_segments_; ++i) {
+ mutable_parameter_block_sizes()->push_back(2);
+ }
+ set_num_residuals(2);
+ }
+
+ virtual bool Evaluate(const double* const* x,
+ double* residuals,
+ double** jacobians) const {
+ // Convert the preimage position `t` into a segment index `i0` and the
+ // line segment interpolation parameter `u`. `i1` is the index of the next
+ // control point.
+ const double t = ModuloNumSegments(*x[0]);
+ CHECK_GE(t, 0.0);
+ CHECK_LT(t, num_segments_);
+ const int i0 = floor(t), i1 = (i0 + 1) % num_segments_;
+ const double u = t - i0;
+
+ // Linearly interpolate between control points `i0` and `i1`.
+ residuals[0] = y_[0] - ((1.0 - u) * x[1 + i0][0] + u * x[1 + i1][0]);
+ residuals[1] = y_[1] - ((1.0 - u) * x[1 + i0][1] + u * x[1 + i1][1]);
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ if (jacobians[0] != NULL) {
+ jacobians[0][0] = x[1 + i0][0] - x[1 + i1][0];
+ jacobians[0][1] = x[1 + i0][1] - x[1 + i1][1];
+ }
+ for (int i = 0; i < num_segments_; ++i) {
+ if (jacobians[i + 1] != NULL) {
+ MatrixRef(jacobians[i + 1], 2, 2).setZero();
+ if (i == i0) {
+ jacobians[i + 1][0] = -(1.0 - u);
+ jacobians[i + 1][3] = -(1.0 - u);
+ } else if (i == i1) {
+ jacobians[i + 1][0] = -u;
+ jacobians[i + 1][3] = -u;
+ }
+ }
+ }
+ return true;
+ }
+
+ static CostFunction* Create(const int num_segments, const Eigen::Vector2d& y) {
+ return new PointToLineSegmentContourCostFunction(num_segments, y);
+ }
+
+ private:
+ inline double ModuloNumSegments(const double t) const {
+ return t - num_segments_ * floor(t / num_segments_);
+ }
+
+ const int num_segments_;
+ const Eigen::Vector2d y_;
+};
+
+class EuclideanDistanceFunctor {
+ public:
+ explicit EuclideanDistanceFunctor(const double sqrt_weight)
+ : sqrt_weight_(sqrt_weight) {}
+
+ template <typename T>
+ bool operator()(const T* x0, const T* x1, T* residuals) const {
+ residuals[0] = sqrt_weight_ * (x0[0] - x1[0]);
+ residuals[1] = sqrt_weight_ * (x0[1] - x1[1]);
+ return true;
+ }
+
+ static CostFunction* Create(const double sqrt_weight) {
+ return new AutoDiffCostFunction<EuclideanDistanceFunctor, 2, 2, 2>(
+ new EuclideanDistanceFunctor(sqrt_weight));
+ }
+
+ private:
+ const double sqrt_weight_;
+};
+
+TEST(DynamicSparsity, StaticAndDynamicSparsityProduceSameSolution) {
+ // Skip test if there is no sparse linear algebra library.
+ if (!IsSparseLinearAlgebraLibraryTypeAvailable(SUITE_SPARSE) &&
+ !IsSparseLinearAlgebraLibraryTypeAvailable(CX_SPARSE) &&
+ !IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) {
+ return;
+ }
+
+ // Problem configuration.
+ const int num_segments = 151;
+ const double regularization_weight = 1e-2;
+
+ // `X` is the matrix of control points which make up the contour of line
+ // segments. The number of control points is equal to the number of line
+ // segments because the contour is closed.
+ //
+ // Initialize `X` to points on the unit circle.
+ Vector w(num_segments + 1);
+ w.setLinSpaced(num_segments + 1, 0.0, 2.0 * M_PI);
+ w.conservativeResize(num_segments);
+ Matrix X(num_segments, 2);
+ X.col(0) = w.array().cos();
+ X.col(1) = w.array().sin();
+
+ // Each data point has an associated preimage position on the line segment
+ // contour. For each data point we initialize the preimage positions to
+ // the index of the closest control point.
+ const int num_observations = kY.rows();
+ Vector t(num_observations);
+ for (int i = 0; i < num_observations; ++i) {
+ (X.rowwise() - kY.row(i)).rowwise().squaredNorm().minCoeff(&t[i]);
+ }
+
+ Problem problem;
+
+ // For each data point add a residual which measures its distance to its
+ // corresponding position on the line segment contour.
+ std::vector<double*> parameter_blocks(1 + num_segments);
+ parameter_blocks[0] = NULL;
+ for (int i = 0; i < num_segments; ++i) {
+ parameter_blocks[i + 1] = X.data() + 2 * i;
+ }
+ for (int i = 0; i < num_observations; ++i) {
+ parameter_blocks[0] = &t[i];
+ problem.AddResidualBlock(
+ PointToLineSegmentContourCostFunction::Create(num_segments, kY.row(i)),
+ NULL,
+ parameter_blocks);
+ }
+
+ // Add regularization to minimize the length of the line segment contour.
+ for (int i = 0; i < num_segments; ++i) {
+ problem.AddResidualBlock(
+ EuclideanDistanceFunctor::Create(sqrt(regularization_weight)),
+ NULL,
+ X.data() + 2 * i,
+ X.data() + 2 * ((i + 1) % num_segments));
+ }
+
+ Solver::Options options;
+ options.max_num_iterations = 100;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+
+ // First, solve `X` and `t` jointly with dynamic_sparsity = true.
+ Matrix X0 = X;
+ Vector t0 = t;
+ options.dynamic_sparsity = false;
+ Solver::Summary static_summary;
+ Solve(options, &problem, &static_summary);
+ EXPECT_EQ(static_summary.termination_type, CONVERGENCE)
+ << static_summary.FullReport();
+
+ X = X0;
+ t = t0;
+ options.dynamic_sparsity = true;
+ Solver::Summary dynamic_summary;
+ Solve(options, &problem, &dynamic_summary);
+ EXPECT_EQ(dynamic_summary.termination_type, CONVERGENCE)
+ << dynamic_summary.FullReport();
+
+ EXPECT_NEAR(static_summary.final_cost,
+ dynamic_summary.final_cost,
+ std::numeric_limits<double>::epsilon())
+ << "Static: \n"
+ << static_summary.FullReport() << "\nDynamic: \n"
+ << dynamic_summary.FullReport();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/eigensparse.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+
+#include <sstream>
+#include "Eigen/SparseCholesky"
+#include "Eigen/SparseCore"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename Solver>
+class EigenSparseCholeskyTemplate : public EigenSparseCholesky {
+ public:
+ EigenSparseCholeskyTemplate() : analyzed_(false) {}
+ virtual ~EigenSparseCholeskyTemplate() {}
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const {
+ return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+ }
+
+ virtual LinearSolverTerminationType Factorize(
+ const Eigen::SparseMatrix<double>& lhs, std::string* message) {
+ if (!analyzed_) {
+ solver_.analyzePattern(lhs);
+
+ if (VLOG_IS_ON(2)) {
+ std::stringstream ss;
+ solver_.dumpMemory(ss);
+ VLOG(2) << "Symbolic Analysis\n" << ss.str();
+ }
+
+ if (solver_.info() != Eigen::Success) {
+ *message = "Eigen failure. Unable to find symbolic factorization.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ analyzed_ = true;
+ }
+
+ solver_.factorize(lhs);
+ if (solver_.info() != Eigen::Success) {
+ *message = "Eigen failure. Unable to find numeric factorization.";
+ return LINEAR_SOLVER_FAILURE;
+ }
+ return LINEAR_SOLVER_SUCCESS;
+ }
+
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message) {
+ CHECK(analyzed_) << "Solve called without a call to Factorize first.";
+
+ VectorRef(solution, solver_.cols()) =
+ solver_.solve(ConstVectorRef(rhs, solver_.cols()));
+ if (solver_.info() != Eigen::Success) {
+ *message = "Eigen failure. Unable to do triangular solve.";
+ return LINEAR_SOLVER_FAILURE;
+ }
+ return LINEAR_SOLVER_SUCCESS;
+ }
+
+ virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
+ std::string* message) {
+ CHECK_EQ(lhs->storage_type(), StorageType());
+ Eigen::MappedSparseMatrix<double, Eigen::ColMajor> eigen_lhs(
+ lhs->num_rows(),
+ lhs->num_rows(),
+ lhs->num_nonzeros(),
+ lhs->mutable_rows(),
+ lhs->mutable_cols(),
+ lhs->mutable_values());
+ return Factorize(eigen_lhs, message);
+ }
+
+ private:
+ bool analyzed_;
+ Solver solver_;
+};
+
+EigenSparseCholesky* EigenSparseCholesky::Create(
+ const OrderingType ordering_type) {
+ // The preprocessor gymnastics here are dealing with the fact that
+ // before version 3.2.2, Eigen did not support a third template
+ // parameter to specify the ordering and it always defaults to AMD.
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+ typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
+ Eigen::Upper,
+ Eigen::AMDOrdering<int> >
+ WithAMDOrdering;
+ typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
+ Eigen::Upper,
+ Eigen::NaturalOrdering<int> >
+ WithNaturalOrdering;
+ if (ordering_type == AMD) {
+ return new EigenSparseCholeskyTemplate<WithAMDOrdering>();
+ } else {
+ return new EigenSparseCholeskyTemplate<WithNaturalOrdering>();
+ }
+#else
+ typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>, Eigen::Upper>
+ WithAMDOrdering;
+ return new EigenSparseCholeskyTemplate<WithAMDOrdering>();
+#endif
+}
+
+EigenSparseCholesky::~EigenSparseCholesky() {}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_USE_EIGEN_SPARSE
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// A simple C++ interface to the Eigen's Sparse Cholesky routines.
+
+#ifndef CERES_INTERNAL_EIGENSPARSE_H_
+#define CERES_INTERNAL_EIGENSPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+
+#include <string>
+#include "Eigen/SparseCore"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+
+namespace ceres {
+namespace internal {
+
+class EigenSparseCholesky : public SparseCholesky {
+ public:
+ // Factory
+ static EigenSparseCholesky* Create(const OrderingType ordering_type);
+
+ // SparseCholesky interface.
+ virtual ~EigenSparseCholesky();
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0;
+ virtual LinearSolverTerminationType Factorize(
+ const Eigen::SparseMatrix<double>& lhs, std::string* message) = 0;
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message) = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_USE_EIGEN_SPARSE
+
+#endif // CERES_INTERNAL_EIGENSPARSE_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include <vector>
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_jacobian_writer.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/dense_jacobian_writer.h"
+#include "ceres/dynamic_compressed_row_finalizer.h"
+#include "ceres/dynamic_compressed_row_jacobian_writer.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/program_evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Evaluator::~Evaluator() {}
+
+Evaluator* Evaluator::Create(const Evaluator::Options& options,
+ Program* program,
+ std::string* error) {
+ switch (options.linear_solver_type) {
+ case DENSE_QR:
+ case DENSE_NORMAL_CHOLESKY:
+ return new ProgramEvaluator<ScratchEvaluatePreparer,
+ DenseJacobianWriter>(options,
+ program);
+ case DENSE_SCHUR:
+ case SPARSE_SCHUR:
+ case ITERATIVE_SCHUR:
+ case CGNR:
+ return new ProgramEvaluator<BlockEvaluatePreparer,
+ BlockJacobianWriter>(options,
+ program);
+ case SPARSE_NORMAL_CHOLESKY:
+ if (options.dynamic_sparsity) {
+ return new ProgramEvaluator<ScratchEvaluatePreparer,
+ DynamicCompressedRowJacobianWriter,
+ DynamicCompressedRowJacobianFinalizer>(
+ options, program);
+ } else {
+ return new ProgramEvaluator<BlockEvaluatePreparer,
+ BlockJacobianWriter>(options,
+ program);
+ }
+
+ default:
+ *error = "Invalid Linear Solver Type. Unable to create evaluator.";
+ return NULL;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_EVALUATOR_H_
+#define CERES_INTERNAL_EVALUATOR_H_
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include "ceres/execution_summary.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+// The Evaluator interface offers a way to interact with a least squares cost
+// function that is useful for an optimizer that wants to minimize the least
+// squares objective. This insulates the optimizer from issues like Jacobian
+// storage, parameterization, etc.
+class Evaluator {
+ public:
+ virtual ~Evaluator();
+
+ struct Options {
+ Options()
+ : num_threads(1),
+ num_eliminate_blocks(-1),
+ linear_solver_type(DENSE_QR),
+ dynamic_sparsity(false) {}
+
+ int num_threads;
+ int num_eliminate_blocks;
+ LinearSolverType linear_solver_type;
+ bool dynamic_sparsity;
+ };
+
+ static Evaluator* Create(const Options& options,
+ Program* program,
+ std::string* error);
+
+ // This is used for computing the cost, residual and Jacobian for
+ // returning to the user. For actually solving the optimization
+ // problem, the optimization algorithm uses the ProgramEvaluator
+ // objects directly.
+ //
+ // The residual, gradients and jacobian pointers can be NULL, in
+ // which case they will not be evaluated. cost cannot be NULL.
+ //
+ // The parallelism of the evaluator is controlled by num_threads; it
+ // should be at least 1.
+ //
+ // Note: That this function does not take a parameter vector as
+ // input. The parameter blocks are evaluated on the values contained
+ // in the arrays pointed to by their user_state pointers.
+ //
+ // Also worth noting is that this function mutates program by
+ // calling Program::SetParameterOffsetsAndIndex() on it so that an
+ // evaluator object can be constructed.
+ static bool Evaluate(Program* program,
+ int num_threads,
+ double* cost,
+ std::vector<double>* residuals,
+ std::vector<double>* gradient,
+ CRSMatrix* jacobian);
+
+ // Build and return a sparse matrix for storing and working with the Jacobian
+ // of the objective function. The jacobian has dimensions
+ // NumEffectiveParameters() by NumParameters(), and is typically extremely
+ // sparse. Since the sparsity pattern of the Jacobian remains constant over
+ // the lifetime of the optimization problem, this method is used to
+ // instantiate a SparseMatrix object with the appropriate sparsity structure
+ // (which can be an expensive operation) and then reused by the optimization
+ // algorithm and the various linear solvers.
+ //
+ // It is expected that the classes implementing this interface will be aware
+ // of their client's requirements for the kind of sparse matrix storage and
+ // layout that is needed for an efficient implementation. For example
+ // CompressedRowOptimizationProblem creates a compressed row representation of
+ // the jacobian for use with CHOLMOD, where as BlockOptimizationProblem
+ // creates a BlockSparseMatrix representation of the jacobian for use in the
+ // Schur complement based methods.
+ virtual SparseMatrix* CreateJacobian() const = 0;
+
+
+ // Options struct to control Evaluator::Evaluate;
+ struct EvaluateOptions {
+ EvaluateOptions()
+ : apply_loss_function(true) {
+ }
+
+ // If false, the loss function correction is not applied to the
+ // residual blocks.
+ bool apply_loss_function;
+ };
+
+ // Evaluate the cost function for the given state. Returns the cost,
+ // residuals, and jacobian in the corresponding arguments. Both residuals and
+ // jacobian are optional; to avoid computing them, pass NULL.
+ //
+ // If non-NULL, the Jacobian must have a suitable sparsity pattern; only the
+ // values array of the jacobian is modified.
+ //
+ // state is an array of size NumParameters(), cost is a pointer to a single
+ // double, and residuals is an array of doubles of size NumResiduals().
+ virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+ const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) = 0;
+
+ // Variant of Evaluator::Evaluate where the user wishes to use the
+ // default EvaluateOptions struct. This is mostly here as a
+ // convenience method.
+ bool Evaluate(const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) {
+ return Evaluate(EvaluateOptions(),
+ state,
+ cost,
+ residuals,
+ gradient,
+ jacobian);
+ }
+
+ // Make a change delta (of size NumEffectiveParameters()) to state (of size
+ // NumParameters()) and store the result in state_plus_delta.
+ //
+ // In the case that there are no parameterizations used, this is equivalent to
+ //
+ // state_plus_delta[i] = state[i] + delta[i] ;
+ //
+ // however, the mapping is more complicated in the case of parameterizations
+ // like quaternions. This is the same as the "Plus()" operation in
+ // local_parameterization.h, but operating over the entire state vector for a
+ // problem.
+ virtual bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const = 0;
+
+ // The number of parameters in the optimization problem.
+ virtual int NumParameters() const = 0;
+
+ // This is the effective number of parameters that the optimizer may adjust.
+ // This applies when there are parameterizations on some of the parameters.
+ virtual int NumEffectiveParameters() const = 0;
+
+ // The number of residuals in the optimization problem.
+ virtual int NumResiduals() const = 0;
+
+ // The following two methods return copies instead of references so
+ // that the base class implementation does not have to worry about
+ // life time issues. Further, these calls are not expected to be
+ // frequent or performance sensitive.
+ virtual std::map<std::string, int> CallStatistics() const {
+ return std::map<std::string, int>();
+ }
+
+ virtual std::map<std::string, double> TimeStatistics() const {
+ return std::map<std::string, double>();
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EVALUATOR_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Tests shared across evaluators. The tests try all combinations of linear
+// solver and num_eliminate_blocks (for schur-based solvers).
+
+#include "ceres/evaluator.h"
+
+#include "ceres/casts.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// TODO(keir): Consider pushing this into a common test utils file.
+template<int kFactor, int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, bool kSucceeds = true>
+class ParameterIgnoringCostFunction
+ : public SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ typedef SizedCostFunction<kNumResiduals, N0, N1, N2> Base;
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < Base::num_residuals(); ++i) {
+ residuals[i] = i + 1;
+ }
+ if (jacobians) {
+ for (int k = 0; k < Base::parameter_block_sizes().size(); ++k) {
+ // The jacobians here are full sized, but they are transformed in the
+ // evaluator into the "local" jacobian. In the tests, the "subset
+ // constant" parameterization is used, which should pick out columns
+ // from these jacobians. Put values in the jacobian that make this
+ // obvious; in particular, make the jacobians like this:
+ //
+ // 1 2 3 4 ...
+ // 1 2 3 4 ... .* kFactor
+ // 1 2 3 4 ...
+ //
+ // where the multiplication by kFactor makes it easier to distinguish
+ // between Jacobians of different residuals for the same parameter.
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ Base::num_residuals(),
+ Base::parameter_block_sizes()[k]);
+ for (int j = 0; j < Base::parameter_block_sizes()[k]; ++j) {
+ jacobian.col(j).setConstant(kFactor * (j + 1));
+ }
+ }
+ }
+ }
+ return kSucceeds;
+ }
+};
+
+struct EvaluatorTestOptions {
+ EvaluatorTestOptions(LinearSolverType linear_solver_type,
+ int num_eliminate_blocks,
+ bool dynamic_sparsity = false)
+ : linear_solver_type(linear_solver_type),
+ num_eliminate_blocks(num_eliminate_blocks),
+ dynamic_sparsity(dynamic_sparsity) {}
+
+ LinearSolverType linear_solver_type;
+ int num_eliminate_blocks;
+ bool dynamic_sparsity;
+};
+
+struct EvaluatorTest
+ : public ::testing::TestWithParam<EvaluatorTestOptions> {
+ Evaluator* CreateEvaluator(Program* program) {
+ // This program is straight from the ProblemImpl, and so has no index/offset
+ // yet; compute it here as required by the evalutor implementations.
+ program->SetParameterOffsetsAndIndex();
+
+ if (VLOG_IS_ON(1)) {
+ string report;
+ StringAppendF(&report, "Creating evaluator with type: %d",
+ GetParam().linear_solver_type);
+ if (GetParam().linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ StringAppendF(&report, ", dynamic_sparsity: %d",
+ GetParam().dynamic_sparsity);
+ }
+ StringAppendF(&report, " and num_eliminate_blocks: %d",
+ GetParam().num_eliminate_blocks);
+ VLOG(1) << report;
+ }
+ Evaluator::Options options;
+ options.linear_solver_type = GetParam().linear_solver_type;
+ options.num_eliminate_blocks = GetParam().num_eliminate_blocks;
+ options.dynamic_sparsity = GetParam().dynamic_sparsity;
+ string error;
+ return Evaluator::Create(options, program, &error);
+ }
+
+ void EvaluateAndCompare(ProblemImpl *problem,
+ int expected_num_rows,
+ int expected_num_cols,
+ double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian) {
+ scoped_ptr<Evaluator> evaluator(
+ CreateEvaluator(problem->mutable_program()));
+ int num_residuals = expected_num_rows;
+ int num_parameters = expected_num_cols;
+
+ double cost = -1;
+
+ Vector residuals(num_residuals);
+ residuals.setConstant(-2000);
+
+ Vector gradient(num_parameters);
+ gradient.setConstant(-3000);
+
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+ ASSERT_EQ(expected_num_rows, evaluator->NumResiduals());
+ ASSERT_EQ(expected_num_cols, evaluator->NumEffectiveParameters());
+ ASSERT_EQ(expected_num_rows, jacobian->num_rows());
+ ASSERT_EQ(expected_num_cols, jacobian->num_cols());
+
+ vector<double> state(evaluator->NumParameters());
+
+ ASSERT_TRUE(evaluator->Evaluate(
+ &state[0],
+ &cost,
+ expected_residuals != NULL ? &residuals[0] : NULL,
+ expected_gradient != NULL ? &gradient[0] : NULL,
+ expected_jacobian != NULL ? jacobian.get() : NULL));
+
+ Matrix actual_jacobian;
+ if (expected_jacobian != NULL) {
+ jacobian->ToDenseMatrix(&actual_jacobian);
+ }
+
+ CompareEvaluations(expected_num_rows,
+ expected_num_cols,
+ expected_cost,
+ expected_residuals,
+ expected_gradient,
+ expected_jacobian,
+ cost,
+ &residuals[0],
+ &gradient[0],
+ actual_jacobian.data());
+ }
+
+ // Try all combinations of parameters for the evaluator.
+ void CheckAllEvaluationCombinations(const ExpectedEvaluation &expected) {
+ for (int i = 0; i < 8; ++i) {
+ EvaluateAndCompare(&problem,
+ expected.num_rows,
+ expected.num_cols,
+ expected.cost,
+ (i & 1) ? expected.residuals : NULL,
+ (i & 2) ? expected.gradient : NULL,
+ (i & 4) ? expected.jacobian : NULL);
+ }
+ }
+
+ // The values are ignored completely by the cost function.
+ double x[2];
+ double y[3];
+ double z[4];
+
+ ProblemImpl problem;
+};
+
+void SetSparseMatrixConstant(SparseMatrix* sparse_matrix, double value) {
+ VectorRef(sparse_matrix->mutable_values(),
+ sparse_matrix->num_nonzeros()).setConstant(value);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblem) {
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+ NULL,
+ x, y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 9,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 6.0, 12.0, // x
+ 6.0, 12.0, 18.0, // y
+ 6.0, 12.0, 18.0, 24.0, // z
+ },
+ // Jacobian
+ // x y z
+ { 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithPermutedParameters) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // Then use a cost function which is similar to the others, but swap around
+ // the ordering of the parameters to the cost function. This shouldn't affect
+ // the jacobian evaluation, but requires explicit handling in the evaluators.
+ // At one point the compressed row evaluator had a bug that went undetected
+ // for a long time, since by chance most users added parameters to the problem
+ // in the same order that they occurred as parameters to a cost function.
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 4, 3, 2>,
+ NULL,
+ z, y, x);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 9,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 6.0, 12.0, // x
+ 6.0, 12.0, 18.0, // y
+ 6.0, 12.0, 18.0, 24.0, // z
+ },
+ // Jacobian
+ // x y z
+ { 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithNuisanceParameters) {
+ // These parameters are not used.
+ double a[2];
+ double b[1];
+ double c[1];
+ double d[3];
+
+ // Add the parameters in a mixed order so the Jacobian is "checkered" with the
+ // values from the other parameters.
+ problem.AddParameterBlock(a, 2);
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(b, 1);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(c, 1);
+ problem.AddParameterBlock(z, 4);
+ problem.AddParameterBlock(d, 3);
+
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+ NULL,
+ x, y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 16,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 0.0, 0.0, // a
+ 6.0, 12.0, // x
+ 0.0, // b
+ 6.0, 12.0, 18.0, // y
+ 0.0, // c
+ 6.0, 12.0, 18.0, 24.0, // z
+ 0.0, 0.0, 0.0, // d
+ },
+ // Jacobian
+ // a x b y c z d
+ { 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0,
+ 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0,
+ 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblem) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 9,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 33.0, 66.0, 99.0, // y
+ 42.0, 84.0, 126.0, 168.0 // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ 1, 2, 1, 2, 3, 0, 0, 0, 0,
+ 1, 2, 1, 2, 3, 0, 0, 0, 0,
+
+ /* g(x, z) */ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+
+ /* h(y, z) */ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualsWithLocalParameterizations) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+
+ // Fix y's first dimension.
+ vector<int> y_fixed;
+ y_fixed.push_back(0);
+ problem.AddParameterBlock(y, 3, new SubsetParameterization(3, y_fixed));
+
+ // Fix z's second dimension.
+ vector<int> z_fixed;
+ z_fixed.push_back(1);
+ problem.AddParameterBlock(z, 4, new SubsetParameterization(4, z_fixed));
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 7,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 66.0, 99.0, // y
+ 42.0, 126.0, 168.0 // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ 1, 2, 2, 3, 0, 0, 0,
+ 1, 2, 2, 3, 0, 0, 0,
+
+ /* g(x, z) */ 2, 4, 0, 0, 2, 6, 8,
+ 2, 4, 0, 0, 2, 6, 8,
+ 2, 4, 0, 0, 2, 6, 8,
+
+ /* h(y, z) */ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblemWithSomeConstantParameters) {
+ // The values are ignored completely by the cost function.
+ double x[2];
+ double y[3];
+ double z[4];
+
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ // For this test, "z" is constant.
+ problem.SetParameterBlockConstant(z);
+
+ // Create the reduced program which is missing the fixed "z" variable.
+ // Normally, the preprocessing of the program that happens in solver_impl
+ // takes care of this, but we don't want to invoke the solver here.
+ Program reduced_program;
+ vector<ParameterBlock*>* parameter_blocks =
+ problem.mutable_program()->mutable_parameter_blocks();
+
+ // "z" is the last parameter; save it for later and pop it off temporarily.
+ // Note that "z" will still get read during evaluation, so it cannot be
+ // deleted at this point.
+ ParameterBlock* parameter_block_z = parameter_blocks->back();
+ parameter_blocks->pop_back();
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 5,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 33.0, 66.0, 99.0, // y
+ },
+ // Jacobian
+ // x y
+ { /* f(x, y) */ 1, 2, 1, 2, 3,
+ 1, 2, 1, 2, 3,
+
+ /* g(x, z) */ 2, 4, 0, 0, 0,
+ 2, 4, 0, 0, 0,
+ 2, 4, 0, 0, 0,
+
+ /* h(y, z) */ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+
+ // Restore parameter block z, so it will get freed in a consistent way.
+ parameter_blocks->push_back(parameter_block_z);
+}
+
+TEST_P(EvaluatorTest, EvaluatorAbortsForResidualsThatFailToEvaluate) {
+ // Switch the return value to failure.
+ problem.AddResidualBlock(
+ new ParameterIgnoringCostFunction<20, 3, 2, 3, 4, false>, NULL, x, y, z);
+
+ // The values are ignored.
+ double state[9];
+
+ scoped_ptr<Evaluator> evaluator(CreateEvaluator(problem.mutable_program()));
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+ double cost;
+ EXPECT_FALSE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+}
+
+// In the pairs, the first argument is the linear solver type, and the second
+// argument is num_eliminate_blocks. Changing the num_eliminate_blocks only
+// makes sense for the schur-based solvers.
+//
+// Try all values of num_eliminate_blocks that make sense given that in the
+// tests a maximum of 4 parameter blocks are present.
+INSTANTIATE_TEST_CASE_P(
+ LinearSolvers,
+ EvaluatorTest,
+ ::testing::Values(
+ EvaluatorTestOptions(DENSE_QR, 0),
+ EvaluatorTestOptions(DENSE_SCHUR, 0),
+ EvaluatorTestOptions(DENSE_SCHUR, 1),
+ EvaluatorTestOptions(DENSE_SCHUR, 2),
+ EvaluatorTestOptions(DENSE_SCHUR, 3),
+ EvaluatorTestOptions(DENSE_SCHUR, 4),
+ EvaluatorTestOptions(SPARSE_SCHUR, 0),
+ EvaluatorTestOptions(SPARSE_SCHUR, 1),
+ EvaluatorTestOptions(SPARSE_SCHUR, 2),
+ EvaluatorTestOptions(SPARSE_SCHUR, 3),
+ EvaluatorTestOptions(SPARSE_SCHUR, 4),
+ EvaluatorTestOptions(ITERATIVE_SCHUR, 0),
+ EvaluatorTestOptions(ITERATIVE_SCHUR, 1),
+ EvaluatorTestOptions(ITERATIVE_SCHUR, 2),
+ EvaluatorTestOptions(ITERATIVE_SCHUR, 3),
+ EvaluatorTestOptions(ITERATIVE_SCHUR, 4),
+ EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, false),
+ EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, true)));
+
+// Simple cost function used to check if the evaluator is sensitive to
+// state changes.
+class ParameterSensitiveCostFunction : public SizedCostFunction<2, 2> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ double x1 = parameters[0][0];
+ double x2 = parameters[0][1];
+ residuals[0] = x1 * x1;
+ residuals[1] = x2 * x2;
+
+ if (jacobians != NULL) {
+ double* jacobian = jacobians[0];
+ if (jacobian != NULL) {
+ jacobian[0] = 2.0 * x1;
+ jacobian[1] = 0.0;
+ jacobian[2] = 0.0;
+ jacobian[3] = 2.0 * x2;
+ }
+ }
+ return true;
+ }
+};
+
+TEST(Evaluator, EvaluatorRespectsParameterChanges) {
+ ProblemImpl problem;
+
+ double x[2];
+ x[0] = 1.0;
+ x[1] = 1.0;
+
+ problem.AddResidualBlock(new ParameterSensitiveCostFunction(), NULL, x);
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ Evaluator::Options options;
+ options.linear_solver_type = DENSE_QR;
+ options.num_eliminate_blocks = 0;
+ string error;
+ scoped_ptr<Evaluator> evaluator(Evaluator::Create(options, program, &error));
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+ ASSERT_EQ(2, jacobian->num_rows());
+ ASSERT_EQ(2, jacobian->num_cols());
+
+ double state[2];
+ state[0] = 2.0;
+ state[1] = 3.0;
+
+ // The original state of a residual block comes from the user's
+ // state. So the original state is 1.0, 1.0, and the only way we get
+ // the 2.0, 3.0 results in the following tests is if it respects the
+ // values in the state vector.
+
+ // Cost only; no residuals and no jacobian.
+ {
+ double cost = -1;
+ ASSERT_TRUE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+ EXPECT_EQ(48.5, cost);
+ }
+
+ // Cost and residuals, no jacobian.
+ {
+ double cost = -1;
+ double residuals[2] = { -2, -2 };
+ ASSERT_TRUE(evaluator->Evaluate(state, &cost, residuals, NULL, NULL));
+ EXPECT_EQ(48.5, cost);
+ EXPECT_EQ(4, residuals[0]);
+ EXPECT_EQ(9, residuals[1]);
+ }
+
+ // Cost, residuals, and jacobian.
+ {
+ double cost = -1;
+ double residuals[2] = { -2, -2};
+ SetSparseMatrixConstant(jacobian.get(), -1);
+ ASSERT_TRUE(evaluator->Evaluate(state,
+ &cost,
+ residuals,
+ NULL,
+ jacobian.get()));
+ EXPECT_EQ(48.5, cost);
+ EXPECT_EQ(4, residuals[0]);
+ EXPECT_EQ(9, residuals[1]);
+ Matrix actual_jacobian;
+ jacobian->ToDenseMatrix(&actual_jacobian);
+
+ Matrix expected_jacobian(2, 2);
+ expected_jacobian
+ << 2 * state[0], 0,
+ 0, 2 * state[1];
+
+ EXPECT_TRUE((actual_jacobian.array() == expected_jacobian.array()).all())
+ << "Actual:\n" << actual_jacobian
+ << "\nExpected:\n" << expected_jacobian;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareEvaluations(int expected_num_rows,
+ int expected_num_cols,
+ double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian,
+ const double actual_cost,
+ const double* actual_residuals,
+ const double* actual_gradient,
+ const double* actual_jacobian) {
+ EXPECT_EQ(expected_cost, actual_cost);
+
+ if (expected_residuals != NULL) {
+ ConstVectorRef expected_residuals_vector(expected_residuals,
+ expected_num_rows);
+ ConstVectorRef actual_residuals_vector(actual_residuals,
+ expected_num_rows);
+ EXPECT_TRUE((actual_residuals_vector.array() ==
+ expected_residuals_vector.array()).all())
+ << "Actual:\n" << actual_residuals_vector
+ << "\nExpected:\n" << expected_residuals_vector;
+ }
+
+ if (expected_gradient != NULL) {
+ ConstVectorRef expected_gradient_vector(expected_gradient,
+ expected_num_cols);
+ ConstVectorRef actual_gradient_vector(actual_gradient,
+ expected_num_cols);
+
+ EXPECT_TRUE((actual_gradient_vector.array() ==
+ expected_gradient_vector.array()).all())
+ << "Actual:\n" << actual_gradient_vector.transpose()
+ << "\nExpected:\n" << expected_gradient_vector.transpose();
+ }
+
+ if (expected_jacobian != NULL) {
+ ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
+ expected_num_rows,
+ expected_num_cols);
+ ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
+ expected_num_rows,
+ expected_num_cols);
+ EXPECT_TRUE((actual_jacobian_matrix.array() ==
+ expected_jacobian_matrix.array()).all())
+ << "Actual:\n" << actual_jacobian_matrix
+ << "\nExpected:\n" << expected_jacobian_matrix;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Test utils used for evaluation testing.
+
+namespace ceres {
+namespace internal {
+
+// Fixed sized struct for storing an evaluation.
+struct ExpectedEvaluation {
+ int num_rows;
+ int num_cols;
+ double cost;
+ const double residuals[50];
+ const double gradient[50];
+ const double jacobian[200];
+};
+
+// Compare two evaluations.
+void CompareEvaluations(int expected_num_rows,
+ int expected_num_cols,
+ double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian,
+ const double actual_cost,
+ const double* actual_residuals,
+ const double* actual_gradient,
+ const double* actual_jacobian);
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_EXECUTION_SUMMARY_H_
+#define CERES_INTERNAL_EXECUTION_SUMMARY_H_
+
+#include <map>
+#include <string>
+
+#include "ceres/internal/port.h"
+#include "ceres/wall_time.h"
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+// Struct used by various objects to report statistics and other
+// information about their execution. e.g., ExecutionSummary::times
+// can be used for reporting times associated with various activities.
+class ExecutionSummary {
+ public:
+ void IncrementTimeBy(const std::string& name, const double value) {
+ CeresMutexLock l(×_mutex_);
+ times_[name] += value;
+ }
+
+ void IncrementCall(const std::string& name) {
+ CeresMutexLock l(&calls_mutex_);
+ calls_[name] += 1;
+ }
+
+ const std::map<std::string, double>& times() const { return times_; }
+ const std::map<std::string, int>& calls() const { return calls_; }
+
+ private:
+ Mutex times_mutex_;
+ std::map<std::string, double> times_;
+
+ Mutex calls_mutex_;
+ std::map<std::string, int> calls_;
+};
+
+class ScopedExecutionTimer {
+ public:
+ ScopedExecutionTimer(const std::string& name, ExecutionSummary* summary)
+ : start_time_(WallTimeInSeconds()),
+ name_(name),
+ summary_(summary) {}
+
+ ~ScopedExecutionTimer() {
+ summary_->IncrementTimeBy(name_, WallTimeInSeconds() - start_time_);
+ }
+
+ private:
+ const double start_time_;
+ const std::string name_;
+ ExecutionSummary* summary_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EXECUTION_SUMMARY_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Really simple file IO.
+
+#include "ceres/file.h"
+
+#include <cstdio>
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void WriteStringToFileOrDie(const string &data, const string &filename) {
+ FILE* file_descriptor = fopen(filename.c_str(), "wb");
+ if (!file_descriptor) {
+ LOG(FATAL) << "Couldn't write to file: " << filename;
+ }
+ fwrite(data.c_str(), 1, data.size(), file_descriptor);
+ fclose(file_descriptor);
+}
+
+void ReadFileToStringOrDie(const string &filename, string *data) {
+ FILE* file_descriptor = fopen(filename.c_str(), "r");
+
+ if (!file_descriptor) {
+ LOG(FATAL) << "Couldn't read file: " << filename;
+ }
+
+ // Resize the input buffer appropriately.
+ fseek(file_descriptor, 0L, SEEK_END);
+ int num_bytes = ftell(file_descriptor);
+ data->resize(num_bytes);
+
+ // Read the data.
+ fseek(file_descriptor, 0L, SEEK_SET);
+ int num_read = fread(&((*data)[0]),
+ sizeof((*data)[0]),
+ num_bytes,
+ file_descriptor);
+ if (num_read != num_bytes) {
+ LOG(FATAL) << "Couldn't read all of " << filename
+ << "expected bytes: " << num_bytes * sizeof((*data)[0])
+ << "actual bytes: " << num_read;
+ }
+ fclose(file_descriptor);
+}
+
+string JoinPath(const string& dirname, const string& basename) {
+#ifdef _WIN32
+ static const char separator = '\\';
+#else
+ static const char separator = '/';
+#endif // _WIN32
+
+ if ((!basename.empty() && basename[0] == separator) || dirname.empty()) {
+ return basename;
+ } else if (dirname[dirname.size() - 1] == separator) {
+ return dirname + basename;
+ } else {
+ return dirname + string(&separator, 1) + basename;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Simple file IO support. This is a portability shim.
+
+#ifndef CERES_INTERNAL_FILE_H_
+#define CERES_INTERNAL_FILE_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+void WriteStringToFileOrDie(const std::string &data,
+ const std::string &filename);
+void ReadFileToStringOrDie(const std::string &filename, std::string *data);
+
+// Join two path components, adding a slash if necessary. If basename is an
+// absolute path then JoinPath ignores dirname and simply returns basename.
+std::string JoinPath(const std::string& dirname, const std::string& basename);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_FILE_H_
--- /dev/null
+// 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/function_sample.h"
+#include "ceres/stringprintf.h"
+
+namespace ceres {
+namespace internal {
+
+FunctionSample::FunctionSample()
+ : x(0.0),
+ vector_x_is_valid(false),
+ value(0.0),
+ value_is_valid(false),
+ vector_gradient_is_valid(false),
+ gradient(0.0),
+ gradient_is_valid(false) {}
+
+FunctionSample::FunctionSample(const double x, const double value)
+ : x(x),
+ vector_x_is_valid(false),
+ value(value),
+ value_is_valid(true),
+ vector_gradient_is_valid(false),
+ gradient(0.0),
+ gradient_is_valid(false) {}
+
+FunctionSample::FunctionSample(const double x,
+ const double value,
+ const double gradient)
+ : x(x),
+ vector_x_is_valid(false),
+ value(value),
+ value_is_valid(true),
+ vector_gradient_is_valid(false),
+ gradient(gradient),
+ gradient_is_valid(true) {}
+
+std::string FunctionSample::ToDebugString() const {
+ return StringPrintf("[x: %.8e, value: %.8e, gradient: %.8e, "
+ "value_is_valid: %d, gradient_is_valid: %d]",
+ x, value, gradient, value_is_valid, gradient_is_valid);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+
+#ifndef CERES_INTERNAL_FUNCTION_SAMPLE_H_
+#define CERES_INTERNAL_FUNCTION_SAMPLE_H_
+
+#include <string>
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// FunctionSample is used by the line search routines to store and
+// communicate the value and (optionally) the gradient of the function
+// being minimized.
+//
+// Since line search as the name implies happens along a certain
+// line/direction. FunctionSample contains the information in two
+// ways. Information in the ambient space and information along the
+// direction of search.
+struct FunctionSample {
+ FunctionSample();
+ FunctionSample(double x, double value);
+ FunctionSample(double x, double value, double gradient);
+
+ std::string ToDebugString() const;
+
+ // x is the location of the sample along the search direction.
+ double x;
+
+ // Let p be a point and d be the search direction then
+ //
+ // vector_x = p + x * d;
+ Vector vector_x;
+ // True if vector_x has been assigned a valid value.
+ bool vector_x_is_valid;
+
+ // value = f(vector_x)
+ double value;
+ // True of the evaluation was successful and value is a finite
+ // number.
+ bool value_is_valid;
+
+ // vector_gradient = Df(vector_position);
+ //
+ // D is the derivative operator.
+ Vector vector_gradient;
+ // True if the vector gradient was evaluated and the evaluation was
+ // successful (the value is a finite number).
+ bool vector_gradient_is_valid;
+
+ // gradient = d.transpose() * vector_gradient
+ //
+ // where d is the search direction.
+ double gradient;
+ // True if the evaluation of the gradient was sucessful and the
+ // value is a finite number.
+ bool gradient_is_valid;
+};
+
+
+
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_FUNCTION_SAMPLE_H_
--- /dev/null
+# 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)
+#
+# Script for explicitly generating template specialization of the
+# SchurEliminator class. It is a rather large class
+# and the number of explicit instantiations is also large. Explicitly
+# generating these instantiations in separate .cc files breaks the
+# compilation into separate compilation unit rather than one large cc
+# file which takes 2+GB of RAM to compile.
+#
+# This script creates three sets of files.
+#
+# 1. schur_eliminator_x_x_x.cc and partitioned_matrix_view_x_x_x.cc
+# where, the x indicates the template parameters and
+#
+# 2. schur_eliminator.cc & partitioned_matrix_view.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# 3. schur_templates.cc
+#
+# that contains a function which can be queried to determine what
+# template specializations are available.
+#
+# The following list of tuples, specializations indicates the set of
+# specializations that is generated.
+SPECIALIZATIONS = [(2, 2, 2),
+ (2, 2, 3),
+ (2, 2, 4),
+ (2, 2, "Eigen::Dynamic"),
+ (2, 3, 3),
+ (2, 3, 4),
+ (2, 3, 6),
+ (2, 3, 9),
+ (2, 3, "Eigen::Dynamic"),
+ (2, 4, 3),
+ (2, 4, 4),
+ (2, 4, 8),
+ (2, 4, 9),
+ (2, 4, "Eigen::Dynamic"),
+ (2, "Eigen::Dynamic", "Eigen::Dynamic"),
+ (4, 4, 2),
+ (4, 4, 3),
+ (4, 4, 4),
+ (4, 4, "Eigen::Dynamic")]
+
+import schur_eliminator_template
+import partitioned_matrix_view_template
+import os
+import glob
+
+def SuffixForSize(size):
+ if size == "Eigen::Dynamic":
+ return "d"
+ return str(size)
+
+def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
+ return "_".join([prefix] + map(SuffixForSize, (row_block_size,
+ e_block_size,
+ f_block_size)))
+
+def GenerateFactoryConditional(row_block_size, e_block_size, f_block_size):
+ conditionals = []
+ if (row_block_size != "Eigen::Dynamic"):
+ conditionals.append("(options.row_block_size == %s)" % row_block_size)
+ if (e_block_size != "Eigen::Dynamic"):
+ conditionals.append("(options.e_block_size == %s)" % e_block_size)
+ if (f_block_size != "Eigen::Dynamic"):
+ conditionals.append("(options.f_block_size == %s)" % f_block_size)
+ if (len(conditionals) == 0):
+ return "%s"
+
+ if (len(conditionals) == 1):
+ return " if " + conditionals[0] + "{\n %s\n }\n"
+
+ return " if (" + " &&\n ".join(conditionals) + ") {\n %s\n }\n"
+
+def Specialize(name, data):
+ """
+ Generate specialization code and the conditionals to instantiate it.
+ """
+
+ # Specialization files
+ for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+ output = SpecializationFilename("generated/" + name,
+ row_block_size,
+ e_block_size,
+ f_block_size) + ".cc"
+
+ with open(output, "w") as f:
+ f.write(data["HEADER"])
+ f.write(data["SPECIALIZATION_FILE"] %
+ (row_block_size, e_block_size, f_block_size))
+
+ # Generate the _d_d_d specialization.
+ output = SpecializationFilename("generated/" + name,
+ "Eigen::Dynamic",
+ "Eigen::Dynamic",
+ "Eigen::Dynamic") + ".cc"
+ with open(output, "w") as f:
+ f.write(data["HEADER"])
+ f.write(data["DYNAMIC_FILE"] %
+ ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic"))
+
+ # Factory
+ with open(name + ".cc", "w") as f:
+ f.write(data["HEADER"])
+ f.write(data["FACTORY_FILE_HEADER"])
+ for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+ factory_conditional = GenerateFactoryConditional(
+ row_block_size, e_block_size, f_block_size)
+ factory = data["FACTORY"] % (row_block_size, e_block_size, f_block_size)
+ f.write(factory_conditional % factory);
+ f.write(data["FACTORY_FOOTER"])
+
+QUERY_HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// What template specializations are available.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+QUERY_FILE_HEADER = """
+#include "ceres/internal/eigen.h"
+#include "ceres/schur_templates.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+ int* e_block_size,
+ int* f_block_size) {
+ LinearSolver::Options options;
+ options.row_block_size = *row_block_size;
+ options.e_block_size = *e_block_size;
+ options.f_block_size = *f_block_size;
+ *row_block_size = Eigen::Dynamic;
+ *e_block_size = Eigen::Dynamic;
+ *f_block_size = Eigen::Dynamic;
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+QUERY_FOOTER = """
+#endif
+ return;
+}
+
+} // namespace internal
+} // namespace ceres
+"""
+
+QUERY_ACTION = """ *row_block_size = %s;
+ *e_block_size = %s;
+ *f_block_size = %s;
+ return;"""
+
+def GenerateQueryFile():
+ """
+ Generate file that allows querying for available template specializations.
+ """
+
+ with open("schur_templates.cc", "w") as f:
+ f.write(QUERY_HEADER)
+ f.write(QUERY_FILE_HEADER)
+ for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+ factory_conditional = GenerateFactoryConditional(
+ row_block_size, e_block_size, f_block_size)
+ action = QUERY_ACTION % (row_block_size, e_block_size, f_block_size)
+ f.write(factory_conditional % action)
+ f.write(QUERY_FOOTER)
+
+
+if __name__ == "__main__":
+ for f in glob.glob("generated/*"):
+ os.remove(f)
+
+ Specialize("schur_eliminator",
+ schur_eliminator_template.__dict__)
+ Specialize("partitioned_matrix_view",
+ partitioned_matrix_view_template.__dict__)
+ GenerateQueryFile()
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 2>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 6>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 9>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 8>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 9>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 2>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 2>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 6>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 9>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 8>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 9>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 2>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This is the main header file a user should include.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_H_
+
+// This file implements the following syntax:
+//
+// ON_CALL(mock_object.Method(...))
+// .With(...) ?
+// .WillByDefault(...);
+//
+// where With() is optional and WillByDefault() must appear exactly
+// once.
+//
+// EXPECT_CALL(mock_object.Method(...))
+// .With(...) ?
+// .Times(...) ?
+// .InSequence(...) *
+// .WillOnce(...) *
+// .WillRepeatedly(...) ?
+// .RetiresOnSaturation() ? ;
+//
+// where all clauses are optional and WillOnce() can be repeated.
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif
+
+#include <algorithm>
+#include <string>
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock. They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+#include <stdio.h>
+#include <ostream> // NOLINT
+#include <string>
+
+// This file was GENERATED by command:
+// pump.py gmock-generated-internal-utils.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file contains template meta-programming utility classes needed
+// for implementing Google Mock.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: vadimb@google.com (Vadim Berman)
+//
+// Low-level types and utilities for porting Google Mock to various
+// platforms. All macros ending with _ and symbols defined in an
+// internal namespace are subject to change without notice. Code
+// outside Google Mock MUST NOT USE THEM DIRECTLY. Macros that don't
+// end with _ are part of Google Mock's public API and can be used by
+// code outside Google Mock.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <iostream>
+
+// Most of the utilities needed for porting Google Mock are also
+// required for Google Test and are defined in gtest-port.h.
+//
+// Note to maintainers: to reduce code duplication, prefer adding
+// portability utilities to Google Test's gtest-port.h instead of
+// here, as Google Mock depends on Google Test. Only add a utility
+// here if it's truly specific to Google Mock.
+#include "gtest/gtest.h"
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Injection point for custom user configurations.
+// The following macros can be defined:
+//
+// Flag related macros:
+// GMOCK_DECLARE_bool_(name)
+// GMOCK_DECLARE_int32_(name)
+// GMOCK_DECLARE_string_(name)
+// GMOCK_DEFINE_bool_(name, default_val, doc)
+// GMOCK_DEFINE_int32_(name, default_val, doc)
+// GMOCK_DEFINE_string_(name, default_val, doc)
+//
+// ** Custom implementation starts here **
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+
+// To avoid conditional compilation everywhere, we make it
+// gmock-port.h's responsibility to #include the header implementing
+// tr1/tuple. gmock-port.h does this via gtest-port.h, which is
+// guaranteed to pull in the tuple header.
+
+// For MS Visual C++, check the compiler version. At least VS 2003 is
+// required to compile Google Mock.
+#if defined(_MSC_VER) && _MSC_VER < 1310
+# error "At least Visual C++ 2003 (7.1) is required to compile Google Mock."
+#endif
+
+// Macro for referencing flags. This is public as we want the user to
+// use this syntax to reference Google Mock flags.
+#define GMOCK_FLAG(name) FLAGS_gmock_##name
+
+#if !defined(GMOCK_DECLARE_bool_)
+
+// Macros for declaring flags.
+#define GMOCK_DECLARE_bool_(name) extern GTEST_API_ bool GMOCK_FLAG(name)
+#define GMOCK_DECLARE_int32_(name) \
+ extern GTEST_API_ ::testing::internal::Int32 GMOCK_FLAG(name)
+#define GMOCK_DECLARE_string_(name) \
+ extern GTEST_API_ ::std::string GMOCK_FLAG(name)
+
+// Macros for defining flags.
+#define GMOCK_DEFINE_bool_(name, default_val, doc) \
+ GTEST_API_ bool GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_int32_(name, default_val, doc) \
+ GTEST_API_ ::testing::internal::Int32 GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_string_(name, default_val, doc) \
+ GTEST_API_ ::std::string GMOCK_FLAG(name) = (default_val)
+
+#endif // !defined(GMOCK_DECLARE_bool_)
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+namespace testing {
+
+template <typename T>
+class Matcher;
+
+namespace internal {
+
+// An IgnoredValue object can be implicitly constructed from ANY value.
+// This is used in implementing the IgnoreResult(a) action.
+class IgnoredValue {
+ public:
+ // This constructor template allows any value to be implicitly
+ // converted to IgnoredValue. The object has no data member and
+ // doesn't try to remember anything about the argument. We
+ // deliberately omit the 'explicit' keyword in order to allow the
+ // conversion to be implicit.
+ template <typename T>
+ IgnoredValue(const T& /* ignored */) {} // NOLINT(runtime/explicit)
+};
+
+// MatcherTuple<T>::type is a tuple type where each field is a Matcher
+// for the corresponding field in tuple type T.
+template <typename Tuple>
+struct MatcherTuple;
+
+template <>
+struct MatcherTuple< ::testing::tuple<> > {
+ typedef ::testing::tuple< > type;
+};
+
+template <typename A1>
+struct MatcherTuple< ::testing::tuple<A1> > {
+ typedef ::testing::tuple<Matcher<A1> > type;
+};
+
+template <typename A1, typename A2>
+struct MatcherTuple< ::testing::tuple<A1, A2> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2> > type;
+};
+
+template <typename A1, typename A2, typename A3>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>,
+ Matcher<A4> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> > {
+ typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9>,
+ Matcher<A10> > type;
+};
+
+// Template struct Function<F>, where F must be a function type, contains
+// the following typedefs:
+//
+// Result: the function's return type.
+// ArgumentN: the type of the N-th argument, where N starts with 1.
+// ArgumentTuple: the tuple type consisting of all parameters of F.
+// ArgumentMatcherTuple: the tuple type consisting of Matchers for all
+// parameters of F.
+// MakeResultVoid: the function type obtained by substituting void
+// for the return type of F.
+// MakeResultIgnoredValue:
+// the function type obtained by substituting Something
+// for the return type of F.
+template <typename F>
+struct Function;
+
+template <typename R>
+struct Function<R()> {
+ typedef R Result;
+ typedef ::testing::tuple<> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid();
+ typedef IgnoredValue MakeResultIgnoredValue();
+};
+
+template <typename R, typename A1>
+struct Function<R(A1)>
+ : Function<R()> {
+ typedef A1 Argument1;
+ typedef ::testing::tuple<A1> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1);
+ typedef IgnoredValue MakeResultIgnoredValue(A1);
+};
+
+template <typename R, typename A1, typename A2>
+struct Function<R(A1, A2)>
+ : Function<R(A1)> {
+ typedef A2 Argument2;
+ typedef ::testing::tuple<A1, A2> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2);
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+struct Function<R(A1, A2, A3)>
+ : Function<R(A1, A2)> {
+ typedef A3 Argument3;
+ typedef ::testing::tuple<A1, A2, A3> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+struct Function<R(A1, A2, A3, A4)>
+ : Function<R(A1, A2, A3)> {
+ typedef A4 Argument4;
+ typedef ::testing::tuple<A1, A2, A3, A4> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+struct Function<R(A1, A2, A3, A4, A5)>
+ : Function<R(A1, A2, A3, A4)> {
+ typedef A5 Argument5;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+struct Function<R(A1, A2, A3, A4, A5, A6)>
+ : Function<R(A1, A2, A3, A4, A5)> {
+ typedef A6 Argument6;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5, A6> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7)>
+ : Function<R(A1, A2, A3, A4, A5, A6)> {
+ typedef A7 Argument7;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7)> {
+ typedef A8 Argument8;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+ typedef A9 Argument9;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+ A9);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ typedef A10 Argument10;
+ typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+ A9, A10);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words. Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word. For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+GTEST_API_ string ConvertIdentifierNameToWords(const char* id_name);
+
+// PointeeOf<Pointer>::type is the type of a value pointed to by a
+// Pointer, which can be either a smart pointer or a raw pointer. The
+// following default implementation is for the case where Pointer is a
+// smart pointer.
+template <typename Pointer>
+struct PointeeOf {
+ // Smart pointer classes define type element_type as the type of
+ // their pointees.
+ typedef typename Pointer::element_type type;
+};
+// This specialization is for the raw pointer case.
+template <typename T>
+struct PointeeOf<T*> { typedef T type; }; // NOLINT
+
+// GetRawPointer(p) returns the raw pointer underlying p when p is a
+// smart pointer, or returns p itself when p is already a raw pointer.
+// The following default implementation is for the smart pointer case.
+template <typename Pointer>
+inline const typename Pointer::element_type* GetRawPointer(const Pointer& p) {
+ return p.get();
+}
+// This overloaded version is for the raw pointer case.
+template <typename Element>
+inline Element* GetRawPointer(Element* p) { return p; }
+
+// This comparator allows linked_ptr to be stored in sets.
+template <typename T>
+struct LinkedPtrLessThan {
+ bool operator()(const ::testing::internal::linked_ptr<T>& lhs,
+ const ::testing::internal::linked_ptr<T>& rhs) const {
+ return lhs.get() < rhs.get();
+ }
+};
+
+// Symbian compilation can be done with wchar_t being either a native
+// type or a typedef. Using Google Mock with OpenC without wchar_t
+// should require the definition of _STLP_NO_WCHAR_T.
+//
+// MSVC treats wchar_t as a native type usually, but treats it as the
+// same as unsigned short when the compiler option /Zc:wchar_t- is
+// specified. It defines _NATIVE_WCHAR_T_DEFINED symbol when wchar_t
+// is a native type.
+#if (GTEST_OS_SYMBIAN && defined(_STLP_NO_WCHAR_T)) || \
+ (defined(_MSC_VER) && !defined(_NATIVE_WCHAR_T_DEFINED))
+// wchar_t is a typedef.
+#else
+# define GMOCK_WCHAR_T_IS_NATIVE_ 1
+#endif
+
+// signed wchar_t and unsigned wchar_t are NOT in the C++ standard.
+// Using them is a bad practice and not portable. So DON'T use them.
+//
+// Still, Google Mock is designed to work even if the user uses signed
+// wchar_t or unsigned wchar_t (obviously, assuming the compiler
+// supports them).
+//
+// To gcc,
+// wchar_t == signed wchar_t != unsigned wchar_t == unsigned int
+#ifdef __GNUC__
+// signed/unsigned wchar_t are valid types.
+# define GMOCK_HAS_SIGNED_WCHAR_T_ 1
+#endif
+
+// In what follows, we use the term "kind" to indicate whether a type
+// is bool, an integer type (excluding bool), a floating-point type,
+// or none of them. This categorization is useful for determining
+// when a matcher argument type can be safely converted to another
+// type in the implementation of SafeMatcherCast.
+enum TypeKind {
+ kBool, kInteger, kFloatingPoint, kOther
+};
+
+// KindOf<T>::value is the kind of type T.
+template <typename T> struct KindOf {
+ enum { value = kOther }; // The default kind.
+};
+
+// This macro declares that the kind of 'type' is 'kind'.
+#define GMOCK_DECLARE_KIND_(type, kind) \
+ template <> struct KindOf<type> { enum { value = kind }; }
+
+GMOCK_DECLARE_KIND_(bool, kBool);
+
+// All standard integer types.
+GMOCK_DECLARE_KIND_(char, kInteger);
+GMOCK_DECLARE_KIND_(signed char, kInteger);
+GMOCK_DECLARE_KIND_(unsigned char, kInteger);
+GMOCK_DECLARE_KIND_(short, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(unsigned short, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(int, kInteger);
+GMOCK_DECLARE_KIND_(unsigned int, kInteger);
+GMOCK_DECLARE_KIND_(long, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(unsigned long, kInteger); // NOLINT
+
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DECLARE_KIND_(wchar_t, kInteger);
+#endif
+
+// Non-standard integer types.
+GMOCK_DECLARE_KIND_(Int64, kInteger);
+GMOCK_DECLARE_KIND_(UInt64, kInteger);
+
+// All standard floating-point types.
+GMOCK_DECLARE_KIND_(float, kFloatingPoint);
+GMOCK_DECLARE_KIND_(double, kFloatingPoint);
+GMOCK_DECLARE_KIND_(long double, kFloatingPoint);
+
+#undef GMOCK_DECLARE_KIND_
+
+// Evaluates to the kind of 'type'.
+#define GMOCK_KIND_OF_(type) \
+ static_cast< ::testing::internal::TypeKind>( \
+ ::testing::internal::KindOf<type>::value)
+
+// Evaluates to true iff integer type T is signed.
+#define GMOCK_IS_SIGNED_(T) (static_cast<T>(-1) < 0)
+
+// LosslessArithmeticConvertibleImpl<kFromKind, From, kToKind, To>::value
+// is true iff arithmetic type From can be losslessly converted to
+// arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types, kFromKind is the kind of
+// From, and kToKind is the kind of To; the value is
+// implementation-defined when the above pre-condition is violated.
+template <TypeKind kFromKind, typename From, TypeKind kToKind, typename To>
+struct LosslessArithmeticConvertibleImpl : public false_type {};
+
+// Converting bool to bool is lossless.
+template <>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kBool, bool>
+ : public true_type {}; // NOLINT
+
+// Converting bool to any integer type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kInteger, To>
+ : public true_type {}; // NOLINT
+
+// Converting bool to any floating-point type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kFloatingPoint, To>
+ : public true_type {}; // NOLINT
+
+// Converting an integer to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kBool, bool>
+ : public false_type {}; // NOLINT
+
+// Converting an integer to another non-bool integer is lossless iff
+// the target type's range encloses the source type's range.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kInteger, To>
+ : public bool_constant<
+ // When converting from a smaller size to a larger size, we are
+ // fine as long as we are not converting from signed to unsigned.
+ ((sizeof(From) < sizeof(To)) &&
+ (!GMOCK_IS_SIGNED_(From) || GMOCK_IS_SIGNED_(To))) ||
+ // When converting between the same size, the signedness must match.
+ ((sizeof(From) == sizeof(To)) &&
+ (GMOCK_IS_SIGNED_(From) == GMOCK_IS_SIGNED_(To)))> {}; // NOLINT
+
+#undef GMOCK_IS_SIGNED_
+
+// Converting an integer to a floating-point type may be lossy, since
+// the format of a floating-point number is implementation-defined.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kFloatingPoint, To>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kBool, bool>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to an integer is lossy.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kInteger, To>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to another floating-point is lossless
+// iff the target type is at least as big as the source type.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<
+ kFloatingPoint, From, kFloatingPoint, To>
+ : public bool_constant<sizeof(From) <= sizeof(To)> {}; // NOLINT
+
+// LosslessArithmeticConvertible<From, To>::value is true iff arithmetic
+// type From can be losslessly converted to arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types; the value is
+// implementation-defined when the above pre-condition is violated.
+template <typename From, typename To>
+struct LosslessArithmeticConvertible
+ : public LosslessArithmeticConvertibleImpl<
+ GMOCK_KIND_OF_(From), From, GMOCK_KIND_OF_(To), To> {}; // NOLINT
+
+// This interface knows how to report a Google Mock failure (either
+// non-fatal or fatal).
+class FailureReporterInterface {
+ public:
+ // The type of a failure (either non-fatal or fatal).
+ enum FailureType {
+ kNonfatal, kFatal
+ };
+
+ virtual ~FailureReporterInterface() {}
+
+ // Reports a failure that occurred at the given source file location.
+ virtual void ReportFailure(FailureType type, const char* file, int line,
+ const string& message) = 0;
+};
+
+// Returns the failure reporter used by Google Mock.
+GTEST_API_ FailureReporterInterface* GetFailureReporter();
+
+// Asserts that condition is true; aborts the process with the given
+// message if condition is false. We cannot use LOG(FATAL) or CHECK()
+// as Google Mock might be used to mock the log sink itself. We
+// inline this function to prevent it from showing up in the stack
+// trace.
+inline void Assert(bool condition, const char* file, int line,
+ const string& msg) {
+ if (!condition) {
+ GetFailureReporter()->ReportFailure(FailureReporterInterface::kFatal,
+ file, line, msg);
+ }
+}
+inline void Assert(bool condition, const char* file, int line) {
+ Assert(condition, file, line, "Assertion failed.");
+}
+
+// Verifies that condition is true; generates a non-fatal failure if
+// condition is false.
+inline void Expect(bool condition, const char* file, int line,
+ const string& msg) {
+ if (!condition) {
+ GetFailureReporter()->ReportFailure(FailureReporterInterface::kNonfatal,
+ file, line, msg);
+ }
+}
+inline void Expect(bool condition, const char* file, int line) {
+ Expect(condition, file, line, "Expectation failed.");
+}
+
+// Severity level of a log.
+enum LogSeverity {
+ kInfo = 0,
+ kWarning = 1
+};
+
+// Valid values for the --gmock_verbose flag.
+
+// All logs (informational and warnings) are printed.
+const char kInfoVerbosity[] = "info";
+// Only warnings are printed.
+const char kWarningVerbosity[] = "warning";
+// No logs are printed.
+const char kErrorVerbosity[] = "error";
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+GTEST_API_ bool LogIsVisible(LogSeverity severity);
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag. If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames. In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+GTEST_API_ void Log(LogSeverity severity,
+ const string& message,
+ int stack_frames_to_skip);
+
+// TODO(wan@google.com): group all type utilities together.
+
+// Type traits.
+
+// is_reference<T>::value is non-zero iff T is a reference type.
+template <typename T> struct is_reference : public false_type {};
+template <typename T> struct is_reference<T&> : public true_type {};
+
+// type_equals<T1, T2>::value is non-zero iff T1 and T2 are the same type.
+template <typename T1, typename T2> struct type_equals : public false_type {};
+template <typename T> struct type_equals<T, T> : public true_type {};
+
+// remove_reference<T>::type removes the reference from type T, if any.
+template <typename T> struct remove_reference { typedef T type; }; // NOLINT
+template <typename T> struct remove_reference<T&> { typedef T type; }; // NOLINT
+
+// DecayArray<T>::type turns an array type U[N] to const U* and preserves
+// other types. Useful for saving a copy of a function argument.
+template <typename T> struct DecayArray { typedef T type; }; // NOLINT
+template <typename T, size_t N> struct DecayArray<T[N]> {
+ typedef const T* type;
+};
+// Sometimes people use arrays whose size is not available at the use site
+// (e.g. extern const char kNamePrefix[]). This specialization covers that
+// case.
+template <typename T> struct DecayArray<T[]> {
+ typedef const T* type;
+};
+
+// Disable MSVC warnings for infinite recursion, since in this case the
+// the recursion is unreachable.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4717)
+#endif
+
+// Invalid<T>() is usable as an expression of type T, but will terminate
+// the program with an assertion failure if actually run. This is useful
+// when a value of type T is needed for compilation, but the statement
+// will not really be executed (or we don't care if the statement
+// crashes).
+template <typename T>
+inline T Invalid() {
+ Assert(false, "", -1, "Internal error: attempt to return invalid value");
+ // This statement is unreachable, and would never terminate even if it
+ // could be reached. It is provided only to placate compiler warnings
+ // about missing return statements.
+ return Invalid<T>();
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+// Given a raw type (i.e. having no top-level reference or const
+// modifier) RawContainer that's either an STL-style container or a
+// native array, class StlContainerView<RawContainer> has the
+// following members:
+//
+// - type is a type that provides an STL-style container view to
+// (i.e. implements the STL container concept for) RawContainer;
+// - const_reference is a type that provides a reference to a const
+// RawContainer;
+// - ConstReference(raw_container) returns a const reference to an STL-style
+// container view to raw_container, which is a RawContainer.
+// - Copy(raw_container) returns an STL-style container view of a
+// copy of raw_container, which is a RawContainer.
+//
+// This generic version is used when RawContainer itself is already an
+// STL-style container.
+template <class RawContainer>
+class StlContainerView {
+ public:
+ typedef RawContainer type;
+ typedef const type& const_reference;
+
+ static const_reference ConstReference(const RawContainer& container) {
+ // Ensures that RawContainer is not a const type.
+ testing::StaticAssertTypeEq<RawContainer,
+ GTEST_REMOVE_CONST_(RawContainer)>();
+ return container;
+ }
+ static type Copy(const RawContainer& container) { return container; }
+};
+
+// This specialization is used when RawContainer is a native array type.
+template <typename Element, size_t N>
+class StlContainerView<Element[N]> {
+ public:
+ typedef GTEST_REMOVE_CONST_(Element) RawElement;
+ typedef internal::NativeArray<RawElement> type;
+ // NativeArray<T> can represent a native array either by value or by
+ // reference (selected by a constructor argument), so 'const type'
+ // can be used to reference a const native array. We cannot
+ // 'typedef const type& const_reference' here, as that would mean
+ // ConstReference() has to return a reference to a local variable.
+ typedef const type const_reference;
+
+ static const_reference ConstReference(const Element (&array)[N]) {
+ // Ensures that Element is not a const type.
+ testing::StaticAssertTypeEq<Element, RawElement>();
+#if GTEST_OS_SYMBIAN
+ // The Nokia Symbian compiler confuses itself in template instantiation
+ // for this call without the cast to Element*:
+ // function call '[testing::internal::NativeArray<char *>].NativeArray(
+ // {lval} const char *[4], long, testing::internal::RelationToSource)'
+ // does not match
+ // 'testing::internal::NativeArray<char *>::NativeArray(
+ // char *const *, unsigned int, testing::internal::RelationToSource)'
+ // (instantiating: 'testing::internal::ContainsMatcherImpl
+ // <const char * (&)[4]>::Matches(const char * (&)[4]) const')
+ // (instantiating: 'testing::internal::StlContainerView<char *[4]>::
+ // ConstReference(const char * (&)[4])')
+ // (and though the N parameter type is mismatched in the above explicit
+ // conversion of it doesn't help - only the conversion of the array).
+ return type(const_cast<Element*>(&array[0]), N,
+ RelationToSourceReference());
+#else
+ return type(array, N, RelationToSourceReference());
+#endif // GTEST_OS_SYMBIAN
+ }
+ static type Copy(const Element (&array)[N]) {
+#if GTEST_OS_SYMBIAN
+ return type(const_cast<Element*>(&array[0]), N, RelationToSourceCopy());
+#else
+ return type(array, N, RelationToSourceCopy());
+#endif // GTEST_OS_SYMBIAN
+ }
+};
+
+// This specialization is used when RawContainer is a native array
+// represented as a (pointer, size) tuple.
+template <typename ElementPointer, typename Size>
+class StlContainerView< ::testing::tuple<ElementPointer, Size> > {
+ public:
+ typedef GTEST_REMOVE_CONST_(
+ typename internal::PointeeOf<ElementPointer>::type) RawElement;
+ typedef internal::NativeArray<RawElement> type;
+ typedef const type const_reference;
+
+ static const_reference ConstReference(
+ const ::testing::tuple<ElementPointer, Size>& array) {
+ return type(get<0>(array), get<1>(array), RelationToSourceReference());
+ }
+ static type Copy(const ::testing::tuple<ElementPointer, Size>& array) {
+ return type(get<0>(array), get<1>(array), RelationToSourceCopy());
+ }
+};
+
+// The following specialization prevents the user from instantiating
+// StlContainer with a reference type.
+template <typename T> class StlContainerView<T&>;
+
+// A type transform to remove constness from the first part of a pair.
+// Pairs like that are used as the value_type of associative containers,
+// and this transform produces a similar but assignable pair.
+template <typename T>
+struct RemoveConstFromKey {
+ typedef T type;
+};
+
+// Partially specialized to remove constness from std::pair<const K, V>.
+template <typename K, typename V>
+struct RemoveConstFromKey<std::pair<const K, V> > {
+ typedef std::pair<K, V> type;
+};
+
+// Mapping from booleans to types. Similar to boost::bool_<kValue> and
+// std::integral_constant<bool, kValue>.
+template <bool kValue>
+struct BooleanConstant {};
+
+} // namespace internal
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+
+#if GTEST_HAS_STD_TYPE_TRAITS_ // Defined by gtest-port.h via gmock-port.h.
+#include <type_traits>
+#endif
+
+namespace testing {
+
+// To implement an action Foo, define:
+// 1. a class FooAction that implements the ActionInterface interface, and
+// 2. a factory function that creates an Action object from a
+// const FooAction*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers. It also eases ownership
+// management as Action objects can now be copied like plain values.
+
+namespace internal {
+
+template <typename F1, typename F2>
+class ActionAdaptor;
+
+// BuiltInDefaultValueGetter<T, true>::Get() returns a
+// default-constructed T value. BuiltInDefaultValueGetter<T,
+// false>::Get() crashes with an error.
+//
+// This primary template is used when kDefaultConstructible is true.
+template <typename T, bool kDefaultConstructible>
+struct BuiltInDefaultValueGetter {
+ static T Get() { return T(); }
+};
+template <typename T>
+struct BuiltInDefaultValueGetter<T, false> {
+ static T Get() {
+ Assert(false, __FILE__, __LINE__,
+ "Default action undefined for the function return type.");
+ return internal::Invalid<T>();
+ // The above statement will never be reached, but is required in
+ // order for this function to compile.
+ }
+};
+
+// BuiltInDefaultValue<T>::Get() returns the "built-in" default value
+// for type T, which is NULL when T is a raw pointer type, 0 when T is
+// a numeric type, false when T is bool, or "" when T is string or
+// std::string. In addition, in C++11 and above, it turns a
+// default-constructed T value if T is default constructible. For any
+// other type T, the built-in default T value is undefined, and the
+// function will abort the process.
+template <typename T>
+class BuiltInDefaultValue {
+ public:
+#if GTEST_HAS_STD_TYPE_TRAITS_
+ // This function returns true iff type T has a built-in default value.
+ static bool Exists() {
+ return ::std::is_default_constructible<T>::value;
+ }
+
+ static T Get() {
+ return BuiltInDefaultValueGetter<
+ T, ::std::is_default_constructible<T>::value>::Get();
+ }
+
+#else // GTEST_HAS_STD_TYPE_TRAITS_
+ // This function returns true iff type T has a built-in default value.
+ static bool Exists() {
+ return false;
+ }
+
+ static T Get() {
+ return BuiltInDefaultValueGetter<T, false>::Get();
+ }
+
+#endif // GTEST_HAS_STD_TYPE_TRAITS_
+};
+
+// This partial specialization says that we use the same built-in
+// default value for T and const T.
+template <typename T>
+class BuiltInDefaultValue<const T> {
+ public:
+ static bool Exists() { return BuiltInDefaultValue<T>::Exists(); }
+ static T Get() { return BuiltInDefaultValue<T>::Get(); }
+};
+
+// This partial specialization defines the default values for pointer
+// types.
+template <typename T>
+class BuiltInDefaultValue<T*> {
+ public:
+ static bool Exists() { return true; }
+ static T* Get() { return NULL; }
+};
+
+// The following specializations define the default values for
+// specific types we care about.
+#define GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(type, value) \
+ template <> \
+ class BuiltInDefaultValue<type> { \
+ public: \
+ static bool Exists() { return true; } \
+ static type Get() { return value; } \
+ }
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(void, ); // NOLINT
+#if GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::string, "");
+#endif // GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::std::string, "");
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(bool, false);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(char, '\0');
+
+// There's no need for a default action for signed wchar_t, as that
+// type is the same as wchar_t for gcc, and invalid for MSVC.
+//
+// There's also no need for a default action for unsigned wchar_t, as
+// that type is the same as unsigned int for gcc, and invalid for
+// MSVC.
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(wchar_t, 0U); // NOLINT
+#endif
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned short, 0U); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed short, 0); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned int, 0U);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed int, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned long, 0UL); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed long, 0L); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(UInt64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(Int64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(float, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(double, 0);
+
+#undef GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_
+
+} // namespace internal
+
+// When an unexpected function call is encountered, Google Mock will
+// let it return a default value if the user has specified one for its
+// return type, or if the return type has a built-in default value;
+// otherwise Google Mock won't know what value to return and will have
+// to abort the process.
+//
+// The DefaultValue<T> class allows a user to specify the
+// default value for a type T that is both copyable and publicly
+// destructible (i.e. anything that can be used as a function return
+// type). The usage is:
+//
+// // Sets the default value for type T to be foo.
+// DefaultValue<T>::Set(foo);
+template <typename T>
+class DefaultValue {
+ public:
+ // Sets the default value for type T; requires T to be
+ // copy-constructable and have a public destructor.
+ static void Set(T x) {
+ delete producer_;
+ producer_ = new FixedValueProducer(x);
+ }
+
+ // Provides a factory function to be called to generate the default value.
+ // This method can be used even if T is only move-constructible, but it is not
+ // limited to that case.
+ typedef T (*FactoryFunction)();
+ static void SetFactory(FactoryFunction factory) {
+ delete producer_;
+ producer_ = new FactoryValueProducer(factory);
+ }
+
+ // Unsets the default value for type T.
+ static void Clear() {
+ delete producer_;
+ producer_ = NULL;
+ }
+
+ // Returns true iff the user has set the default value for type T.
+ static bool IsSet() { return producer_ != NULL; }
+
+ // Returns true if T has a default return value set by the user or there
+ // exists a built-in default value.
+ static bool Exists() {
+ return IsSet() || internal::BuiltInDefaultValue<T>::Exists();
+ }
+
+ // Returns the default value for type T if the user has set one;
+ // otherwise returns the built-in default value. Requires that Exists()
+ // is true, which ensures that the return value is well-defined.
+ static T Get() {
+ return producer_ == NULL ?
+ internal::BuiltInDefaultValue<T>::Get() : producer_->Produce();
+ }
+
+ private:
+ class ValueProducer {
+ public:
+ virtual ~ValueProducer() {}
+ virtual T Produce() = 0;
+ };
+
+ class FixedValueProducer : public ValueProducer {
+ public:
+ explicit FixedValueProducer(T value) : value_(value) {}
+ virtual T Produce() { return value_; }
+
+ private:
+ const T value_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(FixedValueProducer);
+ };
+
+ class FactoryValueProducer : public ValueProducer {
+ public:
+ explicit FactoryValueProducer(FactoryFunction factory)
+ : factory_(factory) {}
+ virtual T Produce() { return factory_(); }
+
+ private:
+ const FactoryFunction factory_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(FactoryValueProducer);
+ };
+
+ static ValueProducer* producer_;
+};
+
+// This partial specialization allows a user to set default values for
+// reference types.
+template <typename T>
+class DefaultValue<T&> {
+ public:
+ // Sets the default value for type T&.
+ static void Set(T& x) { // NOLINT
+ address_ = &x;
+ }
+
+ // Unsets the default value for type T&.
+ static void Clear() {
+ address_ = NULL;
+ }
+
+ // Returns true iff the user has set the default value for type T&.
+ static bool IsSet() { return address_ != NULL; }
+
+ // Returns true if T has a default return value set by the user or there
+ // exists a built-in default value.
+ static bool Exists() {
+ return IsSet() || internal::BuiltInDefaultValue<T&>::Exists();
+ }
+
+ // Returns the default value for type T& if the user has set one;
+ // otherwise returns the built-in default value if there is one;
+ // otherwise aborts the process.
+ static T& Get() {
+ return address_ == NULL ?
+ internal::BuiltInDefaultValue<T&>::Get() : *address_;
+ }
+
+ private:
+ static T* address_;
+};
+
+// This specialization allows DefaultValue<void>::Get() to
+// compile.
+template <>
+class DefaultValue<void> {
+ public:
+ static bool Exists() { return true; }
+ static void Get() {}
+};
+
+// Points to the user-set default value for type T.
+template <typename T>
+typename DefaultValue<T>::ValueProducer* DefaultValue<T>::producer_ = NULL;
+
+// Points to the user-set default value for type T&.
+template <typename T>
+T* DefaultValue<T&>::address_ = NULL;
+
+// Implement this interface to define an action for function type F.
+template <typename F>
+class ActionInterface {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ ActionInterface() {}
+ virtual ~ActionInterface() {}
+
+ // Performs the action. This method is not const, as in general an
+ // action can have side effects and be stateful. For example, a
+ // get-the-next-element-from-the-collection action will need to
+ // remember the current element.
+ virtual Result Perform(const ArgumentTuple& args) = 0;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionInterface);
+};
+
+// An Action<F> is a copyable and IMMUTABLE (except by assignment)
+// object that represents an action to be taken when a mock function
+// of type F is called. The implementation of Action<T> is just a
+// linked_ptr to const ActionInterface<T>, so copying is fairly cheap.
+// Don't inherit from Action!
+//
+// You can view an object implementing ActionInterface<F> as a
+// concrete action (including its current state), and an Action<F>
+// object as a handle to it.
+template <typename F>
+class Action {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ // Constructs a null Action. Needed for storing Action objects in
+ // STL containers.
+ Action() : impl_(NULL) {}
+
+ // Constructs an Action from its implementation. A NULL impl is
+ // used to represent the "do-default" action.
+ explicit Action(ActionInterface<F>* impl) : impl_(impl) {}
+
+ // Copy constructor.
+ Action(const Action& action) : impl_(action.impl_) {}
+
+ // This constructor allows us to turn an Action<Func> object into an
+ // Action<F>, as long as F's arguments can be implicitly converted
+ // to Func's and Func's return type can be implicitly converted to
+ // F's.
+ template <typename Func>
+ explicit Action(const Action<Func>& action);
+
+ // Returns true iff this is the DoDefault() action.
+ bool IsDoDefault() const { return impl_.get() == NULL; }
+
+ // Performs the action. Note that this method is const even though
+ // the corresponding method in ActionInterface is not. The reason
+ // is that a const Action<F> means that it cannot be re-bound to
+ // another concrete action, not that the concrete action it binds to
+ // cannot change state. (Think of the difference between a const
+ // pointer and a pointer to const.)
+ Result Perform(const ArgumentTuple& args) const {
+ internal::Assert(
+ !IsDoDefault(), __FILE__, __LINE__,
+ "You are using DoDefault() inside a composite action like "
+ "DoAll() or WithArgs(). This is not supported for technical "
+ "reasons. Please instead spell out the default action, or "
+ "assign the default action to an Action variable and use "
+ "the variable in various places.");
+ return impl_->Perform(args);
+ }
+
+ private:
+ template <typename F1, typename F2>
+ friend class internal::ActionAdaptor;
+
+ internal::linked_ptr<ActionInterface<F> > impl_;
+};
+
+// The PolymorphicAction class template makes it easy to implement a
+// polymorphic action (i.e. an action that can be used in mock
+// functions of than one type, e.g. Return()).
+//
+// To define a polymorphic action, a user first provides a COPYABLE
+// implementation class that has a Perform() method template:
+//
+// class FooAction {
+// public:
+// template <typename Result, typename ArgumentTuple>
+// Result Perform(const ArgumentTuple& args) const {
+// // Processes the arguments and returns a result, using
+// // tr1::get<N>(args) to get the N-th (0-based) argument in the tuple.
+// }
+// ...
+// };
+//
+// Then the user creates the polymorphic action using
+// MakePolymorphicAction(object) where object has type FooAction. See
+// the definition of Return(void) and SetArgumentPointee<N>(value) for
+// complete examples.
+template <typename Impl>
+class PolymorphicAction {
+ public:
+ explicit PolymorphicAction(const Impl& impl) : impl_(impl) {}
+
+ template <typename F>
+ operator Action<F>() const {
+ return Action<F>(new MonomorphicImpl<F>(impl_));
+ }
+
+ private:
+ template <typename F>
+ class MonomorphicImpl : public ActionInterface<F> {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return impl_.template Perform<Result>(args);
+ }
+
+ private:
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+ };
+
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(PolymorphicAction);
+};
+
+// Creates an Action from its implementation and returns it. The
+// created Action object owns the implementation.
+template <typename F>
+Action<F> MakeAction(ActionInterface<F>* impl) {
+ return Action<F>(impl);
+}
+
+// Creates a polymorphic action from its implementation. This is
+// easier to use than the PolymorphicAction<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+// MakePolymorphicAction(foo);
+// vs
+// PolymorphicAction<TypeOfFoo>(foo);
+template <typename Impl>
+inline PolymorphicAction<Impl> MakePolymorphicAction(const Impl& impl) {
+ return PolymorphicAction<Impl>(impl);
+}
+
+namespace internal {
+
+// Allows an Action<F2> object to pose as an Action<F1>, as long as F2
+// and F1 are compatible.
+template <typename F1, typename F2>
+class ActionAdaptor : public ActionInterface<F1> {
+ public:
+ typedef typename internal::Function<F1>::Result Result;
+ typedef typename internal::Function<F1>::ArgumentTuple ArgumentTuple;
+
+ explicit ActionAdaptor(const Action<F2>& from) : impl_(from.impl_) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return impl_->Perform(args);
+ }
+
+ private:
+ const internal::linked_ptr<ActionInterface<F2> > impl_;
+
+ GTEST_DISALLOW_ASSIGN_(ActionAdaptor);
+};
+
+// Helper struct to specialize ReturnAction to execute a move instead of a copy
+// on return. Useful for move-only types, but could be used on any type.
+template <typename T>
+struct ByMoveWrapper {
+ explicit ByMoveWrapper(T value) : payload(internal::move(value)) {}
+ T payload;
+};
+
+// Implements the polymorphic Return(x) action, which can be used in
+// any function that returns the type of x, regardless of the argument
+// types.
+//
+// Note: The value passed into Return must be converted into
+// Function<F>::Result when this action is cast to Action<F> rather than
+// when that action is performed. This is important in scenarios like
+//
+// MOCK_METHOD1(Method, T(U));
+// ...
+// {
+// Foo foo;
+// X x(&foo);
+// EXPECT_CALL(mock, Method(_)).WillOnce(Return(x));
+// }
+//
+// In the example above the variable x holds reference to foo which leaves
+// scope and gets destroyed. If copying X just copies a reference to foo,
+// that copy will be left with a hanging reference. If conversion to T
+// makes a copy of foo, the above code is safe. To support that scenario, we
+// need to make sure that the type conversion happens inside the EXPECT_CALL
+// statement, and conversion of the result of Return to Action<T(U)> is a
+// good place for that.
+//
+template <typename R>
+class ReturnAction {
+ public:
+ // Constructs a ReturnAction object from the value to be returned.
+ // 'value' is passed by value instead of by const reference in order
+ // to allow Return("string literal") to compile.
+ explicit ReturnAction(R value) : value_(new R(internal::move(value))) {}
+
+ // This template type conversion operator allows Return(x) to be
+ // used in ANY function that returns x's type.
+ template <typename F>
+ operator Action<F>() const {
+ // Assert statement belongs here because this is the best place to verify
+ // conditions on F. It produces the clearest error messages
+ // in most compilers.
+ // Impl really belongs in this scope as a local class but can't
+ // because MSVC produces duplicate symbols in different translation units
+ // in this case. Until MS fixes that bug we put Impl into the class scope
+ // and put the typedef both here (for use in assert statement) and
+ // in the Impl class. But both definitions must be the same.
+ typedef typename Function<F>::Result Result;
+ GTEST_COMPILE_ASSERT_(
+ !is_reference<Result>::value,
+ use_ReturnRef_instead_of_Return_to_return_a_reference);
+ return Action<F>(new Impl<R, F>(value_));
+ }
+
+ private:
+ // Implements the Return(x) action for a particular function type F.
+ template <typename R_, typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ // The implicit cast is necessary when Result has more than one
+ // single-argument constructor (e.g. Result is std::vector<int>) and R
+ // has a type conversion operator template. In that case, value_(value)
+ // won't compile as the compiler doesn't known which constructor of
+ // Result to call. ImplicitCast_ forces the compiler to convert R to
+ // Result without considering explicit constructors, thus resolving the
+ // ambiguity. value_ is then initialized using its copy constructor.
+ explicit Impl(const linked_ptr<R>& value)
+ : value_before_cast_(*value),
+ value_(ImplicitCast_<Result>(value_before_cast_)) {}
+
+ virtual Result Perform(const ArgumentTuple&) { return value_; }
+
+ private:
+ GTEST_COMPILE_ASSERT_(!is_reference<Result>::value,
+ Result_cannot_be_a_reference_type);
+ // We save the value before casting just in case it is being cast to a
+ // wrapper type.
+ R value_before_cast_;
+ Result value_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Impl);
+ };
+
+ // Partially specialize for ByMoveWrapper. This version of ReturnAction will
+ // move its contents instead.
+ template <typename R_, typename F>
+ class Impl<ByMoveWrapper<R_>, F> : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const linked_ptr<R>& wrapper)
+ : performed_(false), wrapper_(wrapper) {}
+
+ virtual Result Perform(const ArgumentTuple&) {
+ GTEST_CHECK_(!performed_)
+ << "A ByMove() action should only be performed once.";
+ performed_ = true;
+ return internal::move(wrapper_->payload);
+ }
+
+ private:
+ bool performed_;
+ const linked_ptr<R> wrapper_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const linked_ptr<R> value_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnAction);
+};
+
+// Implements the ReturnNull() action.
+class ReturnNullAction {
+ public:
+ // Allows ReturnNull() to be used in any pointer-returning function. In C++11
+ // this is enforced by returning nullptr, and in non-C++11 by asserting a
+ // pointer type on compile time.
+ template <typename Result, typename ArgumentTuple>
+ static Result Perform(const ArgumentTuple&) {
+#if GTEST_LANG_CXX11
+ return nullptr;
+#else
+ GTEST_COMPILE_ASSERT_(internal::is_pointer<Result>::value,
+ ReturnNull_can_be_used_to_return_a_pointer_only);
+ return NULL;
+#endif // GTEST_LANG_CXX11
+ }
+};
+
+// Implements the Return() action.
+class ReturnVoidAction {
+ public:
+ // Allows Return() to be used in any void-returning function.
+ template <typename Result, typename ArgumentTuple>
+ static void Perform(const ArgumentTuple&) {
+ CompileAssertTypesEqual<void, Result>();
+ }
+};
+
+// Implements the polymorphic ReturnRef(x) action, which can be used
+// in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefAction {
+ public:
+ // Constructs a ReturnRefAction object from the reference to be returned.
+ explicit ReturnRefAction(T& ref) : ref_(ref) {} // NOLINT
+
+ // This template type conversion operator allows ReturnRef(x) to be
+ // used in ANY function that returns a reference to x's type.
+ template <typename F>
+ operator Action<F>() const {
+ typedef typename Function<F>::Result Result;
+ // Asserts that the function return type is a reference. This
+ // catches the user error of using ReturnRef(x) when Return(x)
+ // should be used, and generates some helpful error message.
+ GTEST_COMPILE_ASSERT_(internal::is_reference<Result>::value,
+ use_Return_instead_of_ReturnRef_to_return_a_value);
+ return Action<F>(new Impl<F>(ref_));
+ }
+
+ private:
+ // Implements the ReturnRef(x) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(T& ref) : ref_(ref) {} // NOLINT
+
+ virtual Result Perform(const ArgumentTuple&) {
+ return ref_;
+ }
+
+ private:
+ T& ref_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ T& ref_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnRefAction);
+};
+
+// Implements the polymorphic ReturnRefOfCopy(x) action, which can be
+// used in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefOfCopyAction {
+ public:
+ // Constructs a ReturnRefOfCopyAction object from the reference to
+ // be returned.
+ explicit ReturnRefOfCopyAction(const T& value) : value_(value) {} // NOLINT
+
+ // This template type conversion operator allows ReturnRefOfCopy(x) to be
+ // used in ANY function that returns a reference to x's type.
+ template <typename F>
+ operator Action<F>() const {
+ typedef typename Function<F>::Result Result;
+ // Asserts that the function return type is a reference. This
+ // catches the user error of using ReturnRefOfCopy(x) when Return(x)
+ // should be used, and generates some helpful error message.
+ GTEST_COMPILE_ASSERT_(
+ internal::is_reference<Result>::value,
+ use_Return_instead_of_ReturnRefOfCopy_to_return_a_value);
+ return Action<F>(new Impl<F>(value_));
+ }
+
+ private:
+ // Implements the ReturnRefOfCopy(x) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const T& value) : value_(value) {} // NOLINT
+
+ virtual Result Perform(const ArgumentTuple&) {
+ return value_;
+ }
+
+ private:
+ T value_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const T value_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnRefOfCopyAction);
+};
+
+// Implements the polymorphic DoDefault() action.
+class DoDefaultAction {
+ public:
+ // This template type conversion operator allows DoDefault() to be
+ // used in any function.
+ template <typename F>
+ operator Action<F>() const { return Action<F>(NULL); }
+};
+
+// Implements the Assign action to set a given pointer referent to a
+// particular value.
+template <typename T1, typename T2>
+class AssignAction {
+ public:
+ AssignAction(T1* ptr, T2 value) : ptr_(ptr), value_(value) {}
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& /* args */) const {
+ *ptr_ = value_;
+ }
+
+ private:
+ T1* const ptr_;
+ const T2 value_;
+
+ GTEST_DISALLOW_ASSIGN_(AssignAction);
+};
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetErrnoAndReturn action to simulate return from
+// various system calls and libc functions.
+template <typename T>
+class SetErrnoAndReturnAction {
+ public:
+ SetErrnoAndReturnAction(int errno_value, T result)
+ : errno_(errno_value),
+ result_(result) {}
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& /* args */) const {
+ errno = errno_;
+ return result_;
+ }
+
+ private:
+ const int errno_;
+ const T result_;
+
+ GTEST_DISALLOW_ASSIGN_(SetErrnoAndReturnAction);
+};
+
+#endif // !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetArgumentPointee<N>(x) action for any function
+// whose N-th argument (0-based) is a pointer to x's type. The
+// template parameter kIsProto is true iff type A is ProtocolMessage,
+// proto2::Message, or a sub-class of those.
+template <size_t N, typename A, bool kIsProto>
+class SetArgumentPointeeAction {
+ public:
+ // Constructs an action that sets the variable pointed to by the
+ // N-th function argument to 'value'.
+ explicit SetArgumentPointeeAction(const A& value) : value_(value) {}
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& args) const {
+ CompileAssertTypesEqual<void, Result>();
+ *::testing::get<N>(args) = value_;
+ }
+
+ private:
+ const A value_;
+
+ GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+template <size_t N, typename Proto>
+class SetArgumentPointeeAction<N, Proto, true> {
+ public:
+ // Constructs an action that sets the variable pointed to by the
+ // N-th function argument to 'proto'. Both ProtocolMessage and
+ // proto2::Message have the CopyFrom() method, so the same
+ // implementation works for both.
+ explicit SetArgumentPointeeAction(const Proto& proto) : proto_(new Proto) {
+ proto_->CopyFrom(proto);
+ }
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& args) const {
+ CompileAssertTypesEqual<void, Result>();
+ ::testing::get<N>(args)->CopyFrom(*proto_);
+ }
+
+ private:
+ const internal::linked_ptr<Proto> proto_;
+
+ GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+// Implements the InvokeWithoutArgs(f) action. The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor. InvokeWithoutArgs(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeWithoutArgsAction {
+ public:
+ // The c'tor makes a copy of function_impl (either a function
+ // pointer or a functor).
+ explicit InvokeWithoutArgsAction(FunctionImpl function_impl)
+ : function_impl_(function_impl) {}
+
+ // Allows InvokeWithoutArgs(f) to be used as any action whose type is
+ // compatible with f.
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple&) { return function_impl_(); }
+
+ private:
+ FunctionImpl function_impl_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeWithoutArgsAction);
+};
+
+// Implements the InvokeWithoutArgs(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodWithoutArgsAction {
+ public:
+ InvokeMethodWithoutArgsAction(Class* obj_ptr, MethodPtr method_ptr)
+ : obj_ptr_(obj_ptr), method_ptr_(method_ptr) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple&) const {
+ return (obj_ptr_->*method_ptr_)();
+ }
+
+ private:
+ Class* const obj_ptr_;
+ const MethodPtr method_ptr_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeMethodWithoutArgsAction);
+};
+
+// Implements the IgnoreResult(action) action.
+template <typename A>
+class IgnoreResultAction {
+ public:
+ explicit IgnoreResultAction(const A& action) : action_(action) {}
+
+ template <typename F>
+ operator Action<F>() const {
+ // Assert statement belongs here because this is the best place to verify
+ // conditions on F. It produces the clearest error messages
+ // in most compilers.
+ // Impl really belongs in this scope as a local class but can't
+ // because MSVC produces duplicate symbols in different translation units
+ // in this case. Until MS fixes that bug we put Impl into the class scope
+ // and put the typedef both here (for use in assert statement) and
+ // in the Impl class. But both definitions must be the same.
+ typedef typename internal::Function<F>::Result Result;
+
+ // Asserts at compile time that F returns void.
+ CompileAssertTypesEqual<void, Result>();
+
+ return Action<F>(new Impl<F>(action_));
+ }
+
+ private:
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const A& action) : action_(action) {}
+
+ virtual void Perform(const ArgumentTuple& args) {
+ // Performs the action and ignores its result.
+ action_.Perform(args);
+ }
+
+ private:
+ // Type OriginalFunction is the same as F except that its return
+ // type is IgnoredValue.
+ typedef typename internal::Function<F>::MakeResultIgnoredValue
+ OriginalFunction;
+
+ const Action<OriginalFunction> action_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const A action_;
+
+ GTEST_DISALLOW_ASSIGN_(IgnoreResultAction);
+};
+
+// A ReferenceWrapper<T> object represents a reference to type T,
+// which can be either const or not. It can be explicitly converted
+// from, and implicitly converted to, a T&. Unlike a reference,
+// ReferenceWrapper<T> can be copied and can survive template type
+// inference. This is used to support by-reference arguments in the
+// InvokeArgument<N>(...) action. The idea was from "reference
+// wrappers" in tr1, which we don't have in our source tree yet.
+template <typename T>
+class ReferenceWrapper {
+ public:
+ // Constructs a ReferenceWrapper<T> object from a T&.
+ explicit ReferenceWrapper(T& l_value) : pointer_(&l_value) {} // NOLINT
+
+ // Allows a ReferenceWrapper<T> object to be implicitly converted to
+ // a T&.
+ operator T&() const { return *pointer_; }
+ private:
+ T* pointer_;
+};
+
+// Allows the expression ByRef(x) to be printed as a reference to x.
+template <typename T>
+void PrintTo(const ReferenceWrapper<T>& ref, ::std::ostream* os) {
+ T& value = ref;
+ UniversalPrinter<T&>::Print(value, os);
+}
+
+// Does two actions sequentially. Used for implementing the DoAll(a1,
+// a2, ...) action.
+template <typename Action1, typename Action2>
+class DoBothAction {
+ public:
+ DoBothAction(Action1 action1, Action2 action2)
+ : action1_(action1), action2_(action2) {}
+
+ // This template type conversion operator allows DoAll(a1, ..., a_n)
+ // to be used in ANY function of compatible type.
+ template <typename F>
+ operator Action<F>() const {
+ return Action<F>(new Impl<F>(action1_, action2_));
+ }
+
+ private:
+ // Implements the DoAll(...) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::MakeResultVoid VoidResult;
+
+ Impl(const Action<VoidResult>& action1, const Action<F>& action2)
+ : action1_(action1), action2_(action2) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ action1_.Perform(args);
+ return action2_.Perform(args);
+ }
+
+ private:
+ const Action<VoidResult> action1_;
+ const Action<F> action2_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ Action1 action1_;
+ Action2 action2_;
+
+ GTEST_DISALLOW_ASSIGN_(DoBothAction);
+};
+
+} // namespace internal
+
+// An Unused object can be implicitly constructed from ANY value.
+// This is handy when defining actions that ignore some or all of the
+// mock function arguments. For example, given
+//
+// MOCK_METHOD3(Foo, double(const string& label, double x, double y));
+// MOCK_METHOD3(Bar, double(int index, double x, double y));
+//
+// instead of
+//
+// double DistanceToOriginWithLabel(const string& label, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// double DistanceToOriginWithIndex(int index, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// ...
+// EXEPCT_CALL(mock, Foo("abc", _, _))
+// .WillOnce(Invoke(DistanceToOriginWithLabel));
+// EXEPCT_CALL(mock, Bar(5, _, _))
+// .WillOnce(Invoke(DistanceToOriginWithIndex));
+//
+// you could write
+//
+// // We can declare any uninteresting argument as Unused.
+// double DistanceToOrigin(Unused, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// ...
+// EXEPCT_CALL(mock, Foo("abc", _, _)).WillOnce(Invoke(DistanceToOrigin));
+// EXEPCT_CALL(mock, Bar(5, _, _)).WillOnce(Invoke(DistanceToOrigin));
+typedef internal::IgnoredValue Unused;
+
+// This constructor allows us to turn an Action<From> object into an
+// Action<To>, as long as To's arguments can be implicitly converted
+// to From's and From's return type cann be implicitly converted to
+// To's.
+template <typename To>
+template <typename From>
+Action<To>::Action(const Action<From>& from)
+ : impl_(new internal::ActionAdaptor<To, From>(from)) {}
+
+// Creates an action that returns 'value'. 'value' is passed by value
+// instead of const reference - otherwise Return("string literal")
+// will trigger a compiler error about using array as initializer.
+template <typename R>
+internal::ReturnAction<R> Return(R value) {
+ return internal::ReturnAction<R>(internal::move(value));
+}
+
+// Creates an action that returns NULL.
+inline PolymorphicAction<internal::ReturnNullAction> ReturnNull() {
+ return MakePolymorphicAction(internal::ReturnNullAction());
+}
+
+// Creates an action that returns from a void function.
+inline PolymorphicAction<internal::ReturnVoidAction> Return() {
+ return MakePolymorphicAction(internal::ReturnVoidAction());
+}
+
+// Creates an action that returns the reference to a variable.
+template <typename R>
+inline internal::ReturnRefAction<R> ReturnRef(R& x) { // NOLINT
+ return internal::ReturnRefAction<R>(x);
+}
+
+// Creates an action that returns the reference to a copy of the
+// argument. The copy is created when the action is constructed and
+// lives as long as the action.
+template <typename R>
+inline internal::ReturnRefOfCopyAction<R> ReturnRefOfCopy(const R& x) {
+ return internal::ReturnRefOfCopyAction<R>(x);
+}
+
+// Modifies the parent action (a Return() action) to perform a move of the
+// argument instead of a copy.
+// Return(ByMove()) actions can only be executed once and will assert this
+// invariant.
+template <typename R>
+internal::ByMoveWrapper<R> ByMove(R x) {
+ return internal::ByMoveWrapper<R>(internal::move(x));
+}
+
+// Creates an action that does the default action for the give mock function.
+inline internal::DoDefaultAction DoDefault() {
+ return internal::DoDefaultAction();
+}
+
+// Creates an action that sets the variable pointed by the N-th
+// (0-based) function argument to 'value'.
+template <size_t N, typename T>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgPointee(const T& x) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+#if !((GTEST_GCC_VER_ && GTEST_GCC_VER_ < 40000) || GTEST_OS_SYMBIAN)
+// This overload allows SetArgPointee() to accept a string literal.
+// GCC prior to the version 4.0 and Symbian C++ compiler cannot distinguish
+// this overload from the templated version and emit a compile error.
+template <size_t N>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<N, const char*, false> >
+SetArgPointee(const char* p) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, const char*, false>(p));
+}
+
+template <size_t N>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<N, const wchar_t*, false> >
+SetArgPointee(const wchar_t* p) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, const wchar_t*, false>(p));
+}
+#endif
+
+// The following version is DEPRECATED.
+template <size_t N, typename T>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgumentPointee(const T& x) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+// Creates an action that sets a pointer referent to a given value.
+template <typename T1, typename T2>
+PolymorphicAction<internal::AssignAction<T1, T2> > Assign(T1* ptr, T2 val) {
+ return MakePolymorphicAction(internal::AssignAction<T1, T2>(ptr, val));
+}
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Creates an action that sets errno and returns the appropriate error.
+template <typename T>
+PolymorphicAction<internal::SetErrnoAndReturnAction<T> >
+SetErrnoAndReturn(int errval, T result) {
+ return MakePolymorphicAction(
+ internal::SetErrnoAndReturnAction<T>(errval, result));
+}
+
+#endif // !GTEST_OS_WINDOWS_MOBILE
+
+// Various overloads for InvokeWithoutArgs().
+
+// Creates an action that invokes 'function_impl' with no argument.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeWithoutArgsAction<FunctionImpl> >
+InvokeWithoutArgs(FunctionImpl function_impl) {
+ return MakePolymorphicAction(
+ internal::InvokeWithoutArgsAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with no argument.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodWithoutArgsAction<Class, MethodPtr> >
+InvokeWithoutArgs(Class* obj_ptr, MethodPtr method_ptr) {
+ return MakePolymorphicAction(
+ internal::InvokeMethodWithoutArgsAction<Class, MethodPtr>(
+ obj_ptr, method_ptr));
+}
+
+// Creates an action that performs an_action and throws away its
+// result. In other words, it changes the return type of an_action to
+// void. an_action MUST NOT return void, or the code won't compile.
+template <typename A>
+inline internal::IgnoreResultAction<A> IgnoreResult(const A& an_action) {
+ return internal::IgnoreResultAction<A>(an_action);
+}
+
+// Creates a reference wrapper for the given L-value. If necessary,
+// you can explicitly specify the type of the reference. For example,
+// suppose 'derived' is an object of type Derived, ByRef(derived)
+// would wrap a Derived&. If you want to wrap a const Base& instead,
+// where Base is a base class of Derived, just write:
+//
+// ByRef<const Base>(derived)
+template <typename T>
+inline internal::ReferenceWrapper<T> ByRef(T& l_value) { // NOLINT
+ return internal::ReferenceWrapper<T>(l_value);
+}
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used cardinalities. More
+// cardinalities can be defined by the user implementing the
+// CardinalityInterface interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+
+#include <limits.h>
+#include <ostream> // NOLINT
+
+namespace testing {
+
+// To implement a cardinality Foo, define:
+// 1. a class FooCardinality that implements the
+// CardinalityInterface interface, and
+// 2. a factory function that creates a Cardinality object from a
+// const FooCardinality*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers. It also eases ownership
+// management as Cardinality objects can now be copied like plain values.
+
+// The implementation of a cardinality.
+class CardinalityInterface {
+ public:
+ virtual ~CardinalityInterface() {}
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ virtual int ConservativeLowerBound() const { return 0; }
+ virtual int ConservativeUpperBound() const { return INT_MAX; }
+
+ // Returns true iff call_count calls will satisfy this cardinality.
+ virtual bool IsSatisfiedByCallCount(int call_count) const = 0;
+
+ // Returns true iff call_count calls will saturate this cardinality.
+ virtual bool IsSaturatedByCallCount(int call_count) const = 0;
+
+ // Describes self to an ostream.
+ virtual void DescribeTo(::std::ostream* os) const = 0;
+};
+
+// A Cardinality is a copyable and IMMUTABLE (except by assignment)
+// object that specifies how many times a mock function is expected to
+// be called. The implementation of Cardinality is just a linked_ptr
+// to const CardinalityInterface, so copying is fairly cheap.
+// Don't inherit from Cardinality!
+class GTEST_API_ Cardinality {
+ public:
+ // Constructs a null cardinality. Needed for storing Cardinality
+ // objects in STL containers.
+ Cardinality() {}
+
+ // Constructs a Cardinality from its implementation.
+ explicit Cardinality(const CardinalityInterface* impl) : impl_(impl) {}
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ int ConservativeLowerBound() const { return impl_->ConservativeLowerBound(); }
+ int ConservativeUpperBound() const { return impl_->ConservativeUpperBound(); }
+
+ // Returns true iff call_count calls will satisfy this cardinality.
+ bool IsSatisfiedByCallCount(int call_count) const {
+ return impl_->IsSatisfiedByCallCount(call_count);
+ }
+
+ // Returns true iff call_count calls will saturate this cardinality.
+ bool IsSaturatedByCallCount(int call_count) const {
+ return impl_->IsSaturatedByCallCount(call_count);
+ }
+
+ // Returns true iff call_count calls will over-saturate this
+ // cardinality, i.e. exceed the maximum number of allowed calls.
+ bool IsOverSaturatedByCallCount(int call_count) const {
+ return impl_->IsSaturatedByCallCount(call_count) &&
+ !impl_->IsSatisfiedByCallCount(call_count);
+ }
+
+ // Describes self to an ostream
+ void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+ // Describes the given actual call count to an ostream.
+ static void DescribeActualCallCountTo(int actual_call_count,
+ ::std::ostream* os);
+
+ private:
+ internal::linked_ptr<const CardinalityInterface> impl_;
+};
+
+// Creates a cardinality that allows at least n calls.
+GTEST_API_ Cardinality AtLeast(int n);
+
+// Creates a cardinality that allows at most n calls.
+GTEST_API_ Cardinality AtMost(int n);
+
+// Creates a cardinality that allows any number of calls.
+GTEST_API_ Cardinality AnyNumber();
+
+// Creates a cardinality that allows between min and max calls.
+GTEST_API_ Cardinality Between(int min, int max);
+
+// Creates a cardinality that allows exactly n calls.
+GTEST_API_ Cardinality Exactly(int n);
+
+// Creates a cardinality from its implementation.
+inline Cardinality MakeCardinality(const CardinalityInterface* c) {
+ return Cardinality(c);
+}
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+
+
+namespace testing {
+namespace internal {
+
+// InvokeHelper<F> knows how to unpack an N-tuple and invoke an N-ary
+// function or method with the unpacked values, where F is a function
+// type that takes N arguments.
+template <typename Result, typename ArgumentTuple>
+class InvokeHelper;
+
+template <typename R>
+class InvokeHelper<R, ::testing::tuple<> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<>&) {
+ return function();
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<>&) {
+ return (obj_ptr->*method_ptr)();
+ }
+};
+
+template <typename R, typename A1>
+class InvokeHelper<R, ::testing::tuple<A1> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1>& args) {
+ return function(get<0>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2>
+class InvokeHelper<R, ::testing::tuple<A1, A2> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2>& args) {
+ return function(get<0>(args), get<1>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3,
+ A4>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4,
+ A5>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+ A6>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5, A6>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args), get<5>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+ A6, A7>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5, A6,
+ A7>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+ get<6>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+ A6, A7, A8>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+ get<7>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7,
+ A8>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+ get<6>(args), get<7>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+ A6, A7, A8, A9>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+ get<7>(args), get<8>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+ A9>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+ get<6>(args), get<7>(args), get<8>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+ A6, A7, A8, A9, A10>& args) {
+ return function(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+ get<7>(args), get<8>(args), get<9>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+ A9, A10>& args) {
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+ get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+ get<6>(args), get<7>(args), get<8>(args), get<9>(args));
+ }
+};
+
+// An INTERNAL macro for extracting the type of a tuple field. It's
+// subject to change without notice - DO NOT USE IN USER CODE!
+#define GMOCK_FIELD_(Tuple, N) \
+ typename ::testing::tuple_element<N, Tuple>::type
+
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::type is the
+// type of an n-ary function whose i-th (1-based) argument type is the
+// k{i}-th (0-based) field of ArgumentTuple, which must be a tuple
+// type, and whose return type is Result. For example,
+// SelectArgs<int, ::testing::tuple<bool, char, double, long>, 0, 3>::type
+// is int(bool, long).
+//
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::Select(args)
+// returns the selected fields (k1, k2, ..., k_n) of args as a tuple.
+// For example,
+// SelectArgs<int, tuple<bool, char, double>, 2, 0>::Select(
+// ::testing::make_tuple(true, 'a', 2.5))
+// returns tuple (2.5, true).
+//
+// The numbers in list k1, k2, ..., k_n must be >= 0, where n can be
+// in the range [0, 10]. Duplicates are allowed and they don't have
+// to be in an ascending or descending order.
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8, int k9, int k10>
+class SelectArgs {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9),
+ GMOCK_FIELD_(ArgumentTuple, k10));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args), get<k9>(args), get<k10>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple>
+class SelectArgs<Result, ArgumentTuple,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type();
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& /* args */) {
+ return SelectedArgs();
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1>
+class SelectArgs<Result, ArgumentTuple,
+ k1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8, int k9>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, k9, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args), get<k9>(args));
+ }
+};
+
+#undef GMOCK_FIELD_
+
+// Implements the WithArgs action.
+template <typename InnerAction, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1, int k10 = -1>
+class WithArgsAction {
+ public:
+ explicit WithArgsAction(const InnerAction& action) : action_(action) {}
+
+ template <typename F>
+ operator Action<F>() const { return MakeAction(new Impl<F>(action_)); }
+
+ private:
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const InnerAction& action) : action_(action) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return action_.Perform(SelectArgs<Result, ArgumentTuple, k1, k2, k3, k4,
+ k5, k6, k7, k8, k9, k10>::Select(args));
+ }
+
+ private:
+ typedef typename SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, k9, k10>::type InnerFunctionType;
+
+ Action<InnerFunctionType> action_;
+ };
+
+ const InnerAction action_;
+
+ GTEST_DISALLOW_ASSIGN_(WithArgsAction);
+};
+
+// A macro from the ACTION* family (defined later in this file)
+// defines an action that can be used in a mock function. Typically,
+// these actions only care about a subset of the arguments of the mock
+// function. For example, if such an action only uses the second
+// argument, it can be used in any mock function that takes >= 2
+// arguments where the type of the second argument is compatible.
+//
+// Therefore, the action implementation must be prepared to take more
+// arguments than it needs. The ExcessiveArg type is used to
+// represent those excessive arguments. In order to keep the compiler
+// error messages tractable, we define it in the testing namespace
+// instead of testing::internal. However, this is an INTERNAL TYPE
+// and subject to change without notice, so a user MUST NOT USE THIS
+// TYPE DIRECTLY.
+struct ExcessiveArg {};
+
+// A helper class needed for implementing the ACTION* macros.
+template <typename Result, class Impl>
+class ActionHelper {
+ public:
+ static Result Perform(Impl* impl, const ::testing::tuple<>& args) {
+ return impl->template gmock_PerformImpl<>(args, ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0>& args) {
+ return impl->template gmock_PerformImpl<A0>(args, get<0>(args),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1>& args) {
+ return impl->template gmock_PerformImpl<A0, A1>(args, get<0>(args),
+ get<1>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2>(args, get<0>(args),
+ get<1>(args), get<2>(args), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2,
+ A3>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3>(args, get<0>(args),
+ get<1>(args), get<2>(args), get<3>(args), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3,
+ A4>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+ A5>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ get<5>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+ A5, A6>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ get<5>(args), get<6>(args), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6,
+ A7>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7, A8>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7,
+ A8>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+ static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7, A8, A9>& args) {
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7, A8,
+ A9>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+ get<9>(args));
+ }
+};
+
+} // namespace internal
+
+// Various overloads for Invoke().
+
+// WithArgs<N1, N2, ..., Nk>(an_action) creates an action that passes
+// the selected arguments of the mock function to an_action and
+// performs it. It serves as an adaptor between actions with
+// different argument lists. C++ doesn't support default arguments for
+// function templates, so we have to overload it.
+template <int k1, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1>(action);
+}
+
+template <int k1, int k2, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2>(action);
+}
+
+template <int k1, int k2, int k3, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3>(action);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+ typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6,
+ k7>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7,
+ k8>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, int k10, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>(action);
+}
+
+// Creates an action that does actions a1, a2, ..., sequentially in
+// each invocation.
+template <typename Action1, typename Action2>
+inline internal::DoBothAction<Action1, Action2>
+DoAll(Action1 a1, Action2 a2) {
+ return internal::DoBothAction<Action1, Action2>(a1, a2);
+}
+
+template <typename Action1, typename Action2, typename Action3>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ Action3> >
+DoAll(Action1 a1, Action2 a2, Action3 a3) {
+ return DoAll(a1, DoAll(a2, a3));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, Action4> > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4) {
+ return DoAll(a1, DoAll(a2, a3, a4));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ Action5> > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, Action6> > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ Action7> > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, Action8> > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8, typename Action9>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+ Action9> > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8, Action9 a9) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8, typename Action9, typename Action10>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+ internal::DoBothAction<Action9, Action10> > > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8, Action9 a9, Action10 a10) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9, a10));
+}
+
+} // namespace testing
+
+// The ACTION* family of macros can be used in a namespace scope to
+// define custom actions easily. The syntax:
+//
+// ACTION(name) { statements; }
+//
+// will define an action with the given name that executes the
+// statements. The value returned by the statements will be used as
+// the return value of the action. Inside the statements, you can
+// refer to the K-th (0-based) argument of the mock function by
+// 'argK', and refer to its type by 'argK_type'. For example:
+//
+// ACTION(IncrementArg1) {
+// arg1_type temp = arg1;
+// return ++(*temp);
+// }
+//
+// allows you to write
+//
+// ...WillOnce(IncrementArg1());
+//
+// You can also refer to the entire argument tuple and its type by
+// 'args' and 'args_type', and refer to the mock function type and its
+// return type by 'function_type' and 'return_type'.
+//
+// Note that you don't need to specify the types of the mock function
+// arguments. However rest assured that your code is still type-safe:
+// you'll get a compiler error if *arg1 doesn't support the ++
+// operator, or if the type of ++(*arg1) isn't compatible with the
+// mock function's return type, for example.
+//
+// Sometimes you'll want to parameterize the action. For that you can use
+// another macro:
+//
+// ACTION_P(name, param_name) { statements; }
+//
+// For example:
+//
+// ACTION_P(Add, n) { return arg0 + n; }
+//
+// will allow you to write:
+//
+// ...WillOnce(Add(5));
+//
+// Note that you don't need to provide the type of the parameter
+// either. If you need to reference the type of a parameter named
+// 'foo', you can write 'foo_type'. For example, in the body of
+// ACTION_P(Add, n) above, you can write 'n_type' to refer to the type
+// of 'n'.
+//
+// We also provide ACTION_P2, ACTION_P3, ..., up to ACTION_P10 to support
+// multi-parameter actions.
+//
+// For the purpose of typing, you can view
+//
+// ACTION_Pk(Foo, p1, ..., pk) { ... }
+//
+// as shorthand for
+//
+// template <typename p1_type, ..., typename pk_type>
+// FooActionPk<p1_type, ..., pk_type> Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// In particular, you can provide the template type arguments
+// explicitly when invoking Foo(), as in Foo<long, bool>(5, false);
+// although usually you can rely on the compiler to infer the types
+// for you automatically. You can assign the result of expression
+// Foo(p1, ..., pk) to a variable of type FooActionPk<p1_type, ...,
+// pk_type>. This can be useful when composing actions.
+//
+// You can also overload actions with different numbers of parameters:
+//
+// ACTION_P(Plus, a) { ... }
+// ACTION_P2(Plus, a, b) { ... }
+//
+// While it's tempting to always use the ACTION* macros when defining
+// a new action, you should also consider implementing ActionInterface
+// or using MakePolymorphicAction() instead, especially if you need to
+// use the action a lot. While these approaches require more work,
+// they give you more control on the types of the mock function
+// arguments and the action parameters, which in general leads to
+// better compiler error messages that pay off in the long run. They
+// also allow overloading actions based on parameter types (as opposed
+// to just based on the number of parameters).
+//
+// CAVEAT:
+//
+// ACTION*() can only be used in a namespace scope. The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates. The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using ACTION*() inside
+// a function.
+//
+// MORE INFORMATION:
+//
+// To learn more about using these macros, please search for 'ACTION'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+// An internal macro needed for implementing ACTION*().
+#define GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_\
+ const args_type& args GTEST_ATTRIBUTE_UNUSED_, \
+ arg0_type arg0 GTEST_ATTRIBUTE_UNUSED_, \
+ arg1_type arg1 GTEST_ATTRIBUTE_UNUSED_, \
+ arg2_type arg2 GTEST_ATTRIBUTE_UNUSED_, \
+ arg3_type arg3 GTEST_ATTRIBUTE_UNUSED_, \
+ arg4_type arg4 GTEST_ATTRIBUTE_UNUSED_, \
+ arg5_type arg5 GTEST_ATTRIBUTE_UNUSED_, \
+ arg6_type arg6 GTEST_ATTRIBUTE_UNUSED_, \
+ arg7_type arg7 GTEST_ATTRIBUTE_UNUSED_, \
+ arg8_type arg8 GTEST_ATTRIBUTE_UNUSED_, \
+ arg9_type arg9 GTEST_ATTRIBUTE_UNUSED_
+
+// Sometimes you want to give an action explicit template parameters
+// that cannot be inferred from its value parameters. ACTION() and
+// ACTION_P*() don't support that. ACTION_TEMPLATE() remedies that
+// and can be viewed as an extension to ACTION() and ACTION_P*().
+//
+// The syntax:
+//
+// ACTION_TEMPLATE(ActionName,
+// HAS_m_TEMPLATE_PARAMS(kind1, name1, ..., kind_m, name_m),
+// AND_n_VALUE_PARAMS(p1, ..., p_n)) { statements; }
+//
+// defines an action template that takes m explicit template
+// parameters and n value parameters. name_i is the name of the i-th
+// template parameter, and kind_i specifies whether it's a typename,
+// an integral constant, or a template. p_i is the name of the i-th
+// value parameter.
+//
+// Example:
+//
+// // DuplicateArg<k, T>(output) converts the k-th argument of the mock
+// // function to type T and copies it to *output.
+// ACTION_TEMPLATE(DuplicateArg,
+// HAS_2_TEMPLATE_PARAMS(int, k, typename, T),
+// AND_1_VALUE_PARAMS(output)) {
+// *output = T(::testing::get<k>(args));
+// }
+// ...
+// int n;
+// EXPECT_CALL(mock, Foo(_, _))
+// .WillOnce(DuplicateArg<1, unsigned char>(&n));
+//
+// To create an instance of an action template, write:
+//
+// ActionName<t1, ..., t_m>(v1, ..., v_n)
+//
+// where the ts are the template arguments and the vs are the value
+// arguments. The value argument types are inferred by the compiler.
+// If you want to explicitly specify the value argument types, you can
+// provide additional template arguments:
+//
+// ActionName<t1, ..., t_m, u1, ..., u_k>(v1, ..., v_n)
+//
+// where u_i is the desired type of v_i.
+//
+// ACTION_TEMPLATE and ACTION/ACTION_P* can be overloaded on the
+// number of value parameters, but not on the number of template
+// parameters. Without the restriction, the meaning of the following
+// is unclear:
+//
+// OverloadedAction<int, bool>(x);
+//
+// Are we using a single-template-parameter action where 'bool' refers
+// to the type of x, or are we using a two-template-parameter action
+// where the compiler is asked to infer the type of x?
+//
+// Implementation notes:
+//
+// GMOCK_INTERNAL_*_HAS_m_TEMPLATE_PARAMS and
+// GMOCK_INTERNAL_*_AND_n_VALUE_PARAMS are internal macros for
+// implementing ACTION_TEMPLATE. The main trick we use is to create
+// new macro invocations when expanding a macro. For example, we have
+//
+// #define ACTION_TEMPLATE(name, template_params, value_params)
+// ... GMOCK_INTERNAL_DECL_##template_params ...
+//
+// which causes ACTION_TEMPLATE(..., HAS_1_TEMPLATE_PARAMS(typename, T), ...)
+// to expand to
+//
+// ... GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(typename, T) ...
+//
+// Since GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS is a macro, the
+// preprocessor will continue to expand it to
+//
+// ... typename T ...
+//
+// This technique conforms to the C++ standard and is portable. It
+// allows us to implement action templates using O(N) code, where N is
+// the maximum number of template/value parameters supported. Without
+// using it, we'd have to devote O(N^2) amount of code to implement all
+// combinations of m and n.
+
+// Declares the template parameters.
+#define GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(kind0, name0) kind0 name0
+#define GMOCK_INTERNAL_DECL_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1) kind0 name0, kind1 name1
+#define GMOCK_INTERNAL_DECL_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2) kind0 name0, kind1 name1, kind2 name2
+#define GMOCK_INTERNAL_DECL_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3) kind0 name0, kind1 name1, kind2 name2, \
+ kind3 name3
+#define GMOCK_INTERNAL_DECL_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4) kind0 name0, kind1 name1, \
+ kind2 name2, kind3 name3, kind4 name4
+#define GMOCK_INTERNAL_DECL_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5) kind0 name0, \
+ kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5
+#define GMOCK_INTERNAL_DECL_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6) kind0 name0, kind1 name1, kind2 name2, kind3 name3, kind4 name4, \
+ kind5 name5, kind6 name6
+#define GMOCK_INTERNAL_DECL_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7) kind0 name0, kind1 name1, kind2 name2, kind3 name3, \
+ kind4 name4, kind5 name5, kind6 name6, kind7 name7
+#define GMOCK_INTERNAL_DECL_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7, kind8, name8) kind0 name0, kind1 name1, kind2 name2, \
+ kind3 name3, kind4 name4, kind5 name5, kind6 name6, kind7 name7, \
+ kind8 name8
+#define GMOCK_INTERNAL_DECL_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6, kind7, name7, kind8, name8, kind9, name9) kind0 name0, \
+ kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5, \
+ kind6 name6, kind7 name7, kind8 name8, kind9 name9
+
+// Lists the template parameters.
+#define GMOCK_INTERNAL_LIST_HAS_1_TEMPLATE_PARAMS(kind0, name0) name0
+#define GMOCK_INTERNAL_LIST_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1) name0, name1
+#define GMOCK_INTERNAL_LIST_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2) name0, name1, name2
+#define GMOCK_INTERNAL_LIST_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3) name0, name1, name2, name3
+#define GMOCK_INTERNAL_LIST_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4) name0, name1, name2, name3, \
+ name4
+#define GMOCK_INTERNAL_LIST_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5) name0, name1, \
+ name2, name3, name4, name5
+#define GMOCK_INTERNAL_LIST_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6) name0, name1, name2, name3, name4, name5, name6
+#define GMOCK_INTERNAL_LIST_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7) name0, name1, name2, name3, name4, name5, name6, name7
+#define GMOCK_INTERNAL_LIST_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7, kind8, name8) name0, name1, name2, name3, name4, name5, \
+ name6, name7, name8
+#define GMOCK_INTERNAL_LIST_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6, kind7, name7, kind8, name8, kind9, name9) name0, name1, name2, \
+ name3, name4, name5, name6, name7, name8, name9
+
+// Declares the types of value parameters.
+#define GMOCK_INTERNAL_DECL_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_TYPE_AND_1_VALUE_PARAMS(p0) , typename p0##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_2_VALUE_PARAMS(p0, p1) , \
+ typename p0##_type, typename p1##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , \
+ typename p0##_type, typename p1##_type, typename p2##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9) , typename p0##_type, typename p1##_type, \
+ typename p2##_type, typename p3##_type, typename p4##_type, \
+ typename p5##_type, typename p6##_type, typename p7##_type, \
+ typename p8##_type, typename p9##_type
+
+// Initializes the value parameters.
+#define GMOCK_INTERNAL_INIT_AND_0_VALUE_PARAMS()\
+ ()
+#define GMOCK_INTERNAL_INIT_AND_1_VALUE_PARAMS(p0)\
+ (p0##_type gmock_p0) : p0(gmock_p0)
+#define GMOCK_INTERNAL_INIT_AND_2_VALUE_PARAMS(p0, p1)\
+ (p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), p1(gmock_p1)
+#define GMOCK_INTERNAL_INIT_AND_3_VALUE_PARAMS(p0, p1, p2)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2)
+#define GMOCK_INTERNAL_INIT_AND_4_VALUE_PARAMS(p0, p1, p2, p3)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3)
+#define GMOCK_INTERNAL_INIT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4)
+#define GMOCK_INTERNAL_INIT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5)
+#define GMOCK_INTERNAL_INIT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6)
+#define GMOCK_INTERNAL_INIT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7)
+#define GMOCK_INTERNAL_INIT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8)
+#define GMOCK_INTERNAL_INIT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8), p9(gmock_p9)
+
+// Declares the fields for storing the value parameters.
+#define GMOCK_INTERNAL_DEFN_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DEFN_AND_1_VALUE_PARAMS(p0) p0##_type p0;
+#define GMOCK_INTERNAL_DEFN_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0; \
+ p1##_type p1;
+#define GMOCK_INTERNAL_DEFN_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0; \
+ p1##_type p1; p2##_type p2;
+#define GMOCK_INTERNAL_DEFN_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0; \
+ p1##_type p1; p2##_type p2; p3##_type p3;
+#define GMOCK_INTERNAL_DEFN_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+ p4) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4;
+#define GMOCK_INTERNAL_DEFN_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+ p5) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5;
+#define GMOCK_INTERNAL_DEFN_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5; p6##_type p6;
+#define GMOCK_INTERNAL_DEFN_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5; p6##_type p6; p7##_type p7;
+#define GMOCK_INTERNAL_DEFN_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+ p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8;
+#define GMOCK_INTERNAL_DEFN_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+ p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8; \
+ p9##_type p9;
+
+// Lists the value parameters.
+#define GMOCK_INTERNAL_LIST_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_AND_1_VALUE_PARAMS(p0) p0
+#define GMOCK_INTERNAL_LIST_AND_2_VALUE_PARAMS(p0, p1) p0, p1
+#define GMOCK_INTERNAL_LIST_AND_3_VALUE_PARAMS(p0, p1, p2) p0, p1, p2
+#define GMOCK_INTERNAL_LIST_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0, p1, p2, p3
+#define GMOCK_INTERNAL_LIST_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) p0, p1, \
+ p2, p3, p4
+#define GMOCK_INTERNAL_LIST_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) p0, \
+ p1, p2, p3, p4, p5
+#define GMOCK_INTERNAL_LIST_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0, p1, p2, p3, p4, p5, p6
+#define GMOCK_INTERNAL_LIST_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0, p1, p2, p3, p4, p5, p6, p7
+#define GMOCK_INTERNAL_LIST_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0, p1, p2, p3, p4, p5, p6, p7, p8
+#define GMOCK_INTERNAL_LIST_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0, p1, p2, p3, p4, p5, p6, p7, p8, p9
+
+// Lists the value parameter types.
+#define GMOCK_INTERNAL_LIST_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_TYPE_AND_1_VALUE_PARAMS(p0) , p0##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_2_VALUE_PARAMS(p0, p1) , p0##_type, \
+ p1##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , p0##_type, \
+ p1##_type, p2##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+ p0##_type, p1##_type, p2##_type, p3##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+ p0##_type, p1##_type, p2##_type, p3##_type, p4##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+ p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type, \
+ p6##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type, p9##_type
+
+// Declares the value parameters.
+#define GMOCK_INTERNAL_DECL_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_AND_1_VALUE_PARAMS(p0) p0##_type p0
+#define GMOCK_INTERNAL_DECL_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0, \
+ p1##_type p1
+#define GMOCK_INTERNAL_DECL_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0, \
+ p1##_type p1, p2##_type p2
+#define GMOCK_INTERNAL_DECL_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3
+#define GMOCK_INTERNAL_DECL_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+ p4) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4
+#define GMOCK_INTERNAL_DECL_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+ p5) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5
+#define GMOCK_INTERNAL_DECL_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5, p6##_type p6
+#define GMOCK_INTERNAL_DECL_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5, p6##_type p6, p7##_type p7
+#define GMOCK_INTERNAL_DECL_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8
+#define GMOCK_INTERNAL_DECL_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9
+
+// The suffix of the class template implementing the action template.
+#define GMOCK_INTERNAL_COUNT_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_COUNT_AND_1_VALUE_PARAMS(p0) P
+#define GMOCK_INTERNAL_COUNT_AND_2_VALUE_PARAMS(p0, p1) P2
+#define GMOCK_INTERNAL_COUNT_AND_3_VALUE_PARAMS(p0, p1, p2) P3
+#define GMOCK_INTERNAL_COUNT_AND_4_VALUE_PARAMS(p0, p1, p2, p3) P4
+#define GMOCK_INTERNAL_COUNT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) P5
+#define GMOCK_INTERNAL_COUNT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) P6
+#define GMOCK_INTERNAL_COUNT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6) P7
+#define GMOCK_INTERNAL_COUNT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) P8
+#define GMOCK_INTERNAL_COUNT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) P9
+#define GMOCK_INTERNAL_COUNT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) P10
+
+// The name of the class template implementing the action template.
+#define GMOCK_ACTION_CLASS_(name, value_params)\
+ GTEST_CONCAT_TOKEN_(name##Action, GMOCK_INTERNAL_COUNT_##value_params)
+
+#define ACTION_TEMPLATE(name, template_params, value_params)\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ class GMOCK_ACTION_CLASS_(name, value_params) {\
+ public:\
+ explicit GMOCK_ACTION_CLASS_(name, value_params)\
+ GMOCK_INTERNAL_INIT_##value_params {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ explicit gmock_Impl GMOCK_INTERNAL_INIT_##value_params {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ GMOCK_INTERNAL_DEFN_##value_params\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(\
+ new gmock_Impl<F>(GMOCK_INTERNAL_LIST_##value_params));\
+ }\
+ GMOCK_INTERNAL_DEFN_##value_params\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(GMOCK_ACTION_CLASS_(name, value_params));\
+ };\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ inline GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params> name(\
+ GMOCK_INTERNAL_DECL_##value_params) {\
+ return GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params>(\
+ GMOCK_INTERNAL_LIST_##value_params);\
+ }\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params>::gmock_Impl<F>::\
+ gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION(name)\
+ class name##Action {\
+ public:\
+ name##Action() {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl() {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>());\
+ }\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##Action);\
+ };\
+ inline name##Action name() {\
+ return name##Action();\
+ }\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##Action::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P(name, p0)\
+ template <typename p0##_type>\
+ class name##ActionP {\
+ public:\
+ explicit name##ActionP(p0##_type gmock_p0) : p0(gmock_p0) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ explicit gmock_Impl(p0##_type gmock_p0) : p0(gmock_p0) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0));\
+ }\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP);\
+ };\
+ template <typename p0##_type>\
+ inline name##ActionP<p0##_type> name(p0##_type p0) {\
+ return name##ActionP<p0##_type>(p0);\
+ }\
+ template <typename p0##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP<p0##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P2(name, p0, p1)\
+ template <typename p0##_type, typename p1##_type>\
+ class name##ActionP2 {\
+ public:\
+ name##ActionP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP2);\
+ };\
+ template <typename p0##_type, typename p1##_type>\
+ inline name##ActionP2<p0##_type, p1##_type> name(p0##_type p0, \
+ p1##_type p1) {\
+ return name##ActionP2<p0##_type, p1##_type>(p0, p1);\
+ }\
+ template <typename p0##_type, typename p1##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP2<p0##_type, p1##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P3(name, p0, p1, p2)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ class name##ActionP3 {\
+ public:\
+ name##ActionP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP3);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ inline name##ActionP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2) {\
+ return name##ActionP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP3<p0##_type, p1##_type, \
+ p2##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P4(name, p0, p1, p2, p3)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ class name##ActionP4 {\
+ public:\
+ name##ActionP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP4);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ inline name##ActionP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3) {\
+ return name##ActionP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, p1, \
+ p2, p3);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P5(name, p0, p1, p2, p3, p4)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ class name##ActionP5 {\
+ public:\
+ name##ActionP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, \
+ p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), \
+ p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP5);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ inline name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4) {\
+ return name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P6(name, p0, p1, p2, p3, p4, p5)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ class name##ActionP6 {\
+ public:\
+ name##ActionP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP6);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ inline name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3, p4##_type p4, p5##_type p5) {\
+ return name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P7(name, p0, p1, p2, p3, p4, p5, p6)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ class name##ActionP7 {\
+ public:\
+ name##ActionP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+ p6(gmock_p6) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP7);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ inline name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+ p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6) {\
+ return name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P8(name, p0, p1, p2, p3, p4, p5, p6, p7)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ class name##ActionP8 {\
+ public:\
+ name##ActionP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, \
+ p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), \
+ p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), \
+ p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP8);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ inline name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6, p7##_type p7) {\
+ return name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+ p6, p7);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, \
+ p7##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ class name##ActionP9 {\
+ public:\
+ name##ActionP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP9);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ inline name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+ p8##_type p8) {\
+ return name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7, p8);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, \
+ p8##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ class name##ActionP10 {\
+ public:\
+ name##ActionP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP10);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ inline name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9) {\
+ return name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+ p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+namespace testing {
+
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4. Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma. Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Various overloads for InvokeArgument<N>().
+//
+// The InvokeArgument<N>(a1, a2, ..., a_k) action invokes the N-th
+// (0-based) argument, which must be a k-ary callable, of the mock
+// function, with arguments a1, a2, ..., a_k.
+//
+// Notes:
+//
+// 1. The arguments are passed by value by default. If you need to
+// pass an argument by reference, wrap it inside ByRef(). For
+// example,
+//
+// InvokeArgument<1>(5, string("Hello"), ByRef(foo))
+//
+// passes 5 and string("Hello") by value, and passes foo by
+// reference.
+//
+// 2. If the callable takes an argument by reference but ByRef() is
+// not used, it will receive the reference to a copy of the value,
+// instead of the original value. For example, when the 0-th
+// argument of the mock function takes a const string&, the action
+//
+// InvokeArgument<0>(string("Hello"))
+//
+// makes a copy of the temporary string("Hello") object and passes a
+// reference of the copy, instead of the original temporary object,
+// to the callable. This makes it easy for a user to define an
+// InvokeArgument action from temporary values and have it performed
+// later.
+
+namespace internal {
+namespace invoke_argument {
+
+// Appears in InvokeArgumentAdl's argument list to help avoid
+// accidental calls to user functions of the same name.
+struct AdlTag {};
+
+// InvokeArgumentAdl - a helper for InvokeArgument.
+// The basic overloads are provided here for generic functors.
+// Overloads for other custom-callables are provided in the
+// internal/custom/callback-actions.h header.
+
+template <typename R, typename F>
+R InvokeArgumentAdl(AdlTag, F f) {
+ return f();
+}
+template <typename R, typename F, typename A1>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1) {
+ return f(a1);
+}
+template <typename R, typename F, typename A1, typename A2>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2) {
+ return f(a1, a2);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3) {
+ return f(a1, a2, a3);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4) {
+ return f(a1, a2, a3, a4);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+ return f(a1, a2, a3, a4, a5);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+ return f(a1, a2, a3, a4, a5, a6);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7) {
+ return f(a1, a2, a3, a4, a5, a6, a7);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8) {
+ return f(a1, a2, a3, a4, a5, a6, a7, a8);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8, A9 a9) {
+ return f(a1, a2, a3, a4, a5, a6, a7, a8, a9);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9, typename A10>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8, A9 a9, A10 a10) {
+ return f(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10);
+}
+} // namespace invoke_argument
+} // namespace internal
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args));
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(p0)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_2_VALUE_PARAMS(p0, p1)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_3_VALUE_PARAMS(p0, p1, p2)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+ using internal::invoke_argument::InvokeArgumentAdl;
+ return InvokeArgumentAdl<return_type>(
+ internal::invoke_argument::AdlTag(),
+ ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+// Various overloads for ReturnNew<T>().
+//
+// The ReturnNew<T>(a1, a2, ..., a_k) action returns a pointer to a new
+// instance of type T, constructed on the heap with constructor arguments
+// a1, a2, ..., and a_k. The caller assumes ownership of the returned value.
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_0_VALUE_PARAMS()) {
+ return new T();
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_1_VALUE_PARAMS(p0)) {
+ return new T(p0);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_2_VALUE_PARAMS(p0, p1)) {
+ return new T(p0, p1);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_3_VALUE_PARAMS(p0, p1, p2)) {
+ return new T(p0, p1, p2);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+ return new T(p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+ return new T(p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+ return new T(p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+} // namespace testing
+
+// Include any custom actions added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// This file was GENERATED by command:
+// pump.py gmock-generated-actions.h.pump
+// DO NOT EDIT BY HAND!!!
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+// This file was GENERATED by command:
+// pump.py gmock-generated-function-mockers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements function mockers of various arities.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the ON_CALL() and EXPECT_CALL() macros.
+//
+// A user can use the ON_CALL() macro to specify the default action of
+// a mock method. The syntax is:
+//
+// ON_CALL(mock_object, Method(argument-matchers))
+// .With(multi-argument-matcher)
+// .WillByDefault(action);
+//
+// where the .With() clause is optional.
+//
+// A user can use the EXPECT_CALL() macro to specify an expectation on
+// a mock method. The syntax is:
+//
+// EXPECT_CALL(mock_object, Method(argument-matchers))
+// .With(multi-argument-matchers)
+// .Times(cardinality)
+// .InSequence(sequences)
+// .After(expectations)
+// .WillOnce(action)
+// .WillRepeatedly(action)
+// .RetiresOnSaturation();
+//
+// where all clauses are optional, and .InSequence()/.After()/
+// .WillOnce() can appear any number of times.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+#include <map>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept> // NOLINT
+#endif
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used argument matchers. More
+// matchers can be defined by the user implementing the
+// MatcherInterface<T> interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+#include <math.h>
+#include <algorithm>
+#include <iterator>
+#include <limits>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+# include <initializer_list> // NOLINT -- must be after gtest.h
+#endif
+
+namespace testing {
+
+// To implement a matcher Foo for type T, define:
+// 1. a class FooMatcherImpl that implements the
+// MatcherInterface<T> interface, and
+// 2. a factory function that creates a Matcher<T> object from a
+// FooMatcherImpl*.
+//
+// The two-level delegation design makes it possible to allow a user
+// to write "v" instead of "Eq(v)" where a Matcher is expected, which
+// is impossible if we pass matchers by pointers. It also eases
+// ownership management as Matcher objects can now be copied like
+// plain values.
+
+// MatchResultListener is an abstract class. Its << operator can be
+// used by a matcher to explain why a value matches or doesn't match.
+//
+// TODO(wan@google.com): add method
+// bool InterestedInWhy(bool result) const;
+// to indicate whether the listener is interested in why the match
+// result is 'result'.
+class MatchResultListener {
+ public:
+ // Creates a listener object with the given underlying ostream. The
+ // listener does not own the ostream, and does not dereference it
+ // in the constructor or destructor.
+ explicit MatchResultListener(::std::ostream* os) : stream_(os) {}
+ virtual ~MatchResultListener() = 0; // Makes this class abstract.
+
+ // Streams x to the underlying ostream; does nothing if the ostream
+ // is NULL.
+ template <typename T>
+ MatchResultListener& operator<<(const T& x) {
+ if (stream_ != NULL)
+ *stream_ << x;
+ return *this;
+ }
+
+ // Returns the underlying ostream.
+ ::std::ostream* stream() { return stream_; }
+
+ // Returns true iff the listener is interested in an explanation of
+ // the match result. A matcher's MatchAndExplain() method can use
+ // this information to avoid generating the explanation when no one
+ // intends to hear it.
+ bool IsInterested() const { return stream_ != NULL; }
+
+ private:
+ ::std::ostream* const stream_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MatchResultListener);
+};
+
+inline MatchResultListener::~MatchResultListener() {
+}
+
+// An instance of a subclass of this knows how to describe itself as a
+// matcher.
+class MatcherDescriberInterface {
+ public:
+ virtual ~MatcherDescriberInterface() {}
+
+ // Describes this matcher to an ostream. The function should print
+ // a verb phrase that describes the property a value matching this
+ // matcher should have. The subject of the verb phrase is the value
+ // being matched. For example, the DescribeTo() method of the Gt(7)
+ // matcher prints "is greater than 7".
+ virtual void DescribeTo(::std::ostream* os) const = 0;
+
+ // Describes the negation of this matcher to an ostream. For
+ // example, if the description of this matcher is "is greater than
+ // 7", the negated description could be "is not greater than 7".
+ // You are not required to override this when implementing
+ // MatcherInterface, but it is highly advised so that your matcher
+ // can produce good error messages.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "not (";
+ DescribeTo(os);
+ *os << ")";
+ }
+};
+
+// The implementation of a matcher.
+template <typename T>
+class MatcherInterface : public MatcherDescriberInterface {
+ public:
+ // Returns true iff the matcher matches x; also explains the match
+ // result to 'listener' if necessary (see the next paragraph), in
+ // the form of a non-restrictive relative clause ("which ...",
+ // "whose ...", etc) that describes x. For example, the
+ // MatchAndExplain() method of the Pointee(...) matcher should
+ // generate an explanation like "which points to ...".
+ //
+ // Implementations of MatchAndExplain() should add an explanation of
+ // the match result *if and only if* they can provide additional
+ // information that's not already present (or not obvious) in the
+ // print-out of x and the matcher's description. Whether the match
+ // succeeds is not a factor in deciding whether an explanation is
+ // needed, as sometimes the caller needs to print a failure message
+ // when the match succeeds (e.g. when the matcher is used inside
+ // Not()).
+ //
+ // For example, a "has at least 10 elements" matcher should explain
+ // what the actual element count is, regardless of the match result,
+ // as it is useful information to the reader; on the other hand, an
+ // "is empty" matcher probably only needs to explain what the actual
+ // size is when the match fails, as it's redundant to say that the
+ // size is 0 when the value is already known to be empty.
+ //
+ // You should override this method when defining a new matcher.
+ //
+ // It's the responsibility of the caller (Google Mock) to guarantee
+ // that 'listener' is not NULL. This helps to simplify a matcher's
+ // implementation when it doesn't care about the performance, as it
+ // can talk to 'listener' without checking its validity first.
+ // However, in order to implement dummy listeners efficiently,
+ // listener->stream() may be NULL.
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const = 0;
+
+ // Inherits these methods from MatcherDescriberInterface:
+ // virtual void DescribeTo(::std::ostream* os) const = 0;
+ // virtual void DescribeNegationTo(::std::ostream* os) const;
+};
+
+// A match result listener that stores the explanation in a string.
+class StringMatchResultListener : public MatchResultListener {
+ public:
+ StringMatchResultListener() : MatchResultListener(&ss_) {}
+
+ // Returns the explanation accumulated so far.
+ internal::string str() const { return ss_.str(); }
+
+ // Clears the explanation accumulated so far.
+ void Clear() { ss_.str(""); }
+
+ private:
+ ::std::stringstream ss_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StringMatchResultListener);
+};
+
+namespace internal {
+
+struct AnyEq {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a == b; }
+};
+struct AnyNe {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a != b; }
+};
+struct AnyLt {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a < b; }
+};
+struct AnyGt {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a > b; }
+};
+struct AnyLe {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a <= b; }
+};
+struct AnyGe {
+ template <typename A, typename B>
+ bool operator()(const A& a, const B& b) const { return a >= b; }
+};
+
+// A match result listener that ignores the explanation.
+class DummyMatchResultListener : public MatchResultListener {
+ public:
+ DummyMatchResultListener() : MatchResultListener(NULL) {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DummyMatchResultListener);
+};
+
+// A match result listener that forwards the explanation to a given
+// ostream. The difference between this and MatchResultListener is
+// that the former is concrete.
+class StreamMatchResultListener : public MatchResultListener {
+ public:
+ explicit StreamMatchResultListener(::std::ostream* os)
+ : MatchResultListener(os) {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamMatchResultListener);
+};
+
+// An internal class for implementing Matcher<T>, which will derive
+// from it. We put functionalities common to all Matcher<T>
+// specializations here to avoid code duplication.
+template <typename T>
+class MatcherBase {
+ public:
+ // Returns true iff the matcher matches x; also explains the match
+ // result to 'listener'.
+ bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return impl_->MatchAndExplain(x, listener);
+ }
+
+ // Returns true iff this matcher matches x.
+ bool Matches(T x) const {
+ DummyMatchResultListener dummy;
+ return MatchAndExplain(x, &dummy);
+ }
+
+ // Describes this matcher to an ostream.
+ void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+ // Describes the negation of this matcher to an ostream.
+ void DescribeNegationTo(::std::ostream* os) const {
+ impl_->DescribeNegationTo(os);
+ }
+
+ // Explains why x matches, or doesn't match, the matcher.
+ void ExplainMatchResultTo(T x, ::std::ostream* os) const {
+ StreamMatchResultListener listener(os);
+ MatchAndExplain(x, &listener);
+ }
+
+ // Returns the describer for this matcher object; retains ownership
+ // of the describer, which is only guaranteed to be alive when
+ // this matcher object is alive.
+ const MatcherDescriberInterface* GetDescriber() const {
+ return impl_.get();
+ }
+
+ protected:
+ MatcherBase() {}
+
+ // Constructs a matcher from its implementation.
+ explicit MatcherBase(const MatcherInterface<T>* impl)
+ : impl_(impl) {}
+
+ virtual ~MatcherBase() {}
+
+ private:
+ // shared_ptr (util/gtl/shared_ptr.h) and linked_ptr have similar
+ // interfaces. The former dynamically allocates a chunk of memory
+ // to hold the reference count, while the latter tracks all
+ // references using a circular linked list without allocating
+ // memory. It has been observed that linked_ptr performs better in
+ // typical scenarios. However, shared_ptr can out-perform
+ // linked_ptr when there are many more uses of the copy constructor
+ // than the default constructor.
+ //
+ // If performance becomes a problem, we should see if using
+ // shared_ptr helps.
+ ::testing::internal::linked_ptr<const MatcherInterface<T> > impl_;
+};
+
+} // namespace internal
+
+// A Matcher<T> is a copyable and IMMUTABLE (except by assignment)
+// object that can check whether a value of type T matches. The
+// implementation of Matcher<T> is just a linked_ptr to const
+// MatcherInterface<T>, so copying is fairly cheap. Don't inherit
+// from Matcher!
+template <typename T>
+class Matcher : public internal::MatcherBase<T> {
+ public:
+ // Constructs a null matcher. Needed for storing Matcher objects in STL
+ // containers. A default-constructed matcher is not yet initialized. You
+ // cannot use it until a valid value has been assigned to it.
+ explicit Matcher() {} // NOLINT
+
+ // Constructs a matcher from its implementation.
+ explicit Matcher(const MatcherInterface<T>* impl)
+ : internal::MatcherBase<T>(impl) {}
+
+ // Implicit constructor here allows people to write
+ // EXPECT_CALL(foo, Bar(5)) instead of EXPECT_CALL(foo, Bar(Eq(5))) sometimes
+ Matcher(T value); // NOLINT
+};
+
+// The following two specializations allow the user to write str
+// instead of Eq(str) and "foo" instead of Eq("foo") when a string
+// matcher is expected.
+template <>
+class GTEST_API_ Matcher<const internal::string&>
+ : public internal::MatcherBase<const internal::string&> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<const internal::string&>* impl)
+ : internal::MatcherBase<const internal::string&>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+};
+
+template <>
+class GTEST_API_ Matcher<internal::string>
+ : public internal::MatcherBase<internal::string> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<internal::string>* impl)
+ : internal::MatcherBase<internal::string>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+};
+
+#if GTEST_HAS_STRING_PIECE_
+// The following two specializations allow the user to write str
+// instead of Eq(str) and "foo" instead of Eq("foo") when a StringPiece
+// matcher is expected.
+template <>
+class GTEST_API_ Matcher<const StringPiece&>
+ : public internal::MatcherBase<const StringPiece&> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<const StringPiece&>* impl)
+ : internal::MatcherBase<const StringPiece&>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+
+ // Allows the user to pass StringPieces directly.
+ Matcher(StringPiece s); // NOLINT
+};
+
+template <>
+class GTEST_API_ Matcher<StringPiece>
+ : public internal::MatcherBase<StringPiece> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<StringPiece>* impl)
+ : internal::MatcherBase<StringPiece>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+
+ // Allows the user to pass StringPieces directly.
+ Matcher(StringPiece s); // NOLINT
+};
+#endif // GTEST_HAS_STRING_PIECE_
+
+// The PolymorphicMatcher class template makes it easy to implement a
+// polymorphic matcher (i.e. a matcher that can match values of more
+// than one type, e.g. Eq(n) and NotNull()).
+//
+// To define a polymorphic matcher, a user should provide an Impl
+// class that has a DescribeTo() method and a DescribeNegationTo()
+// method, and define a member function (or member function template)
+//
+// bool MatchAndExplain(const Value& value,
+// MatchResultListener* listener) const;
+//
+// See the definition of NotNull() for a complete example.
+template <class Impl>
+class PolymorphicMatcher {
+ public:
+ explicit PolymorphicMatcher(const Impl& an_impl) : impl_(an_impl) {}
+
+ // Returns a mutable reference to the underlying matcher
+ // implementation object.
+ Impl& mutable_impl() { return impl_; }
+
+ // Returns an immutable reference to the underlying matcher
+ // implementation object.
+ const Impl& impl() const { return impl_; }
+
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new MonomorphicImpl<T>(impl_));
+ }
+
+ private:
+ template <typename T>
+ class MonomorphicImpl : public MatcherInterface<T> {
+ public:
+ explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ impl_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ impl_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return impl_.MatchAndExplain(x, listener);
+ }
+
+ private:
+ const Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+ };
+
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(PolymorphicMatcher);
+};
+
+// Creates a matcher from its implementation. This is easier to use
+// than the Matcher<T> constructor as it doesn't require you to
+// explicitly write the template argument, e.g.
+//
+// MakeMatcher(foo);
+// vs
+// Matcher<const string&>(foo);
+template <typename T>
+inline Matcher<T> MakeMatcher(const MatcherInterface<T>* impl) {
+ return Matcher<T>(impl);
+}
+
+// Creates a polymorphic matcher from its implementation. This is
+// easier to use than the PolymorphicMatcher<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+// MakePolymorphicMatcher(foo);
+// vs
+// PolymorphicMatcher<TypeOfFoo>(foo);
+template <class Impl>
+inline PolymorphicMatcher<Impl> MakePolymorphicMatcher(const Impl& impl) {
+ return PolymorphicMatcher<Impl>(impl);
+}
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// The MatcherCastImpl class template is a helper for implementing
+// MatcherCast(). We need this helper in order to partially
+// specialize the implementation of MatcherCast() (C++ allows
+// class/struct templates to be partially specialized, but not
+// function templates.).
+
+// This general version is used when MatcherCast()'s argument is a
+// polymorphic matcher (i.e. something that can be converted to a
+// Matcher but is not one yet; for example, Eq(value)) or a value (for
+// example, "hello").
+template <typename T, typename M>
+class MatcherCastImpl {
+ public:
+ static Matcher<T> Cast(const M& polymorphic_matcher_or_value) {
+ // M can be a polymorhic matcher, in which case we want to use
+ // its conversion operator to create Matcher<T>. Or it can be a value
+ // that should be passed to the Matcher<T>'s constructor.
+ //
+ // We can't call Matcher<T>(polymorphic_matcher_or_value) when M is a
+ // polymorphic matcher because it'll be ambiguous if T has an implicit
+ // constructor from M (this usually happens when T has an implicit
+ // constructor from any type).
+ //
+ // It won't work to unconditionally implict_cast
+ // polymorphic_matcher_or_value to Matcher<T> because it won't trigger
+ // a user-defined conversion from M to T if one exists (assuming M is
+ // a value).
+ return CastImpl(
+ polymorphic_matcher_or_value,
+ BooleanConstant<
+ internal::ImplicitlyConvertible<M, Matcher<T> >::value>());
+ }
+
+ private:
+ static Matcher<T> CastImpl(const M& value, BooleanConstant<false>) {
+ // M can't be implicitly converted to Matcher<T>, so M isn't a polymorphic
+ // matcher. It must be a value then. Use direct initialization to create
+ // a matcher.
+ return Matcher<T>(ImplicitCast_<T>(value));
+ }
+
+ static Matcher<T> CastImpl(const M& polymorphic_matcher_or_value,
+ BooleanConstant<true>) {
+ // M is implicitly convertible to Matcher<T>, which means that either
+ // M is a polymorhpic matcher or Matcher<T> has an implicit constructor
+ // from M. In both cases using the implicit conversion will produce a
+ // matcher.
+ //
+ // Even if T has an implicit constructor from M, it won't be called because
+ // creating Matcher<T> would require a chain of two user-defined conversions
+ // (first to create T from M and then to create Matcher<T> from T).
+ return polymorphic_matcher_or_value;
+ }
+};
+
+// This more specialized version is used when MatcherCast()'s argument
+// is already a Matcher. This only compiles when type T can be
+// statically converted to type U.
+template <typename T, typename U>
+class MatcherCastImpl<T, Matcher<U> > {
+ public:
+ static Matcher<T> Cast(const Matcher<U>& source_matcher) {
+ return Matcher<T>(new Impl(source_matcher));
+ }
+
+ private:
+ class Impl : public MatcherInterface<T> {
+ public:
+ explicit Impl(const Matcher<U>& source_matcher)
+ : source_matcher_(source_matcher) {}
+
+ // We delegate the matching logic to the source matcher.
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return source_matcher_.MatchAndExplain(static_cast<U>(x), listener);
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ source_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ source_matcher_.DescribeNegationTo(os);
+ }
+
+ private:
+ const Matcher<U> source_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+};
+
+// This even more specialized version is used for efficiently casting
+// a matcher to its own type.
+template <typename T>
+class MatcherCastImpl<T, Matcher<T> > {
+ public:
+ static Matcher<T> Cast(const Matcher<T>& matcher) { return matcher; }
+};
+
+} // namespace internal
+
+// In order to be safe and clear, casting between different matcher
+// types is done explicitly via MatcherCast<T>(m), which takes a
+// matcher m and returns a Matcher<T>. It compiles only when T can be
+// statically converted to the argument type of m.
+template <typename T, typename M>
+inline Matcher<T> MatcherCast(const M& matcher) {
+ return internal::MatcherCastImpl<T, M>::Cast(matcher);
+}
+
+// Implements SafeMatcherCast().
+//
+// We use an intermediate class to do the actual safe casting as Nokia's
+// Symbian compiler cannot decide between
+// template <T, M> ... (M) and
+// template <T, U> ... (const Matcher<U>&)
+// for function templates but can for member function templates.
+template <typename T>
+class SafeMatcherCastImpl {
+ public:
+ // This overload handles polymorphic matchers and values only since
+ // monomorphic matchers are handled by the next one.
+ template <typename M>
+ static inline Matcher<T> Cast(const M& polymorphic_matcher_or_value) {
+ return internal::MatcherCastImpl<T, M>::Cast(polymorphic_matcher_or_value);
+ }
+
+ // This overload handles monomorphic matchers.
+ //
+ // In general, if type T can be implicitly converted to type U, we can
+ // safely convert a Matcher<U> to a Matcher<T> (i.e. Matcher is
+ // contravariant): just keep a copy of the original Matcher<U>, convert the
+ // argument from type T to U, and then pass it to the underlying Matcher<U>.
+ // The only exception is when U is a reference and T is not, as the
+ // underlying Matcher<U> may be interested in the argument's address, which
+ // is not preserved in the conversion from T to U.
+ template <typename U>
+ static inline Matcher<T> Cast(const Matcher<U>& matcher) {
+ // Enforce that T can be implicitly converted to U.
+ GTEST_COMPILE_ASSERT_((internal::ImplicitlyConvertible<T, U>::value),
+ T_must_be_implicitly_convertible_to_U);
+ // Enforce that we are not converting a non-reference type T to a reference
+ // type U.
+ GTEST_COMPILE_ASSERT_(
+ internal::is_reference<T>::value || !internal::is_reference<U>::value,
+ cannot_convert_non_referentce_arg_to_reference);
+ // In case both T and U are arithmetic types, enforce that the
+ // conversion is not lossy.
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(T) RawT;
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(U) RawU;
+ const bool kTIsOther = GMOCK_KIND_OF_(RawT) == internal::kOther;
+ const bool kUIsOther = GMOCK_KIND_OF_(RawU) == internal::kOther;
+ GTEST_COMPILE_ASSERT_(
+ kTIsOther || kUIsOther ||
+ (internal::LosslessArithmeticConvertible<RawT, RawU>::value),
+ conversion_of_arithmetic_types_must_be_lossless);
+ return MatcherCast<T>(matcher);
+ }
+};
+
+template <typename T, typename M>
+inline Matcher<T> SafeMatcherCast(const M& polymorphic_matcher) {
+ return SafeMatcherCastImpl<T>::Cast(polymorphic_matcher);
+}
+
+// A<T>() returns a matcher that matches any value of type T.
+template <typename T>
+Matcher<T> A();
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// If the explanation is not empty, prints it to the ostream.
+inline void PrintIfNotEmpty(const internal::string& explanation,
+ ::std::ostream* os) {
+ if (explanation != "" && os != NULL) {
+ *os << ", " << explanation;
+ }
+}
+
+// Returns true if the given type name is easy to read by a human.
+// This is used to decide whether printing the type of a value might
+// be helpful.
+inline bool IsReadableTypeName(const string& type_name) {
+ // We consider a type name readable if it's short or doesn't contain
+ // a template or function type.
+ return (type_name.length() <= 20 ||
+ type_name.find_first_of("<(") == string::npos);
+}
+
+// Matches the value against the given matcher, prints the value and explains
+// the match result to the listener. Returns the match result.
+// 'listener' must not be NULL.
+// Value cannot be passed by const reference, because some matchers take a
+// non-const argument.
+template <typename Value, typename T>
+bool MatchPrintAndExplain(Value& value, const Matcher<T>& matcher,
+ MatchResultListener* listener) {
+ if (!listener->IsInterested()) {
+ // If the listener is not interested, we do not need to construct the
+ // inner explanation.
+ return matcher.Matches(value);
+ }
+
+ StringMatchResultListener inner_listener;
+ const bool match = matcher.MatchAndExplain(value, &inner_listener);
+
+ UniversalPrint(value, listener->stream());
+#if GTEST_HAS_RTTI
+ const string& type_name = GetTypeName<Value>();
+ if (IsReadableTypeName(type_name))
+ *listener->stream() << " (of type " << type_name << ")";
+#endif
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+
+ return match;
+}
+
+// An internal helper class for doing compile-time loop on a tuple's
+// fields.
+template <size_t N>
+class TuplePrefix {
+ public:
+ // TuplePrefix<N>::Matches(matcher_tuple, value_tuple) returns true
+ // iff the first N fields of matcher_tuple matches the first N
+ // fields of value_tuple, respectively.
+ template <typename MatcherTuple, typename ValueTuple>
+ static bool Matches(const MatcherTuple& matcher_tuple,
+ const ValueTuple& value_tuple) {
+ return TuplePrefix<N - 1>::Matches(matcher_tuple, value_tuple)
+ && get<N - 1>(matcher_tuple).Matches(get<N - 1>(value_tuple));
+ }
+
+ // TuplePrefix<N>::ExplainMatchFailuresTo(matchers, values, os)
+ // describes failures in matching the first N fields of matchers
+ // against the first N fields of values. If there is no failure,
+ // nothing will be streamed to os.
+ template <typename MatcherTuple, typename ValueTuple>
+ static void ExplainMatchFailuresTo(const MatcherTuple& matchers,
+ const ValueTuple& values,
+ ::std::ostream* os) {
+ // First, describes failures in the first N - 1 fields.
+ TuplePrefix<N - 1>::ExplainMatchFailuresTo(matchers, values, os);
+
+ // Then describes the failure (if any) in the (N - 1)-th (0-based)
+ // field.
+ typename tuple_element<N - 1, MatcherTuple>::type matcher =
+ get<N - 1>(matchers);
+ typedef typename tuple_element<N - 1, ValueTuple>::type Value;
+ Value value = get<N - 1>(values);
+ StringMatchResultListener listener;
+ if (!matcher.MatchAndExplain(value, &listener)) {
+ // TODO(wan): include in the message the name of the parameter
+ // as used in MOCK_METHOD*() when possible.
+ *os << " Expected arg #" << N - 1 << ": ";
+ get<N - 1>(matchers).DescribeTo(os);
+ *os << "\n Actual: ";
+ // We remove the reference in type Value to prevent the
+ // universal printer from printing the address of value, which
+ // isn't interesting to the user most of the time. The
+ // matcher's MatchAndExplain() method handles the case when
+ // the address is interesting.
+ internal::UniversalPrint(value, os);
+ PrintIfNotEmpty(listener.str(), os);
+ *os << "\n";
+ }
+ }
+};
+
+// The base case.
+template <>
+class TuplePrefix<0> {
+ public:
+ template <typename MatcherTuple, typename ValueTuple>
+ static bool Matches(const MatcherTuple& /* matcher_tuple */,
+ const ValueTuple& /* value_tuple */) {
+ return true;
+ }
+
+ template <typename MatcherTuple, typename ValueTuple>
+ static void ExplainMatchFailuresTo(const MatcherTuple& /* matchers */,
+ const ValueTuple& /* values */,
+ ::std::ostream* /* os */) {}
+};
+
+// TupleMatches(matcher_tuple, value_tuple) returns true iff all
+// matchers in matcher_tuple match the corresponding fields in
+// value_tuple. It is a compiler error if matcher_tuple and
+// value_tuple have different number of fields or incompatible field
+// types.
+template <typename MatcherTuple, typename ValueTuple>
+bool TupleMatches(const MatcherTuple& matcher_tuple,
+ const ValueTuple& value_tuple) {
+ // Makes sure that matcher_tuple and value_tuple have the same
+ // number of fields.
+ GTEST_COMPILE_ASSERT_(tuple_size<MatcherTuple>::value ==
+ tuple_size<ValueTuple>::value,
+ matcher_and_value_have_different_numbers_of_fields);
+ return TuplePrefix<tuple_size<ValueTuple>::value>::
+ Matches(matcher_tuple, value_tuple);
+}
+
+// Describes failures in matching matchers against values. If there
+// is no failure, nothing will be streamed to os.
+template <typename MatcherTuple, typename ValueTuple>
+void ExplainMatchFailureTupleTo(const MatcherTuple& matchers,
+ const ValueTuple& values,
+ ::std::ostream* os) {
+ TuplePrefix<tuple_size<MatcherTuple>::value>::ExplainMatchFailuresTo(
+ matchers, values, os);
+}
+
+// TransformTupleValues and its helper.
+//
+// TransformTupleValuesHelper hides the internal machinery that
+// TransformTupleValues uses to implement a tuple traversal.
+template <typename Tuple, typename Func, typename OutIter>
+class TransformTupleValuesHelper {
+ private:
+ typedef ::testing::tuple_size<Tuple> TupleSize;
+
+ public:
+ // For each member of tuple 't', taken in order, evaluates '*out++ = f(t)'.
+ // Returns the final value of 'out' in case the caller needs it.
+ static OutIter Run(Func f, const Tuple& t, OutIter out) {
+ return IterateOverTuple<Tuple, TupleSize::value>()(f, t, out);
+ }
+
+ private:
+ template <typename Tup, size_t kRemainingSize>
+ struct IterateOverTuple {
+ OutIter operator() (Func f, const Tup& t, OutIter out) const {
+ *out++ = f(::testing::get<TupleSize::value - kRemainingSize>(t));
+ return IterateOverTuple<Tup, kRemainingSize - 1>()(f, t, out);
+ }
+ };
+ template <typename Tup>
+ struct IterateOverTuple<Tup, 0> {
+ OutIter operator() (Func /* f */, const Tup& /* t */, OutIter out) const {
+ return out;
+ }
+ };
+};
+
+// Successively invokes 'f(element)' on each element of the tuple 't',
+// appending each result to the 'out' iterator. Returns the final value
+// of 'out'.
+template <typename Tuple, typename Func, typename OutIter>
+OutIter TransformTupleValues(Func f, const Tuple& t, OutIter out) {
+ return TransformTupleValuesHelper<Tuple, Func, OutIter>::Run(f, t, out);
+}
+
+// Implements A<T>().
+template <typename T>
+class AnyMatcherImpl : public MatcherInterface<T> {
+ public:
+ virtual bool MatchAndExplain(
+ T /* x */, MatchResultListener* /* listener */) const { return true; }
+ virtual void DescribeTo(::std::ostream* os) const { *os << "is anything"; }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ // This is mostly for completeness' safe, as it's not very useful
+ // to write Not(A<bool>()). However we cannot completely rule out
+ // such a possibility, and it doesn't hurt to be prepared.
+ *os << "never matches";
+ }
+};
+
+// Implements _, a matcher that matches any value of any
+// type. This is a polymorphic matcher, so we need a template type
+// conversion operator to make it appearing as a Matcher<T> for any
+// type T.
+class AnythingMatcher {
+ public:
+ template <typename T>
+ operator Matcher<T>() const { return A<T>(); }
+};
+
+// Implements a matcher that compares a given value with a
+// pre-supplied value using one of the ==, <=, <, etc, operators. The
+// two values being compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq(5) can be
+// used to match an int, a short, a double, etc). Therefore we use
+// a template type conversion operator in the implementation.
+//
+// The following template definition assumes that the Rhs parameter is
+// a "bare" type (i.e. neither 'const T' nor 'T&').
+template <typename D, typename Rhs, typename Op>
+class ComparisonBase {
+ public:
+ explicit ComparisonBase(const Rhs& rhs) : rhs_(rhs) {}
+ template <typename Lhs>
+ operator Matcher<Lhs>() const {
+ return MakeMatcher(new Impl<Lhs>(rhs_));
+ }
+
+ private:
+ template <typename Lhs>
+ class Impl : public MatcherInterface<Lhs> {
+ public:
+ explicit Impl(const Rhs& rhs) : rhs_(rhs) {}
+ virtual bool MatchAndExplain(
+ Lhs lhs, MatchResultListener* /* listener */) const {
+ return Op()(lhs, rhs_);
+ }
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << D::Desc() << " ";
+ UniversalPrint(rhs_, os);
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << D::NegatedDesc() << " ";
+ UniversalPrint(rhs_, os);
+ }
+ private:
+ Rhs rhs_;
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+ Rhs rhs_;
+ GTEST_DISALLOW_ASSIGN_(ComparisonBase);
+};
+
+template <typename Rhs>
+class EqMatcher : public ComparisonBase<EqMatcher<Rhs>, Rhs, AnyEq> {
+ public:
+ explicit EqMatcher(const Rhs& rhs)
+ : ComparisonBase<EqMatcher<Rhs>, Rhs, AnyEq>(rhs) { }
+ static const char* Desc() { return "is equal to"; }
+ static const char* NegatedDesc() { return "isn't equal to"; }
+};
+template <typename Rhs>
+class NeMatcher : public ComparisonBase<NeMatcher<Rhs>, Rhs, AnyNe> {
+ public:
+ explicit NeMatcher(const Rhs& rhs)
+ : ComparisonBase<NeMatcher<Rhs>, Rhs, AnyNe>(rhs) { }
+ static const char* Desc() { return "isn't equal to"; }
+ static const char* NegatedDesc() { return "is equal to"; }
+};
+template <typename Rhs>
+class LtMatcher : public ComparisonBase<LtMatcher<Rhs>, Rhs, AnyLt> {
+ public:
+ explicit LtMatcher(const Rhs& rhs)
+ : ComparisonBase<LtMatcher<Rhs>, Rhs, AnyLt>(rhs) { }
+ static const char* Desc() { return "is <"; }
+ static const char* NegatedDesc() { return "isn't <"; }
+};
+template <typename Rhs>
+class GtMatcher : public ComparisonBase<GtMatcher<Rhs>, Rhs, AnyGt> {
+ public:
+ explicit GtMatcher(const Rhs& rhs)
+ : ComparisonBase<GtMatcher<Rhs>, Rhs, AnyGt>(rhs) { }
+ static const char* Desc() { return "is >"; }
+ static const char* NegatedDesc() { return "isn't >"; }
+};
+template <typename Rhs>
+class LeMatcher : public ComparisonBase<LeMatcher<Rhs>, Rhs, AnyLe> {
+ public:
+ explicit LeMatcher(const Rhs& rhs)
+ : ComparisonBase<LeMatcher<Rhs>, Rhs, AnyLe>(rhs) { }
+ static const char* Desc() { return "is <="; }
+ static const char* NegatedDesc() { return "isn't <="; }
+};
+template <typename Rhs>
+class GeMatcher : public ComparisonBase<GeMatcher<Rhs>, Rhs, AnyGe> {
+ public:
+ explicit GeMatcher(const Rhs& rhs)
+ : ComparisonBase<GeMatcher<Rhs>, Rhs, AnyGe>(rhs) { }
+ static const char* Desc() { return "is >="; }
+ static const char* NegatedDesc() { return "isn't >="; }
+};
+
+// Implements the polymorphic IsNull() matcher, which matches any raw or smart
+// pointer that is NULL.
+class IsNullMatcher {
+ public:
+ template <typename Pointer>
+ bool MatchAndExplain(const Pointer& p,
+ MatchResultListener* /* listener */) const {
+#if GTEST_LANG_CXX11
+ return p == nullptr;
+#else // GTEST_LANG_CXX11
+ return GetRawPointer(p) == NULL;
+#endif // GTEST_LANG_CXX11
+ }
+
+ void DescribeTo(::std::ostream* os) const { *os << "is NULL"; }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "isn't NULL";
+ }
+};
+
+// Implements the polymorphic NotNull() matcher, which matches any raw or smart
+// pointer that is not NULL.
+class NotNullMatcher {
+ public:
+ template <typename Pointer>
+ bool MatchAndExplain(const Pointer& p,
+ MatchResultListener* /* listener */) const {
+#if GTEST_LANG_CXX11
+ return p != nullptr;
+#else // GTEST_LANG_CXX11
+ return GetRawPointer(p) != NULL;
+#endif // GTEST_LANG_CXX11
+ }
+
+ void DescribeTo(::std::ostream* os) const { *os << "isn't NULL"; }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is NULL";
+ }
+};
+
+// Ref(variable) matches any argument that is a reference to
+// 'variable'. This matcher is polymorphic as it can match any
+// super type of the type of 'variable'.
+//
+// The RefMatcher template class implements Ref(variable). It can
+// only be instantiated with a reference type. This prevents a user
+// from mistakenly using Ref(x) to match a non-reference function
+// argument. For example, the following will righteously cause a
+// compiler error:
+//
+// int n;
+// Matcher<int> m1 = Ref(n); // This won't compile.
+// Matcher<int&> m2 = Ref(n); // This will compile.
+template <typename T>
+class RefMatcher;
+
+template <typename T>
+class RefMatcher<T&> {
+ // Google Mock is a generic framework and thus needs to support
+ // mocking any function types, including those that take non-const
+ // reference arguments. Therefore the template parameter T (and
+ // Super below) can be instantiated to either a const type or a
+ // non-const type.
+ public:
+ // RefMatcher() takes a T& instead of const T&, as we want the
+ // compiler to catch using Ref(const_value) as a matcher for a
+ // non-const reference.
+ explicit RefMatcher(T& x) : object_(x) {} // NOLINT
+
+ template <typename Super>
+ operator Matcher<Super&>() const {
+ // By passing object_ (type T&) to Impl(), which expects a Super&,
+ // we make sure that Super is a super type of T. In particular,
+ // this catches using Ref(const_value) as a matcher for a
+ // non-const reference, as you cannot implicitly convert a const
+ // reference to a non-const reference.
+ return MakeMatcher(new Impl<Super>(object_));
+ }
+
+ private:
+ template <typename Super>
+ class Impl : public MatcherInterface<Super&> {
+ public:
+ explicit Impl(Super& x) : object_(x) {} // NOLINT
+
+ // MatchAndExplain() takes a Super& (as opposed to const Super&)
+ // in order to match the interface MatcherInterface<Super&>.
+ virtual bool MatchAndExplain(
+ Super& x, MatchResultListener* listener) const {
+ *listener << "which is located @" << static_cast<const void*>(&x);
+ return &x == &object_;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "references the variable ";
+ UniversalPrinter<Super&>::Print(object_, os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not reference the variable ";
+ UniversalPrinter<Super&>::Print(object_, os);
+ }
+
+ private:
+ const Super& object_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ T& object_;
+
+ GTEST_DISALLOW_ASSIGN_(RefMatcher);
+};
+
+// Polymorphic helper functions for narrow and wide string matchers.
+inline bool CaseInsensitiveCStringEquals(const char* lhs, const char* rhs) {
+ return String::CaseInsensitiveCStringEquals(lhs, rhs);
+}
+
+inline bool CaseInsensitiveCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs) {
+ return String::CaseInsensitiveWideCStringEquals(lhs, rhs);
+}
+
+// String comparison for narrow or wide strings that can have embedded NUL
+// characters.
+template <typename StringType>
+bool CaseInsensitiveStringEquals(const StringType& s1,
+ const StringType& s2) {
+ // Are the heads equal?
+ if (!CaseInsensitiveCStringEquals(s1.c_str(), s2.c_str())) {
+ return false;
+ }
+
+ // Skip the equal heads.
+ const typename StringType::value_type nul = 0;
+ const size_t i1 = s1.find(nul), i2 = s2.find(nul);
+
+ // Are we at the end of either s1 or s2?
+ if (i1 == StringType::npos || i2 == StringType::npos) {
+ return i1 == i2;
+ }
+
+ // Are the tails equal?
+ return CaseInsensitiveStringEquals(s1.substr(i1 + 1), s2.substr(i2 + 1));
+}
+
+// String matchers.
+
+// Implements equality-based string matchers like StrEq, StrCaseNe, and etc.
+template <typename StringType>
+class StrEqualityMatcher {
+ public:
+ StrEqualityMatcher(const StringType& str, bool expect_eq,
+ bool case_sensitive)
+ : string_(str), expect_eq_(expect_eq), case_sensitive_(case_sensitive) {}
+
+ // Accepts pointer types, particularly:
+ // const char*
+ // char*
+ // const wchar_t*
+ // wchar_t*
+ template <typename CharType>
+ bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+ if (s == NULL) {
+ return !expect_eq_;
+ }
+ return MatchAndExplain(StringType(s), listener);
+ }
+
+ // Matches anything that can convert to StringType.
+ //
+ // This is a template, not just a plain function with const StringType&,
+ // because StringPiece has some interfering non-explicit constructors.
+ template <typename MatcheeStringType>
+ bool MatchAndExplain(const MatcheeStringType& s,
+ MatchResultListener* /* listener */) const {
+ const StringType& s2(s);
+ const bool eq = case_sensitive_ ? s2 == string_ :
+ CaseInsensitiveStringEquals(s2, string_);
+ return expect_eq_ == eq;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ DescribeToHelper(expect_eq_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ DescribeToHelper(!expect_eq_, os);
+ }
+
+ private:
+ void DescribeToHelper(bool expect_eq, ::std::ostream* os) const {
+ *os << (expect_eq ? "is " : "isn't ");
+ *os << "equal to ";
+ if (!case_sensitive_) {
+ *os << "(ignoring case) ";
+ }
+ UniversalPrint(string_, os);
+ }
+
+ const StringType string_;
+ const bool expect_eq_;
+ const bool case_sensitive_;
+
+ GTEST_DISALLOW_ASSIGN_(StrEqualityMatcher);
+};
+
+// Implements the polymorphic HasSubstr(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class HasSubstrMatcher {
+ public:
+ explicit HasSubstrMatcher(const StringType& substring)
+ : substring_(substring) {}
+
+ // Accepts pointer types, particularly:
+ // const char*
+ // char*
+ // const wchar_t*
+ // wchar_t*
+ template <typename CharType>
+ bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ // Matches anything that can convert to StringType.
+ //
+ // This is a template, not just a plain function with const StringType&,
+ // because StringPiece has some interfering non-explicit constructors.
+ template <typename MatcheeStringType>
+ bool MatchAndExplain(const MatcheeStringType& s,
+ MatchResultListener* /* listener */) const {
+ const StringType& s2(s);
+ return s2.find(substring_) != StringType::npos;
+ }
+
+ // Describes what this matcher matches.
+ void DescribeTo(::std::ostream* os) const {
+ *os << "has substring ";
+ UniversalPrint(substring_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "has no substring ";
+ UniversalPrint(substring_, os);
+ }
+
+ private:
+ const StringType substring_;
+
+ GTEST_DISALLOW_ASSIGN_(HasSubstrMatcher);
+};
+
+// Implements the polymorphic StartsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class StartsWithMatcher {
+ public:
+ explicit StartsWithMatcher(const StringType& prefix) : prefix_(prefix) {
+ }
+
+ // Accepts pointer types, particularly:
+ // const char*
+ // char*
+ // const wchar_t*
+ // wchar_t*
+ template <typename CharType>
+ bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ // Matches anything that can convert to StringType.
+ //
+ // This is a template, not just a plain function with const StringType&,
+ // because StringPiece has some interfering non-explicit constructors.
+ template <typename MatcheeStringType>
+ bool MatchAndExplain(const MatcheeStringType& s,
+ MatchResultListener* /* listener */) const {
+ const StringType& s2(s);
+ return s2.length() >= prefix_.length() &&
+ s2.substr(0, prefix_.length()) == prefix_;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "starts with ";
+ UniversalPrint(prefix_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't start with ";
+ UniversalPrint(prefix_, os);
+ }
+
+ private:
+ const StringType prefix_;
+
+ GTEST_DISALLOW_ASSIGN_(StartsWithMatcher);
+};
+
+// Implements the polymorphic EndsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class EndsWithMatcher {
+ public:
+ explicit EndsWithMatcher(const StringType& suffix) : suffix_(suffix) {}
+
+ // Accepts pointer types, particularly:
+ // const char*
+ // char*
+ // const wchar_t*
+ // wchar_t*
+ template <typename CharType>
+ bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ // Matches anything that can convert to StringType.
+ //
+ // This is a template, not just a plain function with const StringType&,
+ // because StringPiece has some interfering non-explicit constructors.
+ template <typename MatcheeStringType>
+ bool MatchAndExplain(const MatcheeStringType& s,
+ MatchResultListener* /* listener */) const {
+ const StringType& s2(s);
+ return s2.length() >= suffix_.length() &&
+ s2.substr(s2.length() - suffix_.length()) == suffix_;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "ends with ";
+ UniversalPrint(suffix_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't end with ";
+ UniversalPrint(suffix_, os);
+ }
+
+ private:
+ const StringType suffix_;
+
+ GTEST_DISALLOW_ASSIGN_(EndsWithMatcher);
+};
+
+// Implements polymorphic matchers MatchesRegex(regex) and
+// ContainsRegex(regex), which can be used as a Matcher<T> as long as
+// T can be converted to a string.
+class MatchesRegexMatcher {
+ public:
+ MatchesRegexMatcher(const RE* regex, bool full_match)
+ : regex_(regex), full_match_(full_match) {}
+
+ // Accepts pointer types, particularly:
+ // const char*
+ // char*
+ // const wchar_t*
+ // wchar_t*
+ template <typename CharType>
+ bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(internal::string(s), listener);
+ }
+
+ // Matches anything that can convert to internal::string.
+ //
+ // This is a template, not just a plain function with const internal::string&,
+ // because StringPiece has some interfering non-explicit constructors.
+ template <class MatcheeStringType>
+ bool MatchAndExplain(const MatcheeStringType& s,
+ MatchResultListener* /* listener */) const {
+ const internal::string& s2(s);
+ return full_match_ ? RE::FullMatch(s2, *regex_) :
+ RE::PartialMatch(s2, *regex_);
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << (full_match_ ? "matches" : "contains")
+ << " regular expression ";
+ UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't " << (full_match_ ? "match" : "contain")
+ << " regular expression ";
+ UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+ }
+
+ private:
+ const internal::linked_ptr<const RE> regex_;
+ const bool full_match_;
+
+ GTEST_DISALLOW_ASSIGN_(MatchesRegexMatcher);
+};
+
+// Implements a matcher that compares the two fields of a 2-tuple
+// using one of the ==, <=, <, etc, operators. The two fields being
+// compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq() can be
+// used to match a tuple<int, short>, a tuple<const long&, double>,
+// etc). Therefore we use a template type conversion operator in the
+// implementation.
+template <typename D, typename Op>
+class PairMatchBase {
+ public:
+ template <typename T1, typename T2>
+ operator Matcher< ::testing::tuple<T1, T2> >() const {
+ return MakeMatcher(new Impl< ::testing::tuple<T1, T2> >);
+ }
+ template <typename T1, typename T2>
+ operator Matcher<const ::testing::tuple<T1, T2>&>() const {
+ return MakeMatcher(new Impl<const ::testing::tuple<T1, T2>&>);
+ }
+
+ private:
+ static ::std::ostream& GetDesc(::std::ostream& os) { // NOLINT
+ return os << D::Desc();
+ }
+
+ template <typename Tuple>
+ class Impl : public MatcherInterface<Tuple> {
+ public:
+ virtual bool MatchAndExplain(
+ Tuple args,
+ MatchResultListener* /* listener */) const {
+ return Op()(::testing::get<0>(args), ::testing::get<1>(args));
+ }
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "are " << GetDesc;
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "aren't " << GetDesc;
+ }
+ };
+};
+
+class Eq2Matcher : public PairMatchBase<Eq2Matcher, AnyEq> {
+ public:
+ static const char* Desc() { return "an equal pair"; }
+};
+class Ne2Matcher : public PairMatchBase<Ne2Matcher, AnyNe> {
+ public:
+ static const char* Desc() { return "an unequal pair"; }
+};
+class Lt2Matcher : public PairMatchBase<Lt2Matcher, AnyLt> {
+ public:
+ static const char* Desc() { return "a pair where the first < the second"; }
+};
+class Gt2Matcher : public PairMatchBase<Gt2Matcher, AnyGt> {
+ public:
+ static const char* Desc() { return "a pair where the first > the second"; }
+};
+class Le2Matcher : public PairMatchBase<Le2Matcher, AnyLe> {
+ public:
+ static const char* Desc() { return "a pair where the first <= the second"; }
+};
+class Ge2Matcher : public PairMatchBase<Ge2Matcher, AnyGe> {
+ public:
+ static const char* Desc() { return "a pair where the first >= the second"; }
+};
+
+// Implements the Not(...) matcher for a particular argument type T.
+// We do not nest it inside the NotMatcher class template, as that
+// will prevent different instantiations of NotMatcher from sharing
+// the same NotMatcherImpl<T> class.
+template <typename T>
+class NotMatcherImpl : public MatcherInterface<T> {
+ public:
+ explicit NotMatcherImpl(const Matcher<T>& matcher)
+ : matcher_(matcher) {}
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return !matcher_.MatchAndExplain(x, listener);
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ matcher_.DescribeNegationTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ matcher_.DescribeTo(os);
+ }
+
+ private:
+ const Matcher<T> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(NotMatcherImpl);
+};
+
+// Implements the Not(m) matcher, which matches a value that doesn't
+// match matcher m.
+template <typename InnerMatcher>
+class NotMatcher {
+ public:
+ explicit NotMatcher(InnerMatcher matcher) : matcher_(matcher) {}
+
+ // This template type conversion operator allows Not(m) to be used
+ // to match any type m can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new NotMatcherImpl<T>(SafeMatcherCast<T>(matcher_)));
+ }
+
+ private:
+ InnerMatcher matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(NotMatcher);
+};
+
+// Implements the AllOf(m1, m2) matcher for a particular argument type
+// T. We do not nest it inside the BothOfMatcher class template, as
+// that will prevent different instantiations of BothOfMatcher from
+// sharing the same BothOfMatcherImpl<T> class.
+template <typename T>
+class BothOfMatcherImpl : public MatcherInterface<T> {
+ public:
+ BothOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeTo(os);
+ *os << ") and (";
+ matcher2_.DescribeTo(os);
+ *os << ")";
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeNegationTo(os);
+ *os << ") or (";
+ matcher2_.DescribeNegationTo(os);
+ *os << ")";
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ // If either matcher1_ or matcher2_ doesn't match x, we only need
+ // to explain why one of them fails.
+ StringMatchResultListener listener1;
+ if (!matcher1_.MatchAndExplain(x, &listener1)) {
+ *listener << listener1.str();
+ return false;
+ }
+
+ StringMatchResultListener listener2;
+ if (!matcher2_.MatchAndExplain(x, &listener2)) {
+ *listener << listener2.str();
+ return false;
+ }
+
+ // Otherwise we need to explain why *both* of them match.
+ const internal::string s1 = listener1.str();
+ const internal::string s2 = listener2.str();
+
+ if (s1 == "") {
+ *listener << s2;
+ } else {
+ *listener << s1;
+ if (s2 != "") {
+ *listener << ", and " << s2;
+ }
+ }
+ return true;
+ }
+
+ private:
+ const Matcher<T> matcher1_;
+ const Matcher<T> matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(BothOfMatcherImpl);
+};
+
+#if GTEST_LANG_CXX11
+// MatcherList provides mechanisms for storing a variable number of matchers in
+// a list structure (ListType) and creating a combining matcher from such a
+// list.
+// The template is defined recursively using the following template paramters:
+// * kSize is the length of the MatcherList.
+// * Head is the type of the first matcher of the list.
+// * Tail denotes the types of the remaining matchers of the list.
+template <int kSize, typename Head, typename... Tail>
+struct MatcherList {
+ typedef MatcherList<kSize - 1, Tail...> MatcherListTail;
+ typedef ::std::pair<Head, typename MatcherListTail::ListType> ListType;
+
+ // BuildList stores variadic type values in a nested pair structure.
+ // Example:
+ // MatcherList<3, int, string, float>::BuildList(5, "foo", 2.0) will return
+ // the corresponding result of type pair<int, pair<string, float>>.
+ static ListType BuildList(const Head& matcher, const Tail&... tail) {
+ return ListType(matcher, MatcherListTail::BuildList(tail...));
+ }
+
+ // CreateMatcher<T> creates a Matcher<T> from a given list of matchers (built
+ // by BuildList()). CombiningMatcher<T> is used to combine the matchers of the
+ // list. CombiningMatcher<T> must implement MatcherInterface<T> and have a
+ // constructor taking two Matcher<T>s as input.
+ template <typename T, template <typename /* T */> class CombiningMatcher>
+ static Matcher<T> CreateMatcher(const ListType& matchers) {
+ return Matcher<T>(new CombiningMatcher<T>(
+ SafeMatcherCast<T>(matchers.first),
+ MatcherListTail::template CreateMatcher<T, CombiningMatcher>(
+ matchers.second)));
+ }
+};
+
+// The following defines the base case for the recursive definition of
+// MatcherList.
+template <typename Matcher1, typename Matcher2>
+struct MatcherList<2, Matcher1, Matcher2> {
+ typedef ::std::pair<Matcher1, Matcher2> ListType;
+
+ static ListType BuildList(const Matcher1& matcher1,
+ const Matcher2& matcher2) {
+ return ::std::pair<Matcher1, Matcher2>(matcher1, matcher2);
+ }
+
+ template <typename T, template <typename /* T */> class CombiningMatcher>
+ static Matcher<T> CreateMatcher(const ListType& matchers) {
+ return Matcher<T>(new CombiningMatcher<T>(
+ SafeMatcherCast<T>(matchers.first),
+ SafeMatcherCast<T>(matchers.second)));
+ }
+};
+
+// VariadicMatcher is used for the variadic implementation of
+// AllOf(m_1, m_2, ...) and AnyOf(m_1, m_2, ...).
+// CombiningMatcher<T> is used to recursively combine the provided matchers
+// (of type Args...).
+template <template <typename T> class CombiningMatcher, typename... Args>
+class VariadicMatcher {
+ public:
+ VariadicMatcher(const Args&... matchers) // NOLINT
+ : matchers_(MatcherListType::BuildList(matchers...)) {}
+
+ // This template type conversion operator allows an
+ // VariadicMatcher<Matcher1, Matcher2...> object to match any type that
+ // all of the provided matchers (Matcher1, Matcher2, ...) can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return MatcherListType::template CreateMatcher<T, CombiningMatcher>(
+ matchers_);
+ }
+
+ private:
+ typedef MatcherList<sizeof...(Args), Args...> MatcherListType;
+
+ const typename MatcherListType::ListType matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(VariadicMatcher);
+};
+
+template <typename... Args>
+using AllOfMatcher = VariadicMatcher<BothOfMatcherImpl, Args...>;
+
+#endif // GTEST_LANG_CXX11
+
+// Used for implementing the AllOf(m_1, ..., m_n) matcher, which
+// matches a value that matches all of the matchers m_1, ..., and m_n.
+template <typename Matcher1, typename Matcher2>
+class BothOfMatcher {
+ public:
+ BothOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ // This template type conversion operator allows a
+ // BothOfMatcher<Matcher1, Matcher2> object to match any type that
+ // both Matcher1 and Matcher2 can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new BothOfMatcherImpl<T>(SafeMatcherCast<T>(matcher1_),
+ SafeMatcherCast<T>(matcher2_)));
+ }
+
+ private:
+ Matcher1 matcher1_;
+ Matcher2 matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(BothOfMatcher);
+};
+
+// Implements the AnyOf(m1, m2) matcher for a particular argument type
+// T. We do not nest it inside the AnyOfMatcher class template, as
+// that will prevent different instantiations of AnyOfMatcher from
+// sharing the same EitherOfMatcherImpl<T> class.
+template <typename T>
+class EitherOfMatcherImpl : public MatcherInterface<T> {
+ public:
+ EitherOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeTo(os);
+ *os << ") or (";
+ matcher2_.DescribeTo(os);
+ *os << ")";
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeNegationTo(os);
+ *os << ") and (";
+ matcher2_.DescribeNegationTo(os);
+ *os << ")";
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ // If either matcher1_ or matcher2_ matches x, we just need to
+ // explain why *one* of them matches.
+ StringMatchResultListener listener1;
+ if (matcher1_.MatchAndExplain(x, &listener1)) {
+ *listener << listener1.str();
+ return true;
+ }
+
+ StringMatchResultListener listener2;
+ if (matcher2_.MatchAndExplain(x, &listener2)) {
+ *listener << listener2.str();
+ return true;
+ }
+
+ // Otherwise we need to explain why *both* of them fail.
+ const internal::string s1 = listener1.str();
+ const internal::string s2 = listener2.str();
+
+ if (s1 == "") {
+ *listener << s2;
+ } else {
+ *listener << s1;
+ if (s2 != "") {
+ *listener << ", and " << s2;
+ }
+ }
+ return false;
+ }
+
+ private:
+ const Matcher<T> matcher1_;
+ const Matcher<T> matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(EitherOfMatcherImpl);
+};
+
+#if GTEST_LANG_CXX11
+// AnyOfMatcher is used for the variadic implementation of AnyOf(m_1, m_2, ...).
+template <typename... Args>
+using AnyOfMatcher = VariadicMatcher<EitherOfMatcherImpl, Args...>;
+
+#endif // GTEST_LANG_CXX11
+
+// Used for implementing the AnyOf(m_1, ..., m_n) matcher, which
+// matches a value that matches at least one of the matchers m_1, ...,
+// and m_n.
+template <typename Matcher1, typename Matcher2>
+class EitherOfMatcher {
+ public:
+ EitherOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ // This template type conversion operator allows a
+ // EitherOfMatcher<Matcher1, Matcher2> object to match any type that
+ // both Matcher1 and Matcher2 can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new EitherOfMatcherImpl<T>(
+ SafeMatcherCast<T>(matcher1_), SafeMatcherCast<T>(matcher2_)));
+ }
+
+ private:
+ Matcher1 matcher1_;
+ Matcher2 matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(EitherOfMatcher);
+};
+
+// Used for implementing Truly(pred), which turns a predicate into a
+// matcher.
+template <typename Predicate>
+class TrulyMatcher {
+ public:
+ explicit TrulyMatcher(Predicate pred) : predicate_(pred) {}
+
+ // This method template allows Truly(pred) to be used as a matcher
+ // for type T where T is the argument type of predicate 'pred'. The
+ // argument is passed by reference as the predicate may be
+ // interested in the address of the argument.
+ template <typename T>
+ bool MatchAndExplain(T& x, // NOLINT
+ MatchResultListener* /* listener */) const {
+ // Without the if-statement, MSVC sometimes warns about converting
+ // a value to bool (warning 4800).
+ //
+ // We cannot write 'return !!predicate_(x);' as that doesn't work
+ // when predicate_(x) returns a class convertible to bool but
+ // having no operator!().
+ if (predicate_(x))
+ return true;
+ return false;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "satisfies the given predicate";
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't satisfy the given predicate";
+ }
+
+ private:
+ Predicate predicate_;
+
+ GTEST_DISALLOW_ASSIGN_(TrulyMatcher);
+};
+
+// Used for implementing Matches(matcher), which turns a matcher into
+// a predicate.
+template <typename M>
+class MatcherAsPredicate {
+ public:
+ explicit MatcherAsPredicate(M matcher) : matcher_(matcher) {}
+
+ // This template operator() allows Matches(m) to be used as a
+ // predicate on type T where m is a matcher on type T.
+ //
+ // The argument x is passed by reference instead of by value, as
+ // some matcher may be interested in its address (e.g. as in
+ // Matches(Ref(n))(x)).
+ template <typename T>
+ bool operator()(const T& x) const {
+ // We let matcher_ commit to a particular type here instead of
+ // when the MatcherAsPredicate object was constructed. This
+ // allows us to write Matches(m) where m is a polymorphic matcher
+ // (e.g. Eq(5)).
+ //
+ // If we write Matcher<T>(matcher_).Matches(x) here, it won't
+ // compile when matcher_ has type Matcher<const T&>; if we write
+ // Matcher<const T&>(matcher_).Matches(x) here, it won't compile
+ // when matcher_ has type Matcher<T>; if we just write
+ // matcher_.Matches(x), it won't compile when matcher_ is
+ // polymorphic, e.g. Eq(5).
+ //
+ // MatcherCast<const T&>() is necessary for making the code work
+ // in all of the above situations.
+ return MatcherCast<const T&>(matcher_).Matches(x);
+ }
+
+ private:
+ M matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(MatcherAsPredicate);
+};
+
+// For implementing ASSERT_THAT() and EXPECT_THAT(). The template
+// argument M must be a type that can be converted to a matcher.
+template <typename M>
+class PredicateFormatterFromMatcher {
+ public:
+ explicit PredicateFormatterFromMatcher(M m) : matcher_(internal::move(m)) {}
+
+ // This template () operator allows a PredicateFormatterFromMatcher
+ // object to act as a predicate-formatter suitable for using with
+ // Google Test's EXPECT_PRED_FORMAT1() macro.
+ template <typename T>
+ AssertionResult operator()(const char* value_text, const T& x) const {
+ // We convert matcher_ to a Matcher<const T&> *now* instead of
+ // when the PredicateFormatterFromMatcher object was constructed,
+ // as matcher_ may be polymorphic (e.g. NotNull()) and we won't
+ // know which type to instantiate it to until we actually see the
+ // type of x here.
+ //
+ // We write SafeMatcherCast<const T&>(matcher_) instead of
+ // Matcher<const T&>(matcher_), as the latter won't compile when
+ // matcher_ has type Matcher<T> (e.g. An<int>()).
+ // We don't write MatcherCast<const T&> either, as that allows
+ // potentially unsafe downcasting of the matcher argument.
+ const Matcher<const T&> matcher = SafeMatcherCast<const T&>(matcher_);
+ StringMatchResultListener listener;
+ if (MatchPrintAndExplain(x, matcher, &listener))
+ return AssertionSuccess();
+
+ ::std::stringstream ss;
+ ss << "Value of: " << value_text << "\n"
+ << "Expected: ";
+ matcher.DescribeTo(&ss);
+ ss << "\n Actual: " << listener.str();
+ return AssertionFailure() << ss.str();
+ }
+
+ private:
+ const M matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PredicateFormatterFromMatcher);
+};
+
+// A helper function for converting a matcher to a predicate-formatter
+// without the user needing to explicitly write the type. This is
+// used for implementing ASSERT_THAT() and EXPECT_THAT().
+// Implementation detail: 'matcher' is received by-value to force decaying.
+template <typename M>
+inline PredicateFormatterFromMatcher<M>
+MakePredicateFormatterFromMatcher(M matcher) {
+ return PredicateFormatterFromMatcher<M>(internal::move(matcher));
+}
+
+// Implements the polymorphic floating point equality matcher, which matches
+// two float values using ULP-based approximation or, optionally, a
+// user-specified epsilon. The template is meant to be instantiated with
+// FloatType being either float or double.
+template <typename FloatType>
+class FloatingEqMatcher {
+ public:
+ // Constructor for FloatingEqMatcher.
+ // The matcher's input will be compared with expected. The matcher treats two
+ // NANs as equal if nan_eq_nan is true. Otherwise, under IEEE standards,
+ // equality comparisons between NANs will always return false. We specify a
+ // negative max_abs_error_ term to indicate that ULP-based approximation will
+ // be used for comparison.
+ FloatingEqMatcher(FloatType expected, bool nan_eq_nan) :
+ expected_(expected), nan_eq_nan_(nan_eq_nan), max_abs_error_(-1) {
+ }
+
+ // Constructor that supports a user-specified max_abs_error that will be used
+ // for comparison instead of ULP-based approximation. The max absolute
+ // should be non-negative.
+ FloatingEqMatcher(FloatType expected, bool nan_eq_nan,
+ FloatType max_abs_error)
+ : expected_(expected),
+ nan_eq_nan_(nan_eq_nan),
+ max_abs_error_(max_abs_error) {
+ GTEST_CHECK_(max_abs_error >= 0)
+ << ", where max_abs_error is" << max_abs_error;
+ }
+
+ // Implements floating point equality matcher as a Matcher<T>.
+ template <typename T>
+ class Impl : public MatcherInterface<T> {
+ public:
+ Impl(FloatType expected, bool nan_eq_nan, FloatType max_abs_error)
+ : expected_(expected),
+ nan_eq_nan_(nan_eq_nan),
+ max_abs_error_(max_abs_error) {}
+
+ virtual bool MatchAndExplain(T value,
+ MatchResultListener* listener) const {
+ const FloatingPoint<FloatType> actual(value), expected(expected_);
+
+ // Compares NaNs first, if nan_eq_nan_ is true.
+ if (actual.is_nan() || expected.is_nan()) {
+ if (actual.is_nan() && expected.is_nan()) {
+ return nan_eq_nan_;
+ }
+ // One is nan; the other is not nan.
+ return false;
+ }
+ if (HasMaxAbsError()) {
+ // We perform an equality check so that inf will match inf, regardless
+ // of error bounds. If the result of value - expected_ would result in
+ // overflow or if either value is inf, the default result is infinity,
+ // which should only match if max_abs_error_ is also infinity.
+ if (value == expected_) {
+ return true;
+ }
+
+ const FloatType diff = value - expected_;
+ if (fabs(diff) <= max_abs_error_) {
+ return true;
+ }
+
+ if (listener->IsInterested()) {
+ *listener << "which is " << diff << " from " << expected_;
+ }
+ return false;
+ } else {
+ return actual.AlmostEquals(expected);
+ }
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ // os->precision() returns the previously set precision, which we
+ // store to restore the ostream to its original configuration
+ // after outputting.
+ const ::std::streamsize old_precision = os->precision(
+ ::std::numeric_limits<FloatType>::digits10 + 2);
+ if (FloatingPoint<FloatType>(expected_).is_nan()) {
+ if (nan_eq_nan_) {
+ *os << "is NaN";
+ } else {
+ *os << "never matches";
+ }
+ } else {
+ *os << "is approximately " << expected_;
+ if (HasMaxAbsError()) {
+ *os << " (absolute error <= " << max_abs_error_ << ")";
+ }
+ }
+ os->precision(old_precision);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ // As before, get original precision.
+ const ::std::streamsize old_precision = os->precision(
+ ::std::numeric_limits<FloatType>::digits10 + 2);
+ if (FloatingPoint<FloatType>(expected_).is_nan()) {
+ if (nan_eq_nan_) {
+ *os << "isn't NaN";
+ } else {
+ *os << "is anything";
+ }
+ } else {
+ *os << "isn't approximately " << expected_;
+ if (HasMaxAbsError()) {
+ *os << " (absolute error > " << max_abs_error_ << ")";
+ }
+ }
+ // Restore original precision.
+ os->precision(old_precision);
+ }
+
+ private:
+ bool HasMaxAbsError() const {
+ return max_abs_error_ >= 0;
+ }
+
+ const FloatType expected_;
+ const bool nan_eq_nan_;
+ // max_abs_error will be used for value comparison when >= 0.
+ const FloatType max_abs_error_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ // The following 3 type conversion operators allow FloatEq(expected) and
+ // NanSensitiveFloatEq(expected) to be used as a Matcher<float>, a
+ // Matcher<const float&>, or a Matcher<float&>, but nothing else.
+ // (While Google's C++ coding style doesn't allow arguments passed
+ // by non-const reference, we may see them in code not conforming to
+ // the style. Therefore Google Mock needs to support them.)
+ operator Matcher<FloatType>() const {
+ return MakeMatcher(
+ new Impl<FloatType>(expected_, nan_eq_nan_, max_abs_error_));
+ }
+
+ operator Matcher<const FloatType&>() const {
+ return MakeMatcher(
+ new Impl<const FloatType&>(expected_, nan_eq_nan_, max_abs_error_));
+ }
+
+ operator Matcher<FloatType&>() const {
+ return MakeMatcher(
+ new Impl<FloatType&>(expected_, nan_eq_nan_, max_abs_error_));
+ }
+
+ private:
+ const FloatType expected_;
+ const bool nan_eq_nan_;
+ // max_abs_error will be used for value comparison when >= 0.
+ const FloatType max_abs_error_;
+
+ GTEST_DISALLOW_ASSIGN_(FloatingEqMatcher);
+};
+
+// Implements the Pointee(m) matcher for matching a pointer whose
+// pointee matches matcher m. The pointer can be either raw or smart.
+template <typename InnerMatcher>
+class PointeeMatcher {
+ public:
+ explicit PointeeMatcher(const InnerMatcher& matcher) : matcher_(matcher) {}
+
+ // This type conversion operator template allows Pointee(m) to be
+ // used as a matcher for any pointer type whose pointee type is
+ // compatible with the inner matcher, where type Pointer can be
+ // either a raw pointer or a smart pointer.
+ //
+ // The reason we do this instead of relying on
+ // MakePolymorphicMatcher() is that the latter is not flexible
+ // enough for implementing the DescribeTo() method of Pointee().
+ template <typename Pointer>
+ operator Matcher<Pointer>() const {
+ return MakeMatcher(new Impl<Pointer>(matcher_));
+ }
+
+ private:
+ // The monomorphic implementation that works for a particular pointer type.
+ template <typename Pointer>
+ class Impl : public MatcherInterface<Pointer> {
+ public:
+ typedef typename PointeeOf<GTEST_REMOVE_CONST_( // NOLINT
+ GTEST_REMOVE_REFERENCE_(Pointer))>::type Pointee;
+
+ explicit Impl(const InnerMatcher& matcher)
+ : matcher_(MatcherCast<const Pointee&>(matcher)) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "points to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not point to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual bool MatchAndExplain(Pointer pointer,
+ MatchResultListener* listener) const {
+ if (GetRawPointer(pointer) == NULL)
+ return false;
+
+ *listener << "which points to ";
+ return MatchPrintAndExplain(*pointer, matcher_, listener);
+ }
+
+ private:
+ const Matcher<const Pointee&> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const InnerMatcher matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PointeeMatcher);
+};
+
+// Implements the WhenDynamicCastTo<T>(m) matcher that matches a pointer or
+// reference that matches inner_matcher when dynamic_cast<T> is applied.
+// The result of dynamic_cast<To> is forwarded to the inner matcher.
+// If To is a pointer and the cast fails, the inner matcher will receive NULL.
+// If To is a reference and the cast fails, this matcher returns false
+// immediately.
+template <typename To>
+class WhenDynamicCastToMatcherBase {
+ public:
+ explicit WhenDynamicCastToMatcherBase(const Matcher<To>& matcher)
+ : matcher_(matcher) {}
+
+ void DescribeTo(::std::ostream* os) const {
+ GetCastTypeDescription(os);
+ matcher_.DescribeTo(os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ GetCastTypeDescription(os);
+ matcher_.DescribeNegationTo(os);
+ }
+
+ protected:
+ const Matcher<To> matcher_;
+
+ static string GetToName() {
+#if GTEST_HAS_RTTI
+ return GetTypeName<To>();
+#else // GTEST_HAS_RTTI
+ return "the target type";
+#endif // GTEST_HAS_RTTI
+ }
+
+ private:
+ static void GetCastTypeDescription(::std::ostream* os) {
+ *os << "when dynamic_cast to " << GetToName() << ", ";
+ }
+
+ GTEST_DISALLOW_ASSIGN_(WhenDynamicCastToMatcherBase);
+};
+
+// Primary template.
+// To is a pointer. Cast and forward the result.
+template <typename To>
+class WhenDynamicCastToMatcher : public WhenDynamicCastToMatcherBase<To> {
+ public:
+ explicit WhenDynamicCastToMatcher(const Matcher<To>& matcher)
+ : WhenDynamicCastToMatcherBase<To>(matcher) {}
+
+ template <typename From>
+ bool MatchAndExplain(From from, MatchResultListener* listener) const {
+ // TODO(sbenza): Add more detail on failures. ie did the dyn_cast fail?
+ To to = dynamic_cast<To>(from);
+ return MatchPrintAndExplain(to, this->matcher_, listener);
+ }
+};
+
+// Specialize for references.
+// In this case we return false if the dynamic_cast fails.
+template <typename To>
+class WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
+ public:
+ explicit WhenDynamicCastToMatcher(const Matcher<To&>& matcher)
+ : WhenDynamicCastToMatcherBase<To&>(matcher) {}
+
+ template <typename From>
+ bool MatchAndExplain(From& from, MatchResultListener* listener) const {
+ // We don't want an std::bad_cast here, so do the cast with pointers.
+ To* to = dynamic_cast<To*>(&from);
+ if (to == NULL) {
+ *listener << "which cannot be dynamic_cast to " << this->GetToName();
+ return false;
+ }
+ return MatchPrintAndExplain(*to, this->matcher_, listener);
+ }
+};
+
+// Implements the Field() matcher for matching a field (i.e. member
+// variable) of an object.
+template <typename Class, typename FieldType>
+class FieldMatcher {
+ public:
+ FieldMatcher(FieldType Class::*field,
+ const Matcher<const FieldType&>& matcher)
+ : field_(field), matcher_(matcher) {}
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "is an object whose given field ";
+ matcher_.DescribeTo(os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is an object whose given field ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ template <typename T>
+ bool MatchAndExplain(const T& value, MatchResultListener* listener) const {
+ return MatchAndExplainImpl(
+ typename ::testing::internal::
+ is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+ value, listener);
+ }
+
+ private:
+ // The first argument of MatchAndExplainImpl() is needed to help
+ // Symbian's C++ compiler choose which overload to use. Its type is
+ // true_type iff the Field() matcher is used to match a pointer.
+ bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+ MatchResultListener* listener) const {
+ *listener << "whose given field is ";
+ return MatchPrintAndExplain(obj.*field_, matcher_, listener);
+ }
+
+ bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+ MatchResultListener* listener) const {
+ if (p == NULL)
+ return false;
+
+ *listener << "which points to an object ";
+ // Since *p has a field, it must be a class/struct/union type and
+ // thus cannot be a pointer. Therefore we pass false_type() as
+ // the first argument.
+ return MatchAndExplainImpl(false_type(), *p, listener);
+ }
+
+ const FieldType Class::*field_;
+ const Matcher<const FieldType&> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(FieldMatcher);
+};
+
+// Implements the Property() matcher for matching a property
+// (i.e. return value of a getter method) of an object.
+template <typename Class, typename PropertyType>
+class PropertyMatcher {
+ public:
+ // The property may have a reference type, so 'const PropertyType&'
+ // may cause double references and fail to compile. That's why we
+ // need GTEST_REFERENCE_TO_CONST, which works regardless of
+ // PropertyType being a reference or not.
+ typedef GTEST_REFERENCE_TO_CONST_(PropertyType) RefToConstProperty;
+
+ PropertyMatcher(PropertyType (Class::*property)() const,
+ const Matcher<RefToConstProperty>& matcher)
+ : property_(property), matcher_(matcher) {}
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "is an object whose given property ";
+ matcher_.DescribeTo(os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is an object whose given property ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ template <typename T>
+ bool MatchAndExplain(const T&value, MatchResultListener* listener) const {
+ return MatchAndExplainImpl(
+ typename ::testing::internal::
+ is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+ value, listener);
+ }
+
+ private:
+ // The first argument of MatchAndExplainImpl() is needed to help
+ // Symbian's C++ compiler choose which overload to use. Its type is
+ // true_type iff the Property() matcher is used to match a pointer.
+ bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+ MatchResultListener* listener) const {
+ *listener << "whose given property is ";
+ // Cannot pass the return value (for example, int) to MatchPrintAndExplain,
+ // which takes a non-const reference as argument.
+#if defined(_PREFAST_ ) && _MSC_VER == 1800
+ // Workaround bug in VC++ 2013's /analyze parser.
+ // https://connect.microsoft.com/VisualStudio/feedback/details/1106363/internal-compiler-error-with-analyze-due-to-failure-to-infer-move
+ posix::Abort(); // To make sure it is never run.
+ return false;
+#else
+ RefToConstProperty result = (obj.*property_)();
+ return MatchPrintAndExplain(result, matcher_, listener);
+#endif
+ }
+
+ bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+ MatchResultListener* listener) const {
+ if (p == NULL)
+ return false;
+
+ *listener << "which points to an object ";
+ // Since *p has a property method, it must be a class/struct/union
+ // type and thus cannot be a pointer. Therefore we pass
+ // false_type() as the first argument.
+ return MatchAndExplainImpl(false_type(), *p, listener);
+ }
+
+ PropertyType (Class::*property_)() const;
+ const Matcher<RefToConstProperty> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PropertyMatcher);
+};
+
+// Type traits specifying various features of different functors for ResultOf.
+// The default template specifies features for functor objects.
+// Functor classes have to typedef argument_type and result_type
+// to be compatible with ResultOf.
+template <typename Functor>
+struct CallableTraits {
+ typedef typename Functor::result_type ResultType;
+ typedef Functor StorageType;
+
+ static void CheckIsValid(Functor /* functor */) {}
+ template <typename T>
+ static ResultType Invoke(Functor f, T arg) { return f(arg); }
+};
+
+// Specialization for function pointers.
+template <typename ArgType, typename ResType>
+struct CallableTraits<ResType(*)(ArgType)> {
+ typedef ResType ResultType;
+ typedef ResType(*StorageType)(ArgType);
+
+ static void CheckIsValid(ResType(*f)(ArgType)) {
+ GTEST_CHECK_(f != NULL)
+ << "NULL function pointer is passed into ResultOf().";
+ }
+ template <typename T>
+ static ResType Invoke(ResType(*f)(ArgType), T arg) {
+ return (*f)(arg);
+ }
+};
+
+// Implements the ResultOf() matcher for matching a return value of a
+// unary function of an object.
+template <typename Callable>
+class ResultOfMatcher {
+ public:
+ typedef typename CallableTraits<Callable>::ResultType ResultType;
+
+ ResultOfMatcher(Callable callable, const Matcher<ResultType>& matcher)
+ : callable_(callable), matcher_(matcher) {
+ CallableTraits<Callable>::CheckIsValid(callable_);
+ }
+
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new Impl<T>(callable_, matcher_));
+ }
+
+ private:
+ typedef typename CallableTraits<Callable>::StorageType CallableStorageType;
+
+ template <typename T>
+ class Impl : public MatcherInterface<T> {
+ public:
+ Impl(CallableStorageType callable, const Matcher<ResultType>& matcher)
+ : callable_(callable), matcher_(matcher) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "is mapped by the given callable to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is mapped by the given callable to a value that ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(T obj, MatchResultListener* listener) const {
+ *listener << "which is mapped by the given callable to ";
+ // Cannot pass the return value (for example, int) to
+ // MatchPrintAndExplain, which takes a non-const reference as argument.
+ ResultType result =
+ CallableTraits<Callable>::template Invoke<T>(callable_, obj);
+ return MatchPrintAndExplain(result, matcher_, listener);
+ }
+
+ private:
+ // Functors often define operator() as non-const method even though
+ // they are actualy stateless. But we need to use them even when
+ // 'this' is a const pointer. It's the user's responsibility not to
+ // use stateful callables with ResultOf(), which does't guarantee
+ // how many times the callable will be invoked.
+ mutable CallableStorageType callable_;
+ const Matcher<ResultType> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ }; // class Impl
+
+ const CallableStorageType callable_;
+ const Matcher<ResultType> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ResultOfMatcher);
+};
+
+// Implements a matcher that checks the size of an STL-style container.
+template <typename SizeMatcher>
+class SizeIsMatcher {
+ public:
+ explicit SizeIsMatcher(const SizeMatcher& size_matcher)
+ : size_matcher_(size_matcher) {
+ }
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new Impl<Container>(size_matcher_));
+ }
+
+ template <typename Container>
+ class Impl : public MatcherInterface<Container> {
+ public:
+ typedef internal::StlContainerView<
+ GTEST_REMOVE_REFERENCE_AND_CONST_(Container)> ContainerView;
+ typedef typename ContainerView::type::size_type SizeType;
+ explicit Impl(const SizeMatcher& size_matcher)
+ : size_matcher_(MatcherCast<SizeType>(size_matcher)) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "size ";
+ size_matcher_.DescribeTo(os);
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "size ";
+ size_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ SizeType size = container.size();
+ StringMatchResultListener size_listener;
+ const bool result = size_matcher_.MatchAndExplain(size, &size_listener);
+ *listener
+ << "whose size " << size << (result ? " matches" : " doesn't match");
+ PrintIfNotEmpty(size_listener.str(), listener->stream());
+ return result;
+ }
+
+ private:
+ const Matcher<SizeType> size_matcher_;
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ private:
+ const SizeMatcher size_matcher_;
+ GTEST_DISALLOW_ASSIGN_(SizeIsMatcher);
+};
+
+// Implements a matcher that checks the begin()..end() distance of an STL-style
+// container.
+template <typename DistanceMatcher>
+class BeginEndDistanceIsMatcher {
+ public:
+ explicit BeginEndDistanceIsMatcher(const DistanceMatcher& distance_matcher)
+ : distance_matcher_(distance_matcher) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new Impl<Container>(distance_matcher_));
+ }
+
+ template <typename Container>
+ class Impl : public MatcherInterface<Container> {
+ public:
+ typedef internal::StlContainerView<
+ GTEST_REMOVE_REFERENCE_AND_CONST_(Container)> ContainerView;
+ typedef typename std::iterator_traits<
+ typename ContainerView::type::const_iterator>::difference_type
+ DistanceType;
+ explicit Impl(const DistanceMatcher& distance_matcher)
+ : distance_matcher_(MatcherCast<DistanceType>(distance_matcher)) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "distance between begin() and end() ";
+ distance_matcher_.DescribeTo(os);
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "distance between begin() and end() ";
+ distance_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+#if GTEST_HAS_STD_BEGIN_AND_END_
+ using std::begin;
+ using std::end;
+ DistanceType distance = std::distance(begin(container), end(container));
+#else
+ DistanceType distance = std::distance(container.begin(), container.end());
+#endif
+ StringMatchResultListener distance_listener;
+ const bool result =
+ distance_matcher_.MatchAndExplain(distance, &distance_listener);
+ *listener << "whose distance between begin() and end() " << distance
+ << (result ? " matches" : " doesn't match");
+ PrintIfNotEmpty(distance_listener.str(), listener->stream());
+ return result;
+ }
+
+ private:
+ const Matcher<DistanceType> distance_matcher_;
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ private:
+ const DistanceMatcher distance_matcher_;
+ GTEST_DISALLOW_ASSIGN_(BeginEndDistanceIsMatcher);
+};
+
+// Implements an equality matcher for any STL-style container whose elements
+// support ==. This matcher is like Eq(), but its failure explanations provide
+// more detailed information that is useful when the container is used as a set.
+// The failure message reports elements that are in one of the operands but not
+// the other. The failure messages do not report duplicate or out-of-order
+// elements in the containers (which don't properly matter to sets, but can
+// occur if the containers are vectors or lists, for example).
+//
+// Uses the container's const_iterator, value_type, operator ==,
+// begin(), and end().
+template <typename Container>
+class ContainerEqMatcher {
+ public:
+ typedef internal::StlContainerView<Container> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+
+ // We make a copy of expected in case the elements in it are modified
+ // after this matcher is created.
+ explicit ContainerEqMatcher(const Container& expected)
+ : expected_(View::Copy(expected)) {
+ // Makes sure the user doesn't instantiate this class template
+ // with a const or reference type.
+ (void)testing::StaticAssertTypeEq<Container,
+ GTEST_REMOVE_REFERENCE_AND_CONST_(Container)>();
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "equals ";
+ UniversalPrint(expected_, os);
+ }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not equal ";
+ UniversalPrint(expected_, os);
+ }
+
+ template <typename LhsContainer>
+ bool MatchAndExplain(const LhsContainer& lhs,
+ MatchResultListener* listener) const {
+ // GTEST_REMOVE_CONST_() is needed to work around an MSVC 8.0 bug
+ // that causes LhsContainer to be a const type sometimes.
+ typedef internal::StlContainerView<GTEST_REMOVE_CONST_(LhsContainer)>
+ LhsView;
+ typedef typename LhsView::type LhsStlContainer;
+ StlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+ if (lhs_stl_container == expected_)
+ return true;
+
+ ::std::ostream* const os = listener->stream();
+ if (os != NULL) {
+ // Something is different. Check for extra values first.
+ bool printed_header = false;
+ for (typename LhsStlContainer::const_iterator it =
+ lhs_stl_container.begin();
+ it != lhs_stl_container.end(); ++it) {
+ if (internal::ArrayAwareFind(expected_.begin(), expected_.end(), *it) ==
+ expected_.end()) {
+ if (printed_header) {
+ *os << ", ";
+ } else {
+ *os << "which has these unexpected elements: ";
+ printed_header = true;
+ }
+ UniversalPrint(*it, os);
+ }
+ }
+
+ // Now check for missing values.
+ bool printed_header2 = false;
+ for (typename StlContainer::const_iterator it = expected_.begin();
+ it != expected_.end(); ++it) {
+ if (internal::ArrayAwareFind(
+ lhs_stl_container.begin(), lhs_stl_container.end(), *it) ==
+ lhs_stl_container.end()) {
+ if (printed_header2) {
+ *os << ", ";
+ } else {
+ *os << (printed_header ? ",\nand" : "which")
+ << " doesn't have these expected elements: ";
+ printed_header2 = true;
+ }
+ UniversalPrint(*it, os);
+ }
+ }
+ }
+
+ return false;
+ }
+
+ private:
+ const StlContainer expected_;
+
+ GTEST_DISALLOW_ASSIGN_(ContainerEqMatcher);
+};
+
+// A comparator functor that uses the < operator to compare two values.
+struct LessComparator {
+ template <typename T, typename U>
+ bool operator()(const T& lhs, const U& rhs) const { return lhs < rhs; }
+};
+
+// Implements WhenSortedBy(comparator, container_matcher).
+template <typename Comparator, typename ContainerMatcher>
+class WhenSortedByMatcher {
+ public:
+ WhenSortedByMatcher(const Comparator& comparator,
+ const ContainerMatcher& matcher)
+ : comparator_(comparator), matcher_(matcher) {}
+
+ template <typename LhsContainer>
+ operator Matcher<LhsContainer>() const {
+ return MakeMatcher(new Impl<LhsContainer>(comparator_, matcher_));
+ }
+
+ template <typename LhsContainer>
+ class Impl : public MatcherInterface<LhsContainer> {
+ public:
+ typedef internal::StlContainerView<
+ GTEST_REMOVE_REFERENCE_AND_CONST_(LhsContainer)> LhsView;
+ typedef typename LhsView::type LhsStlContainer;
+ typedef typename LhsView::const_reference LhsStlContainerReference;
+ // Transforms std::pair<const Key, Value> into std::pair<Key, Value>
+ // so that we can match associative containers.
+ typedef typename RemoveConstFromKey<
+ typename LhsStlContainer::value_type>::type LhsValue;
+
+ Impl(const Comparator& comparator, const ContainerMatcher& matcher)
+ : comparator_(comparator), matcher_(matcher) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "(when sorted) ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "(when sorted) ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(LhsContainer lhs,
+ MatchResultListener* listener) const {
+ LhsStlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+ ::std::vector<LhsValue> sorted_container(lhs_stl_container.begin(),
+ lhs_stl_container.end());
+ ::std::sort(
+ sorted_container.begin(), sorted_container.end(), comparator_);
+
+ if (!listener->IsInterested()) {
+ // If the listener is not interested, we do not need to
+ // construct the inner explanation.
+ return matcher_.Matches(sorted_container);
+ }
+
+ *listener << "which is ";
+ UniversalPrint(sorted_container, listener->stream());
+ *listener << " when sorted";
+
+ StringMatchResultListener inner_listener;
+ const bool match = matcher_.MatchAndExplain(sorted_container,
+ &inner_listener);
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return match;
+ }
+
+ private:
+ const Comparator comparator_;
+ const Matcher<const ::std::vector<LhsValue>&> matcher_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Impl);
+ };
+
+ private:
+ const Comparator comparator_;
+ const ContainerMatcher matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(WhenSortedByMatcher);
+};
+
+// Implements Pointwise(tuple_matcher, rhs_container). tuple_matcher
+// must be able to be safely cast to Matcher<tuple<const T1&, const
+// T2&> >, where T1 and T2 are the types of elements in the LHS
+// container and the RHS container respectively.
+template <typename TupleMatcher, typename RhsContainer>
+class PointwiseMatcher {
+ public:
+ typedef internal::StlContainerView<RhsContainer> RhsView;
+ typedef typename RhsView::type RhsStlContainer;
+ typedef typename RhsStlContainer::value_type RhsValue;
+
+ // Like ContainerEq, we make a copy of rhs in case the elements in
+ // it are modified after this matcher is created.
+ PointwiseMatcher(const TupleMatcher& tuple_matcher, const RhsContainer& rhs)
+ : tuple_matcher_(tuple_matcher), rhs_(RhsView::Copy(rhs)) {
+ // Makes sure the user doesn't instantiate this class template
+ // with a const or reference type.
+ (void)testing::StaticAssertTypeEq<RhsContainer,
+ GTEST_REMOVE_REFERENCE_AND_CONST_(RhsContainer)>();
+ }
+
+ template <typename LhsContainer>
+ operator Matcher<LhsContainer>() const {
+ return MakeMatcher(new Impl<LhsContainer>(tuple_matcher_, rhs_));
+ }
+
+ template <typename LhsContainer>
+ class Impl : public MatcherInterface<LhsContainer> {
+ public:
+ typedef internal::StlContainerView<
+ GTEST_REMOVE_REFERENCE_AND_CONST_(LhsContainer)> LhsView;
+ typedef typename LhsView::type LhsStlContainer;
+ typedef typename LhsView::const_reference LhsStlContainerReference;
+ typedef typename LhsStlContainer::value_type LhsValue;
+ // We pass the LHS value and the RHS value to the inner matcher by
+ // reference, as they may be expensive to copy. We must use tuple
+ // instead of pair here, as a pair cannot hold references (C++ 98,
+ // 20.2.2 [lib.pairs]).
+ typedef ::testing::tuple<const LhsValue&, const RhsValue&> InnerMatcherArg;
+
+ Impl(const TupleMatcher& tuple_matcher, const RhsStlContainer& rhs)
+ // mono_tuple_matcher_ holds a monomorphic version of the tuple matcher.
+ : mono_tuple_matcher_(SafeMatcherCast<InnerMatcherArg>(tuple_matcher)),
+ rhs_(rhs) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "contains " << rhs_.size()
+ << " values, where each value and its corresponding value in ";
+ UniversalPrinter<RhsStlContainer>::Print(rhs_, os);
+ *os << " ";
+ mono_tuple_matcher_.DescribeTo(os);
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't contain exactly " << rhs_.size()
+ << " values, or contains a value x at some index i"
+ << " where x and the i-th value of ";
+ UniversalPrint(rhs_, os);
+ *os << " ";
+ mono_tuple_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(LhsContainer lhs,
+ MatchResultListener* listener) const {
+ LhsStlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+ const size_t actual_size = lhs_stl_container.size();
+ if (actual_size != rhs_.size()) {
+ *listener << "which contains " << actual_size << " values";
+ return false;
+ }
+
+ typename LhsStlContainer::const_iterator left = lhs_stl_container.begin();
+ typename RhsStlContainer::const_iterator right = rhs_.begin();
+ for (size_t i = 0; i != actual_size; ++i, ++left, ++right) {
+ const InnerMatcherArg value_pair(*left, *right);
+
+ if (listener->IsInterested()) {
+ StringMatchResultListener inner_listener;
+ if (!mono_tuple_matcher_.MatchAndExplain(
+ value_pair, &inner_listener)) {
+ *listener << "where the value pair (";
+ UniversalPrint(*left, listener->stream());
+ *listener << ", ";
+ UniversalPrint(*right, listener->stream());
+ *listener << ") at index #" << i << " don't match";
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return false;
+ }
+ } else {
+ if (!mono_tuple_matcher_.Matches(value_pair))
+ return false;
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ const Matcher<InnerMatcherArg> mono_tuple_matcher_;
+ const RhsStlContainer rhs_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ private:
+ const TupleMatcher tuple_matcher_;
+ const RhsStlContainer rhs_;
+
+ GTEST_DISALLOW_ASSIGN_(PointwiseMatcher);
+};
+
+// Holds the logic common to ContainsMatcherImpl and EachMatcherImpl.
+template <typename Container>
+class QuantifierMatcherImpl : public MatcherInterface<Container> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef StlContainerView<RawContainer> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+ typedef typename StlContainer::value_type Element;
+
+ template <typename InnerMatcher>
+ explicit QuantifierMatcherImpl(InnerMatcher inner_matcher)
+ : inner_matcher_(
+ testing::SafeMatcherCast<const Element&>(inner_matcher)) {}
+
+ // Checks whether:
+ // * All elements in the container match, if all_elements_should_match.
+ // * Any element in the container matches, if !all_elements_should_match.
+ bool MatchAndExplainImpl(bool all_elements_should_match,
+ Container container,
+ MatchResultListener* listener) const {
+ StlContainerReference stl_container = View::ConstReference(container);
+ size_t i = 0;
+ for (typename StlContainer::const_iterator it = stl_container.begin();
+ it != stl_container.end(); ++it, ++i) {
+ StringMatchResultListener inner_listener;
+ const bool matches = inner_matcher_.MatchAndExplain(*it, &inner_listener);
+
+ if (matches != all_elements_should_match) {
+ *listener << "whose element #" << i
+ << (matches ? " matches" : " doesn't match");
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return !all_elements_should_match;
+ }
+ }
+ return all_elements_should_match;
+ }
+
+ protected:
+ const Matcher<const Element&> inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(QuantifierMatcherImpl);
+};
+
+// Implements Contains(element_matcher) for the given argument type Container.
+// Symmetric to EachMatcherImpl.
+template <typename Container>
+class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+ template <typename InnerMatcher>
+ explicit ContainsMatcherImpl(InnerMatcher inner_matcher)
+ : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "contains at least one element that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't contain any element that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ return this->MatchAndExplainImpl(false, container, listener);
+ }
+
+ private:
+ GTEST_DISALLOW_ASSIGN_(ContainsMatcherImpl);
+};
+
+// Implements Each(element_matcher) for the given argument type Container.
+// Symmetric to ContainsMatcherImpl.
+template <typename Container>
+class EachMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+ template <typename InnerMatcher>
+ explicit EachMatcherImpl(InnerMatcher inner_matcher)
+ : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "only contains elements that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "contains some element that ";
+ this->inner_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ return this->MatchAndExplainImpl(true, container, listener);
+ }
+
+ private:
+ GTEST_DISALLOW_ASSIGN_(EachMatcherImpl);
+};
+
+// Implements polymorphic Contains(element_matcher).
+template <typename M>
+class ContainsMatcher {
+ public:
+ explicit ContainsMatcher(M m) : inner_matcher_(m) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new ContainsMatcherImpl<Container>(inner_matcher_));
+ }
+
+ private:
+ const M inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ContainsMatcher);
+};
+
+// Implements polymorphic Each(element_matcher).
+template <typename M>
+class EachMatcher {
+ public:
+ explicit EachMatcher(M m) : inner_matcher_(m) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new EachMatcherImpl<Container>(inner_matcher_));
+ }
+
+ private:
+ const M inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(EachMatcher);
+};
+
+// Implements Key(inner_matcher) for the given argument pair type.
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher. For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename PairType>
+class KeyMatcherImpl : public MatcherInterface<PairType> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+ typedef typename RawPairType::first_type KeyType;
+
+ template <typename InnerMatcher>
+ explicit KeyMatcherImpl(InnerMatcher inner_matcher)
+ : inner_matcher_(
+ testing::SafeMatcherCast<const KeyType&>(inner_matcher)) {
+ }
+
+ // Returns true iff 'key_value.first' (the key) matches the inner matcher.
+ virtual bool MatchAndExplain(PairType key_value,
+ MatchResultListener* listener) const {
+ StringMatchResultListener inner_listener;
+ const bool match = inner_matcher_.MatchAndExplain(key_value.first,
+ &inner_listener);
+ const internal::string explanation = inner_listener.str();
+ if (explanation != "") {
+ *listener << "whose first field is a value " << explanation;
+ }
+ return match;
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "has a key that ";
+ inner_matcher_.DescribeTo(os);
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't have a key that ";
+ inner_matcher_.DescribeTo(os);
+ }
+
+ private:
+ const Matcher<const KeyType&> inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(KeyMatcherImpl);
+};
+
+// Implements polymorphic Key(matcher_for_key).
+template <typename M>
+class KeyMatcher {
+ public:
+ explicit KeyMatcher(M m) : matcher_for_key_(m) {}
+
+ template <typename PairType>
+ operator Matcher<PairType>() const {
+ return MakeMatcher(new KeyMatcherImpl<PairType>(matcher_for_key_));
+ }
+
+ private:
+ const M matcher_for_key_;
+
+ GTEST_DISALLOW_ASSIGN_(KeyMatcher);
+};
+
+// Implements Pair(first_matcher, second_matcher) for the given argument pair
+// type with its two matchers. See Pair() function below.
+template <typename PairType>
+class PairMatcherImpl : public MatcherInterface<PairType> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+ typedef typename RawPairType::first_type FirstType;
+ typedef typename RawPairType::second_type SecondType;
+
+ template <typename FirstMatcher, typename SecondMatcher>
+ PairMatcherImpl(FirstMatcher first_matcher, SecondMatcher second_matcher)
+ : first_matcher_(
+ testing::SafeMatcherCast<const FirstType&>(first_matcher)),
+ second_matcher_(
+ testing::SafeMatcherCast<const SecondType&>(second_matcher)) {
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "has a first field that ";
+ first_matcher_.DescribeTo(os);
+ *os << ", and has a second field that ";
+ second_matcher_.DescribeTo(os);
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "has a first field that ";
+ first_matcher_.DescribeNegationTo(os);
+ *os << ", or has a second field that ";
+ second_matcher_.DescribeNegationTo(os);
+ }
+
+ // Returns true iff 'a_pair.first' matches first_matcher and 'a_pair.second'
+ // matches second_matcher.
+ virtual bool MatchAndExplain(PairType a_pair,
+ MatchResultListener* listener) const {
+ if (!listener->IsInterested()) {
+ // If the listener is not interested, we don't need to construct the
+ // explanation.
+ return first_matcher_.Matches(a_pair.first) &&
+ second_matcher_.Matches(a_pair.second);
+ }
+ StringMatchResultListener first_inner_listener;
+ if (!first_matcher_.MatchAndExplain(a_pair.first,
+ &first_inner_listener)) {
+ *listener << "whose first field does not match";
+ PrintIfNotEmpty(first_inner_listener.str(), listener->stream());
+ return false;
+ }
+ StringMatchResultListener second_inner_listener;
+ if (!second_matcher_.MatchAndExplain(a_pair.second,
+ &second_inner_listener)) {
+ *listener << "whose second field does not match";
+ PrintIfNotEmpty(second_inner_listener.str(), listener->stream());
+ return false;
+ }
+ ExplainSuccess(first_inner_listener.str(), second_inner_listener.str(),
+ listener);
+ return true;
+ }
+
+ private:
+ void ExplainSuccess(const internal::string& first_explanation,
+ const internal::string& second_explanation,
+ MatchResultListener* listener) const {
+ *listener << "whose both fields match";
+ if (first_explanation != "") {
+ *listener << ", where the first field is a value " << first_explanation;
+ }
+ if (second_explanation != "") {
+ *listener << ", ";
+ if (first_explanation != "") {
+ *listener << "and ";
+ } else {
+ *listener << "where ";
+ }
+ *listener << "the second field is a value " << second_explanation;
+ }
+ }
+
+ const Matcher<const FirstType&> first_matcher_;
+ const Matcher<const SecondType&> second_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PairMatcherImpl);
+};
+
+// Implements polymorphic Pair(first_matcher, second_matcher).
+template <typename FirstMatcher, typename SecondMatcher>
+class PairMatcher {
+ public:
+ PairMatcher(FirstMatcher first_matcher, SecondMatcher second_matcher)
+ : first_matcher_(first_matcher), second_matcher_(second_matcher) {}
+
+ template <typename PairType>
+ operator Matcher<PairType> () const {
+ return MakeMatcher(
+ new PairMatcherImpl<PairType>(
+ first_matcher_, second_matcher_));
+ }
+
+ private:
+ const FirstMatcher first_matcher_;
+ const SecondMatcher second_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PairMatcher);
+};
+
+// Implements ElementsAre() and ElementsAreArray().
+template <typename Container>
+class ElementsAreMatcherImpl : public MatcherInterface<Container> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef internal::StlContainerView<RawContainer> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+ typedef typename StlContainer::value_type Element;
+
+ // Constructs the matcher from a sequence of element values or
+ // element matchers.
+ template <typename InputIter>
+ ElementsAreMatcherImpl(InputIter first, InputIter last) {
+ while (first != last) {
+ matchers_.push_back(MatcherCast<const Element&>(*first++));
+ }
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ if (count() == 0) {
+ *os << "is empty";
+ } else if (count() == 1) {
+ *os << "has 1 element that ";
+ matchers_[0].DescribeTo(os);
+ } else {
+ *os << "has " << Elements(count()) << " where\n";
+ for (size_t i = 0; i != count(); ++i) {
+ *os << "element #" << i << " ";
+ matchers_[i].DescribeTo(os);
+ if (i + 1 < count()) {
+ *os << ",\n";
+ }
+ }
+ }
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ if (count() == 0) {
+ *os << "isn't empty";
+ return;
+ }
+
+ *os << "doesn't have " << Elements(count()) << ", or\n";
+ for (size_t i = 0; i != count(); ++i) {
+ *os << "element #" << i << " ";
+ matchers_[i].DescribeNegationTo(os);
+ if (i + 1 < count()) {
+ *os << ", or\n";
+ }
+ }
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ // To work with stream-like "containers", we must only walk
+ // through the elements in one pass.
+
+ const bool listener_interested = listener->IsInterested();
+
+ // explanations[i] is the explanation of the element at index i.
+ ::std::vector<internal::string> explanations(count());
+ StlContainerReference stl_container = View::ConstReference(container);
+ typename StlContainer::const_iterator it = stl_container.begin();
+ size_t exam_pos = 0;
+ bool mismatch_found = false; // Have we found a mismatched element yet?
+
+ // Go through the elements and matchers in pairs, until we reach
+ // the end of either the elements or the matchers, or until we find a
+ // mismatch.
+ for (; it != stl_container.end() && exam_pos != count(); ++it, ++exam_pos) {
+ bool match; // Does the current element match the current matcher?
+ if (listener_interested) {
+ StringMatchResultListener s;
+ match = matchers_[exam_pos].MatchAndExplain(*it, &s);
+ explanations[exam_pos] = s.str();
+ } else {
+ match = matchers_[exam_pos].Matches(*it);
+ }
+
+ if (!match) {
+ mismatch_found = true;
+ break;
+ }
+ }
+ // If mismatch_found is true, 'exam_pos' is the index of the mismatch.
+
+ // Find how many elements the actual container has. We avoid
+ // calling size() s.t. this code works for stream-like "containers"
+ // that don't define size().
+ size_t actual_count = exam_pos;
+ for (; it != stl_container.end(); ++it) {
+ ++actual_count;
+ }
+
+ if (actual_count != count()) {
+ // The element count doesn't match. If the container is empty,
+ // there's no need to explain anything as Google Mock already
+ // prints the empty container. Otherwise we just need to show
+ // how many elements there actually are.
+ if (listener_interested && (actual_count != 0)) {
+ *listener << "which has " << Elements(actual_count);
+ }
+ return false;
+ }
+
+ if (mismatch_found) {
+ // The element count matches, but the exam_pos-th element doesn't match.
+ if (listener_interested) {
+ *listener << "whose element #" << exam_pos << " doesn't match";
+ PrintIfNotEmpty(explanations[exam_pos], listener->stream());
+ }
+ return false;
+ }
+
+ // Every element matches its expectation. We need to explain why
+ // (the obvious ones can be skipped).
+ if (listener_interested) {
+ bool reason_printed = false;
+ for (size_t i = 0; i != count(); ++i) {
+ const internal::string& s = explanations[i];
+ if (!s.empty()) {
+ if (reason_printed) {
+ *listener << ",\nand ";
+ }
+ *listener << "whose element #" << i << " matches, " << s;
+ reason_printed = true;
+ }
+ }
+ }
+ return true;
+ }
+
+ private:
+ static Message Elements(size_t count) {
+ return Message() << count << (count == 1 ? " element" : " elements");
+ }
+
+ size_t count() const { return matchers_.size(); }
+
+ ::std::vector<Matcher<const Element&> > matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcherImpl);
+};
+
+// Connectivity matrix of (elements X matchers), in element-major order.
+// Initially, there are no edges.
+// Use NextGraph() to iterate over all possible edge configurations.
+// Use Randomize() to generate a random edge configuration.
+class GTEST_API_ MatchMatrix {
+ public:
+ MatchMatrix(size_t num_elements, size_t num_matchers)
+ : num_elements_(num_elements),
+ num_matchers_(num_matchers),
+ matched_(num_elements_* num_matchers_, 0) {
+ }
+
+ size_t LhsSize() const { return num_elements_; }
+ size_t RhsSize() const { return num_matchers_; }
+ bool HasEdge(size_t ilhs, size_t irhs) const {
+ return matched_[SpaceIndex(ilhs, irhs)] == 1;
+ }
+ void SetEdge(size_t ilhs, size_t irhs, bool b) {
+ matched_[SpaceIndex(ilhs, irhs)] = b ? 1 : 0;
+ }
+
+ // Treating the connectivity matrix as a (LhsSize()*RhsSize())-bit number,
+ // adds 1 to that number; returns false if incrementing the graph left it
+ // empty.
+ bool NextGraph();
+
+ void Randomize();
+
+ string DebugString() const;
+
+ private:
+ size_t SpaceIndex(size_t ilhs, size_t irhs) const {
+ return ilhs * num_matchers_ + irhs;
+ }
+
+ size_t num_elements_;
+ size_t num_matchers_;
+
+ // Each element is a char interpreted as bool. They are stored as a
+ // flattened array in lhs-major order, use 'SpaceIndex()' to translate
+ // a (ilhs, irhs) matrix coordinate into an offset.
+ ::std::vector<char> matched_;
+};
+
+typedef ::std::pair<size_t, size_t> ElementMatcherPair;
+typedef ::std::vector<ElementMatcherPair> ElementMatcherPairs;
+
+// Returns a maximum bipartite matching for the specified graph 'g'.
+// The matching is represented as a vector of {element, matcher} pairs.
+GTEST_API_ ElementMatcherPairs
+FindMaxBipartiteMatching(const MatchMatrix& g);
+
+GTEST_API_ bool FindPairing(const MatchMatrix& matrix,
+ MatchResultListener* listener);
+
+// Untyped base class for implementing UnorderedElementsAre. By
+// putting logic that's not specific to the element type here, we
+// reduce binary bloat and increase compilation speed.
+class GTEST_API_ UnorderedElementsAreMatcherImplBase {
+ protected:
+ // A vector of matcher describers, one for each element matcher.
+ // Does not own the describers (and thus can be used only when the
+ // element matchers are alive).
+ typedef ::std::vector<const MatcherDescriberInterface*> MatcherDescriberVec;
+
+ // Describes this UnorderedElementsAre matcher.
+ void DescribeToImpl(::std::ostream* os) const;
+
+ // Describes the negation of this UnorderedElementsAre matcher.
+ void DescribeNegationToImpl(::std::ostream* os) const;
+
+ bool VerifyAllElementsAndMatchersAreMatched(
+ const ::std::vector<string>& element_printouts,
+ const MatchMatrix& matrix,
+ MatchResultListener* listener) const;
+
+ MatcherDescriberVec& matcher_describers() {
+ return matcher_describers_;
+ }
+
+ static Message Elements(size_t n) {
+ return Message() << n << " element" << (n == 1 ? "" : "s");
+ }
+
+ private:
+ MatcherDescriberVec matcher_describers_;
+
+ GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcherImplBase);
+};
+
+// Implements unordered ElementsAre and unordered ElementsAreArray.
+template <typename Container>
+class UnorderedElementsAreMatcherImpl
+ : public MatcherInterface<Container>,
+ public UnorderedElementsAreMatcherImplBase {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef internal::StlContainerView<RawContainer> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+ typedef typename StlContainer::const_iterator StlContainerConstIterator;
+ typedef typename StlContainer::value_type Element;
+
+ // Constructs the matcher from a sequence of element values or
+ // element matchers.
+ template <typename InputIter>
+ UnorderedElementsAreMatcherImpl(InputIter first, InputIter last) {
+ for (; first != last; ++first) {
+ matchers_.push_back(MatcherCast<const Element&>(*first));
+ matcher_describers().push_back(matchers_.back().GetDescriber());
+ }
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ return UnorderedElementsAreMatcherImplBase::DescribeToImpl(os);
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ return UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ StlContainerReference stl_container = View::ConstReference(container);
+ ::std::vector<string> element_printouts;
+ MatchMatrix matrix = AnalyzeElements(stl_container.begin(),
+ stl_container.end(),
+ &element_printouts,
+ listener);
+
+ const size_t actual_count = matrix.LhsSize();
+ if (actual_count == 0 && matchers_.empty()) {
+ return true;
+ }
+ if (actual_count != matchers_.size()) {
+ // The element count doesn't match. If the container is empty,
+ // there's no need to explain anything as Google Mock already
+ // prints the empty container. Otherwise we just need to show
+ // how many elements there actually are.
+ if (actual_count != 0 && listener->IsInterested()) {
+ *listener << "which has " << Elements(actual_count);
+ }
+ return false;
+ }
+
+ return VerifyAllElementsAndMatchersAreMatched(element_printouts,
+ matrix, listener) &&
+ FindPairing(matrix, listener);
+ }
+
+ private:
+ typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+
+ template <typename ElementIter>
+ MatchMatrix AnalyzeElements(ElementIter elem_first, ElementIter elem_last,
+ ::std::vector<string>* element_printouts,
+ MatchResultListener* listener) const {
+ element_printouts->clear();
+ ::std::vector<char> did_match;
+ size_t num_elements = 0;
+ for (; elem_first != elem_last; ++num_elements, ++elem_first) {
+ if (listener->IsInterested()) {
+ element_printouts->push_back(PrintToString(*elem_first));
+ }
+ for (size_t irhs = 0; irhs != matchers_.size(); ++irhs) {
+ did_match.push_back(Matches(matchers_[irhs])(*elem_first));
+ }
+ }
+
+ MatchMatrix matrix(num_elements, matchers_.size());
+ ::std::vector<char>::const_iterator did_match_iter = did_match.begin();
+ for (size_t ilhs = 0; ilhs != num_elements; ++ilhs) {
+ for (size_t irhs = 0; irhs != matchers_.size(); ++irhs) {
+ matrix.SetEdge(ilhs, irhs, *did_match_iter++ != 0);
+ }
+ }
+ return matrix;
+ }
+
+ MatcherVec matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcherImpl);
+};
+
+// Functor for use in TransformTuple.
+// Performs MatcherCast<Target> on an input argument of any type.
+template <typename Target>
+struct CastAndAppendTransform {
+ template <typename Arg>
+ Matcher<Target> operator()(const Arg& a) const {
+ return MatcherCast<Target>(a);
+ }
+};
+
+// Implements UnorderedElementsAre.
+template <typename MatcherTuple>
+class UnorderedElementsAreMatcher {
+ public:
+ explicit UnorderedElementsAreMatcher(const MatcherTuple& args)
+ : matchers_(args) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type View;
+ typedef typename View::value_type Element;
+ typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+ MatcherVec matchers;
+ matchers.reserve(::testing::tuple_size<MatcherTuple>::value);
+ TransformTupleValues(CastAndAppendTransform<const Element&>(), matchers_,
+ ::std::back_inserter(matchers));
+ return MakeMatcher(new UnorderedElementsAreMatcherImpl<Container>(
+ matchers.begin(), matchers.end()));
+ }
+
+ private:
+ const MatcherTuple matchers_;
+ GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcher);
+};
+
+// Implements ElementsAre.
+template <typename MatcherTuple>
+class ElementsAreMatcher {
+ public:
+ explicit ElementsAreMatcher(const MatcherTuple& args) : matchers_(args) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type View;
+ typedef typename View::value_type Element;
+ typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+ MatcherVec matchers;
+ matchers.reserve(::testing::tuple_size<MatcherTuple>::value);
+ TransformTupleValues(CastAndAppendTransform<const Element&>(), matchers_,
+ ::std::back_inserter(matchers));
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(
+ matchers.begin(), matchers.end()));
+ }
+
+ private:
+ const MatcherTuple matchers_;
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher);
+};
+
+// Implements UnorderedElementsAreArray().
+template <typename T>
+class UnorderedElementsAreArrayMatcher {
+ public:
+ UnorderedElementsAreArrayMatcher() {}
+
+ template <typename Iter>
+ UnorderedElementsAreArrayMatcher(Iter first, Iter last)
+ : matchers_(first, last) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(
+ new UnorderedElementsAreMatcherImpl<Container>(matchers_.begin(),
+ matchers_.end()));
+ }
+
+ private:
+ ::std::vector<T> matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreArrayMatcher);
+};
+
+// Implements ElementsAreArray().
+template <typename T>
+class ElementsAreArrayMatcher {
+ public:
+ template <typename Iter>
+ ElementsAreArrayMatcher(Iter first, Iter last) : matchers_(first, last) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(
+ matchers_.begin(), matchers_.end()));
+ }
+
+ private:
+ const ::std::vector<T> matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreArrayMatcher);
+};
+
+// Given a 2-tuple matcher tm of type Tuple2Matcher and a value second
+// of type Second, BoundSecondMatcher<Tuple2Matcher, Second>(tm,
+// second) is a polymorphic matcher that matches a value x iff tm
+// matches tuple (x, second). Useful for implementing
+// UnorderedPointwise() in terms of UnorderedElementsAreArray().
+//
+// BoundSecondMatcher is copyable and assignable, as we need to put
+// instances of this class in a vector when implementing
+// UnorderedPointwise().
+template <typename Tuple2Matcher, typename Second>
+class BoundSecondMatcher {
+ public:
+ BoundSecondMatcher(const Tuple2Matcher& tm, const Second& second)
+ : tuple2_matcher_(tm), second_value_(second) {}
+
+ template <typename T>
+ operator Matcher<T>() const {
+ return MakeMatcher(new Impl<T>(tuple2_matcher_, second_value_));
+ }
+
+ // We have to define this for UnorderedPointwise() to compile in
+ // C++98 mode, as it puts BoundSecondMatcher instances in a vector,
+ // which requires the elements to be assignable in C++98. The
+ // compiler cannot generate the operator= for us, as Tuple2Matcher
+ // and Second may not be assignable.
+ //
+ // However, this should never be called, so the implementation just
+ // need to assert.
+ void operator=(const BoundSecondMatcher& /*rhs*/) {
+ GTEST_LOG_(FATAL) << "BoundSecondMatcher should never be assigned.";
+ }
+
+ private:
+ template <typename T>
+ class Impl : public MatcherInterface<T> {
+ public:
+ typedef ::testing::tuple<T, Second> ArgTuple;
+
+ Impl(const Tuple2Matcher& tm, const Second& second)
+ : mono_tuple2_matcher_(SafeMatcherCast<const ArgTuple&>(tm)),
+ second_value_(second) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "and ";
+ UniversalPrint(second_value_, os);
+ *os << " ";
+ mono_tuple2_matcher_.DescribeTo(os);
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return mono_tuple2_matcher_.MatchAndExplain(ArgTuple(x, second_value_),
+ listener);
+ }
+
+ private:
+ const Matcher<const ArgTuple&> mono_tuple2_matcher_;
+ const Second second_value_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const Tuple2Matcher tuple2_matcher_;
+ const Second second_value_;
+};
+
+// Given a 2-tuple matcher tm and a value second,
+// MatcherBindSecond(tm, second) returns a matcher that matches a
+// value x iff tm matches tuple (x, second). Useful for implementing
+// UnorderedPointwise() in terms of UnorderedElementsAreArray().
+template <typename Tuple2Matcher, typename Second>
+BoundSecondMatcher<Tuple2Matcher, Second> MatcherBindSecond(
+ const Tuple2Matcher& tm, const Second& second) {
+ return BoundSecondMatcher<Tuple2Matcher, Second>(tm, second);
+}
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher. 'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+GTEST_API_ string FormatMatcherDescription(bool negation,
+ const char* matcher_name,
+ const Strings& param_values);
+
+} // namespace internal
+
+// ElementsAreArray(first, last)
+// ElementsAreArray(pointer, count)
+// ElementsAreArray(array)
+// ElementsAreArray(container)
+// ElementsAreArray({ e1, e2, ..., en })
+//
+// The ElementsAreArray() functions are like ElementsAre(...), except
+// that they are given a homogeneous sequence rather than taking each
+// element as a function argument. The sequence can be specified as an
+// array, a pointer and count, a vector, an initializer list, or an
+// STL iterator range. In each of these cases, the underlying sequence
+// can be either a sequence of values or a sequence of matchers.
+//
+// All forms of ElementsAreArray() make a copy of the input matcher sequence.
+
+template <typename Iter>
+inline internal::ElementsAreArrayMatcher<
+ typename ::std::iterator_traits<Iter>::value_type>
+ElementsAreArray(Iter first, Iter last) {
+ typedef typename ::std::iterator_traits<Iter>::value_type T;
+ return internal::ElementsAreArrayMatcher<T>(first, last);
+}
+
+template <typename T>
+inline internal::ElementsAreArrayMatcher<T> ElementsAreArray(
+ const T* pointer, size_t count) {
+ return ElementsAreArray(pointer, pointer + count);
+}
+
+template <typename T, size_t N>
+inline internal::ElementsAreArrayMatcher<T> ElementsAreArray(
+ const T (&array)[N]) {
+ return ElementsAreArray(array, N);
+}
+
+template <typename Container>
+inline internal::ElementsAreArrayMatcher<typename Container::value_type>
+ElementsAreArray(const Container& container) {
+ return ElementsAreArray(container.begin(), container.end());
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+template <typename T>
+inline internal::ElementsAreArrayMatcher<T>
+ElementsAreArray(::std::initializer_list<T> xs) {
+ return ElementsAreArray(xs.begin(), xs.end());
+}
+#endif
+
+// UnorderedElementsAreArray(first, last)
+// UnorderedElementsAreArray(pointer, count)
+// UnorderedElementsAreArray(array)
+// UnorderedElementsAreArray(container)
+// UnorderedElementsAreArray({ e1, e2, ..., en })
+//
+// The UnorderedElementsAreArray() functions are like
+// ElementsAreArray(...), but allow matching the elements in any order.
+template <typename Iter>
+inline internal::UnorderedElementsAreArrayMatcher<
+ typename ::std::iterator_traits<Iter>::value_type>
+UnorderedElementsAreArray(Iter first, Iter last) {
+ typedef typename ::std::iterator_traits<Iter>::value_type T;
+ return internal::UnorderedElementsAreArrayMatcher<T>(first, last);
+}
+
+template <typename T>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(const T* pointer, size_t count) {
+ return UnorderedElementsAreArray(pointer, pointer + count);
+}
+
+template <typename T, size_t N>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(const T (&array)[N]) {
+ return UnorderedElementsAreArray(array, N);
+}
+
+template <typename Container>
+inline internal::UnorderedElementsAreArrayMatcher<
+ typename Container::value_type>
+UnorderedElementsAreArray(const Container& container) {
+ return UnorderedElementsAreArray(container.begin(), container.end());
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+template <typename T>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(::std::initializer_list<T> xs) {
+ return UnorderedElementsAreArray(xs.begin(), xs.end());
+}
+#endif
+
+// _ is a matcher that matches anything of any type.
+//
+// This definition is fine as:
+//
+// 1. The C++ standard permits using the name _ in a namespace that
+// is not the global namespace or ::std.
+// 2. The AnythingMatcher class has no data member or constructor,
+// so it's OK to create global variables of this type.
+// 3. c-style has approved of using _ in this case.
+const internal::AnythingMatcher _ = {};
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> A() { return MakeMatcher(new internal::AnyMatcherImpl<T>()); }
+
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> An() { return A<T>(); }
+
+// Creates a polymorphic matcher that matches anything equal to x.
+// Note: if the parameter of Eq() were declared as const T&, Eq("foo")
+// wouldn't compile.
+template <typename T>
+inline internal::EqMatcher<T> Eq(T x) { return internal::EqMatcher<T>(x); }
+
+// Constructs a Matcher<T> from a 'value' of type T. The constructed
+// matcher matches any value that's equal to 'value'.
+template <typename T>
+Matcher<T>::Matcher(T value) { *this = Eq(value); }
+
+// Creates a monomorphic matcher that matches anything with type Lhs
+// and equal to rhs. A user may need to use this instead of Eq(...)
+// in order to resolve an overloading ambiguity.
+//
+// TypedEq<T>(x) is just a convenient short-hand for Matcher<T>(Eq(x))
+// or Matcher<T>(x), but more readable than the latter.
+//
+// We could define similar monomorphic matchers for other comparison
+// operations (e.g. TypedLt, TypedGe, and etc), but decided not to do
+// it yet as those are used much less than Eq() in practice. A user
+// can always write Matcher<T>(Lt(5)) to be explicit about the type,
+// for example.
+template <typename Lhs, typename Rhs>
+inline Matcher<Lhs> TypedEq(const Rhs& rhs) { return Eq(rhs); }
+
+// Creates a polymorphic matcher that matches anything >= x.
+template <typename Rhs>
+inline internal::GeMatcher<Rhs> Ge(Rhs x) {
+ return internal::GeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything > x.
+template <typename Rhs>
+inline internal::GtMatcher<Rhs> Gt(Rhs x) {
+ return internal::GtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything <= x.
+template <typename Rhs>
+inline internal::LeMatcher<Rhs> Le(Rhs x) {
+ return internal::LeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything < x.
+template <typename Rhs>
+inline internal::LtMatcher<Rhs> Lt(Rhs x) {
+ return internal::LtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything != x.
+template <typename Rhs>
+inline internal::NeMatcher<Rhs> Ne(Rhs x) {
+ return internal::NeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches any NULL pointer.
+inline PolymorphicMatcher<internal::IsNullMatcher > IsNull() {
+ return MakePolymorphicMatcher(internal::IsNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any non-NULL pointer.
+// This is convenient as Not(NULL) doesn't compile (the compiler
+// thinks that that expression is comparing a pointer with an integer).
+inline PolymorphicMatcher<internal::NotNullMatcher > NotNull() {
+ return MakePolymorphicMatcher(internal::NotNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any argument that
+// references variable x.
+template <typename T>
+inline internal::RefMatcher<T&> Ref(T& x) { // NOLINT
+ return internal::RefMatcher<T&>(x);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<double> DoubleEq(double rhs) {
+ return internal::FloatingEqMatcher<double>(rhs, false);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<double> NanSensitiveDoubleEq(double rhs) {
+ return internal::FloatingEqMatcher<double>(rhs, true);
+}
+
+// Creates a matcher that matches any double argument approximately equal to
+// rhs, up to the specified max absolute error bound, where two NANs are
+// considered unequal. The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<double> DoubleNear(
+ double rhs, double max_abs_error) {
+ return internal::FloatingEqMatcher<double>(rhs, false, max_abs_error);
+}
+
+// Creates a matcher that matches any double argument approximately equal to
+// rhs, up to the specified max absolute error bound, including NaN values when
+// rhs is NaN. The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<double> NanSensitiveDoubleNear(
+ double rhs, double max_abs_error) {
+ return internal::FloatingEqMatcher<double>(rhs, true, max_abs_error);
+}
+
+// Creates a matcher that matches any float argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<float> FloatEq(float rhs) {
+ return internal::FloatingEqMatcher<float>(rhs, false);
+}
+
+// Creates a matcher that matches any float argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<float> NanSensitiveFloatEq(float rhs) {
+ return internal::FloatingEqMatcher<float>(rhs, true);
+}
+
+// Creates a matcher that matches any float argument approximately equal to
+// rhs, up to the specified max absolute error bound, where two NANs are
+// considered unequal. The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<float> FloatNear(
+ float rhs, float max_abs_error) {
+ return internal::FloatingEqMatcher<float>(rhs, false, max_abs_error);
+}
+
+// Creates a matcher that matches any float argument approximately equal to
+// rhs, up to the specified max absolute error bound, including NaN values when
+// rhs is NaN. The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<float> NanSensitiveFloatNear(
+ float rhs, float max_abs_error) {
+ return internal::FloatingEqMatcher<float>(rhs, true, max_abs_error);
+}
+
+// Creates a matcher that matches a pointer (raw or smart) that points
+// to a value that matches inner_matcher.
+template <typename InnerMatcher>
+inline internal::PointeeMatcher<InnerMatcher> Pointee(
+ const InnerMatcher& inner_matcher) {
+ return internal::PointeeMatcher<InnerMatcher>(inner_matcher);
+}
+
+// Creates a matcher that matches a pointer or reference that matches
+// inner_matcher when dynamic_cast<To> is applied.
+// The result of dynamic_cast<To> is forwarded to the inner matcher.
+// If To is a pointer and the cast fails, the inner matcher will receive NULL.
+// If To is a reference and the cast fails, this matcher returns false
+// immediately.
+template <typename To>
+inline PolymorphicMatcher<internal::WhenDynamicCastToMatcher<To> >
+WhenDynamicCastTo(const Matcher<To>& inner_matcher) {
+ return MakePolymorphicMatcher(
+ internal::WhenDynamicCastToMatcher<To>(inner_matcher));
+}
+
+// Creates a matcher that matches an object whose given field matches
+// 'matcher'. For example,
+// Field(&Foo::number, Ge(5))
+// matches a Foo object x iff x.number >= 5.
+template <typename Class, typename FieldType, typename FieldMatcher>
+inline PolymorphicMatcher<
+ internal::FieldMatcher<Class, FieldType> > Field(
+ FieldType Class::*field, const FieldMatcher& matcher) {
+ return MakePolymorphicMatcher(
+ internal::FieldMatcher<Class, FieldType>(
+ field, MatcherCast<const FieldType&>(matcher)));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // Field(&Foo::bar, m)
+ // to compile where bar is an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object whose given property
+// matches 'matcher'. For example,
+// Property(&Foo::str, StartsWith("hi"))
+// matches a Foo object x iff x.str() starts with "hi".
+template <typename Class, typename PropertyType, typename PropertyMatcher>
+inline PolymorphicMatcher<
+ internal::PropertyMatcher<Class, PropertyType> > Property(
+ PropertyType (Class::*property)() const, const PropertyMatcher& matcher) {
+ return MakePolymorphicMatcher(
+ internal::PropertyMatcher<Class, PropertyType>(
+ property,
+ MatcherCast<GTEST_REFERENCE_TO_CONST_(PropertyType)>(matcher)));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // Property(&Foo::bar, m)
+ // to compile where bar() returns an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object iff the result of applying
+// a callable to x matches 'matcher'.
+// For example,
+// ResultOf(f, StartsWith("hi"))
+// matches a Foo object x iff f(x) starts with "hi".
+// callable parameter can be a function, function pointer, or a functor.
+// Callable has to satisfy the following conditions:
+// * It is required to keep no state affecting the results of
+// the calls on it and make no assumptions about how many calls
+// will be made. Any state it keeps must be protected from the
+// concurrent access.
+// * If it is a function object, it has to define type result_type.
+// We recommend deriving your functor classes from std::unary_function.
+template <typename Callable, typename ResultOfMatcher>
+internal::ResultOfMatcher<Callable> ResultOf(
+ Callable callable, const ResultOfMatcher& matcher) {
+ return internal::ResultOfMatcher<Callable>(
+ callable,
+ MatcherCast<typename internal::CallableTraits<Callable>::ResultType>(
+ matcher));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // ResultOf(Function, m)
+ // to compile where Function() returns an int32 and m is a matcher for int64.
+}
+
+// String matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrEq(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrNe(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrCaseEq(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrCaseNe(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, false, false));
+}
+
+// Creates a matcher that matches any string, std::string, or C string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::string> >
+ HasSubstr(const internal::string& substring) {
+ return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::string>(
+ substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::string> >
+ StartsWith(const internal::string& prefix) {
+ return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::string>(
+ prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::string> >
+ EndsWith(const internal::string& suffix) {
+ return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::string>(
+ suffix));
+}
+
+// Matches a string that fully matches regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+ const internal::RE* regex) {
+ return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, true));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+ const internal::string& regex) {
+ return MatchesRegex(new internal::RE(regex));
+}
+
+// Matches a string that contains regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+ const internal::RE* regex) {
+ return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, false));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+ const internal::string& regex) {
+ return ContainsRegex(new internal::RE(regex));
+}
+
+#if GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+// Wide string matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrEq(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrNe(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrCaseEq(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrCaseNe(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, false, false));
+}
+
+// Creates a matcher that matches any wstring, std::wstring, or C wide string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::wstring> >
+ HasSubstr(const internal::wstring& substring) {
+ return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::wstring>(
+ substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::wstring> >
+ StartsWith(const internal::wstring& prefix) {
+ return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::wstring>(
+ prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::wstring> >
+ EndsWith(const internal::wstring& suffix) {
+ return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::wstring>(
+ suffix));
+}
+
+#endif // GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field == the second field.
+inline internal::Eq2Matcher Eq() { return internal::Eq2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field >= the second field.
+inline internal::Ge2Matcher Ge() { return internal::Ge2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field > the second field.
+inline internal::Gt2Matcher Gt() { return internal::Gt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field <= the second field.
+inline internal::Le2Matcher Le() { return internal::Le2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field < the second field.
+inline internal::Lt2Matcher Lt() { return internal::Lt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field != the second field.
+inline internal::Ne2Matcher Ne() { return internal::Ne2Matcher(); }
+
+// Creates a matcher that matches any value of type T that m doesn't
+// match.
+template <typename InnerMatcher>
+inline internal::NotMatcher<InnerMatcher> Not(InnerMatcher m) {
+ return internal::NotMatcher<InnerMatcher>(m);
+}
+
+// Returns a matcher that matches anything that satisfies the given
+// predicate. The predicate can be any unary function or functor
+// whose return type can be implicitly converted to bool.
+template <typename Predicate>
+inline PolymorphicMatcher<internal::TrulyMatcher<Predicate> >
+Truly(Predicate pred) {
+ return MakePolymorphicMatcher(internal::TrulyMatcher<Predicate>(pred));
+}
+
+// Returns a matcher that matches the container size. The container must
+// support both size() and size_type which all STL-like containers provide.
+// Note that the parameter 'size' can be a value of type size_type as well as
+// matcher. For instance:
+// EXPECT_THAT(container, SizeIs(2)); // Checks container has 2 elements.
+// EXPECT_THAT(container, SizeIs(Le(2)); // Checks container has at most 2.
+template <typename SizeMatcher>
+inline internal::SizeIsMatcher<SizeMatcher>
+SizeIs(const SizeMatcher& size_matcher) {
+ return internal::SizeIsMatcher<SizeMatcher>(size_matcher);
+}
+
+// Returns a matcher that matches the distance between the container's begin()
+// iterator and its end() iterator, i.e. the size of the container. This matcher
+// can be used instead of SizeIs with containers such as std::forward_list which
+// do not implement size(). The container must provide const_iterator (with
+// valid iterator_traits), begin() and end().
+template <typename DistanceMatcher>
+inline internal::BeginEndDistanceIsMatcher<DistanceMatcher>
+BeginEndDistanceIs(const DistanceMatcher& distance_matcher) {
+ return internal::BeginEndDistanceIsMatcher<DistanceMatcher>(distance_matcher);
+}
+
+// Returns a matcher that matches an equal container.
+// This matcher behaves like Eq(), but in the event of mismatch lists the
+// values that are included in one container but not the other. (Duplicate
+// values and order differences are not explained.)
+template <typename Container>
+inline PolymorphicMatcher<internal::ContainerEqMatcher< // NOLINT
+ GTEST_REMOVE_CONST_(Container)> >
+ ContainerEq(const Container& rhs) {
+ // This following line is for working around a bug in MSVC 8.0,
+ // which causes Container to be a const type sometimes.
+ typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+ return MakePolymorphicMatcher(
+ internal::ContainerEqMatcher<RawContainer>(rhs));
+}
+
+// Returns a matcher that matches a container that, when sorted using
+// the given comparator, matches container_matcher.
+template <typename Comparator, typename ContainerMatcher>
+inline internal::WhenSortedByMatcher<Comparator, ContainerMatcher>
+WhenSortedBy(const Comparator& comparator,
+ const ContainerMatcher& container_matcher) {
+ return internal::WhenSortedByMatcher<Comparator, ContainerMatcher>(
+ comparator, container_matcher);
+}
+
+// Returns a matcher that matches a container that, when sorted using
+// the < operator, matches container_matcher.
+template <typename ContainerMatcher>
+inline internal::WhenSortedByMatcher<internal::LessComparator, ContainerMatcher>
+WhenSorted(const ContainerMatcher& container_matcher) {
+ return
+ internal::WhenSortedByMatcher<internal::LessComparator, ContainerMatcher>(
+ internal::LessComparator(), container_matcher);
+}
+
+// Matches an STL-style container or a native array that contains the
+// same number of elements as in rhs, where its i-th element and rhs's
+// i-th element (as a pair) satisfy the given pair matcher, for all i.
+// TupleMatcher must be able to be safely cast to Matcher<tuple<const
+// T1&, const T2&> >, where T1 and T2 are the types of elements in the
+// LHS container and the RHS container respectively.
+template <typename TupleMatcher, typename Container>
+inline internal::PointwiseMatcher<TupleMatcher,
+ GTEST_REMOVE_CONST_(Container)>
+Pointwise(const TupleMatcher& tuple_matcher, const Container& rhs) {
+ // This following line is for working around a bug in MSVC 8.0,
+ // which causes Container to be a const type sometimes (e.g. when
+ // rhs is a const int[])..
+ typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+ return internal::PointwiseMatcher<TupleMatcher, RawContainer>(
+ tuple_matcher, rhs);
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Supports the Pointwise(m, {a, b, c}) syntax.
+template <typename TupleMatcher, typename T>
+inline internal::PointwiseMatcher<TupleMatcher, std::vector<T> > Pointwise(
+ const TupleMatcher& tuple_matcher, std::initializer_list<T> rhs) {
+ return Pointwise(tuple_matcher, std::vector<T>(rhs));
+}
+
+#endif // GTEST_HAS_STD_INITIALIZER_LIST_
+
+// UnorderedPointwise(pair_matcher, rhs) matches an STL-style
+// container or a native array that contains the same number of
+// elements as in rhs, where in some permutation of the container, its
+// i-th element and rhs's i-th element (as a pair) satisfy the given
+// pair matcher, for all i. Tuple2Matcher must be able to be safely
+// cast to Matcher<tuple<const T1&, const T2&> >, where T1 and T2 are
+// the types of elements in the LHS container and the RHS container
+// respectively.
+//
+// This is like Pointwise(pair_matcher, rhs), except that the element
+// order doesn't matter.
+template <typename Tuple2Matcher, typename RhsContainer>
+inline internal::UnorderedElementsAreArrayMatcher<
+ typename internal::BoundSecondMatcher<
+ Tuple2Matcher, typename internal::StlContainerView<GTEST_REMOVE_CONST_(
+ RhsContainer)>::type::value_type> >
+UnorderedPointwise(const Tuple2Matcher& tuple2_matcher,
+ const RhsContainer& rhs_container) {
+ // This following line is for working around a bug in MSVC 8.0,
+ // which causes RhsContainer to be a const type sometimes (e.g. when
+ // rhs_container is a const int[]).
+ typedef GTEST_REMOVE_CONST_(RhsContainer) RawRhsContainer;
+
+ // RhsView allows the same code to handle RhsContainer being a
+ // STL-style container and it being a native C-style array.
+ typedef typename internal::StlContainerView<RawRhsContainer> RhsView;
+ typedef typename RhsView::type RhsStlContainer;
+ typedef typename RhsStlContainer::value_type Second;
+ const RhsStlContainer& rhs_stl_container =
+ RhsView::ConstReference(rhs_container);
+
+ // Create a matcher for each element in rhs_container.
+ ::std::vector<internal::BoundSecondMatcher<Tuple2Matcher, Second> > matchers;
+ for (typename RhsStlContainer::const_iterator it = rhs_stl_container.begin();
+ it != rhs_stl_container.end(); ++it) {
+ matchers.push_back(
+ internal::MatcherBindSecond(tuple2_matcher, *it));
+ }
+
+ // Delegate the work to UnorderedElementsAreArray().
+ return UnorderedElementsAreArray(matchers);
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Supports the UnorderedPointwise(m, {a, b, c}) syntax.
+template <typename Tuple2Matcher, typename T>
+inline internal::UnorderedElementsAreArrayMatcher<
+ typename internal::BoundSecondMatcher<Tuple2Matcher, T> >
+UnorderedPointwise(const Tuple2Matcher& tuple2_matcher,
+ std::initializer_list<T> rhs) {
+ return UnorderedPointwise(tuple2_matcher, std::vector<T>(rhs));
+}
+
+#endif // GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Matches an STL-style container or a native array that contains at
+// least one element matching the given value or matcher.
+//
+// Examples:
+// ::std::set<int> page_ids;
+// page_ids.insert(3);
+// page_ids.insert(1);
+// EXPECT_THAT(page_ids, Contains(1));
+// EXPECT_THAT(page_ids, Contains(Gt(2)));
+// EXPECT_THAT(page_ids, Not(Contains(4)));
+//
+// ::std::map<int, size_t> page_lengths;
+// page_lengths[1] = 100;
+// EXPECT_THAT(page_lengths,
+// Contains(::std::pair<const int, size_t>(1, 100)));
+//
+// const char* user_ids[] = { "joe", "mike", "tom" };
+// EXPECT_THAT(user_ids, Contains(Eq(::std::string("tom"))));
+template <typename M>
+inline internal::ContainsMatcher<M> Contains(M matcher) {
+ return internal::ContainsMatcher<M>(matcher);
+}
+
+// Matches an STL-style container or a native array that contains only
+// elements matching the given value or matcher.
+//
+// Each(m) is semantically equivalent to Not(Contains(Not(m))). Only
+// the messages are different.
+//
+// Examples:
+// ::std::set<int> page_ids;
+// // Each(m) matches an empty container, regardless of what m is.
+// EXPECT_THAT(page_ids, Each(Eq(1)));
+// EXPECT_THAT(page_ids, Each(Eq(77)));
+//
+// page_ids.insert(3);
+// EXPECT_THAT(page_ids, Each(Gt(0)));
+// EXPECT_THAT(page_ids, Not(Each(Gt(4))));
+// page_ids.insert(1);
+// EXPECT_THAT(page_ids, Not(Each(Lt(2))));
+//
+// ::std::map<int, size_t> page_lengths;
+// page_lengths[1] = 100;
+// page_lengths[2] = 200;
+// page_lengths[3] = 300;
+// EXPECT_THAT(page_lengths, Not(Each(Pair(1, 100))));
+// EXPECT_THAT(page_lengths, Each(Key(Le(3))));
+//
+// const char* user_ids[] = { "joe", "mike", "tom" };
+// EXPECT_THAT(user_ids, Not(Each(Eq(::std::string("tom")))));
+template <typename M>
+inline internal::EachMatcher<M> Each(M matcher) {
+ return internal::EachMatcher<M>(matcher);
+}
+
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher. For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename M>
+inline internal::KeyMatcher<M> Key(M inner_matcher) {
+ return internal::KeyMatcher<M>(inner_matcher);
+}
+
+// Pair(first_matcher, second_matcher) matches a std::pair whose 'first' field
+// matches first_matcher and whose 'second' field matches second_matcher. For
+// example, EXPECT_THAT(map_type, ElementsAre(Pair(Ge(5), "foo"))) can be used
+// to match a std::map<int, string> that contains exactly one element whose key
+// is >= 5 and whose value equals "foo".
+template <typename FirstMatcher, typename SecondMatcher>
+inline internal::PairMatcher<FirstMatcher, SecondMatcher>
+Pair(FirstMatcher first_matcher, SecondMatcher second_matcher) {
+ return internal::PairMatcher<FirstMatcher, SecondMatcher>(
+ first_matcher, second_matcher);
+}
+
+// Returns a predicate that is satisfied by anything that matches the
+// given matcher.
+template <typename M>
+inline internal::MatcherAsPredicate<M> Matches(M matcher) {
+ return internal::MatcherAsPredicate<M>(matcher);
+}
+
+// Returns true iff the value matches the matcher.
+template <typename T, typename M>
+inline bool Value(const T& value, M matcher) {
+ return testing::Matches(matcher)(value);
+}
+
+// Matches the value against the given matcher and explains the match
+// result to listener.
+template <typename T, typename M>
+inline bool ExplainMatchResult(
+ M matcher, const T& value, MatchResultListener* listener) {
+ return SafeMatcherCast<const T&>(matcher).MatchAndExplain(value, listener);
+}
+
+#if GTEST_LANG_CXX11
+// Define variadic matcher versions. They are overloaded in
+// gmock-generated-matchers.h for the cases supported by pre C++11 compilers.
+template <typename... Args>
+inline internal::AllOfMatcher<Args...> AllOf(const Args&... matchers) {
+ return internal::AllOfMatcher<Args...>(matchers...);
+}
+
+template <typename... Args>
+inline internal::AnyOfMatcher<Args...> AnyOf(const Args&... matchers) {
+ return internal::AnyOfMatcher<Args...>(matchers...);
+}
+
+#endif // GTEST_LANG_CXX11
+
+// AllArgs(m) is a synonym of m. This is useful in
+//
+// EXPECT_CALL(foo, Bar(_, _)).With(AllArgs(Eq()));
+//
+// which is easier to read than
+//
+// EXPECT_CALL(foo, Bar(_, _)).With(Eq());
+template <typename InnerMatcher>
+inline InnerMatcher AllArgs(const InnerMatcher& matcher) { return matcher; }
+
+// These macros allow using matchers to check values in Google Test
+// tests. ASSERT_THAT(value, matcher) and EXPECT_THAT(value, matcher)
+// succeed iff the value matches the matcher. If the assertion fails,
+// the value and the description of the matcher will be printed.
+#define ASSERT_THAT(value, matcher) ASSERT_PRED_FORMAT1(\
+ ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+#define EXPECT_THAT(value, matcher) EXPECT_PRED_FORMAT1(\
+ ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+
+} // namespace testing
+
+// Include any custom callback matchers added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// ============================================================
+// An installation-specific extension point for gmock-matchers.h.
+// ============================================================
+//
+// Adds google3 callback support to CallableTraits.
+//
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+namespace testing {
+
+// An abstract handle of an expectation.
+class Expectation;
+
+// A set of expectation handles.
+class ExpectationSet;
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// Implements a mock function.
+template <typename F> class FunctionMocker;
+
+// Base class for expectations.
+class ExpectationBase;
+
+// Implements an expectation.
+template <typename F> class TypedExpectation;
+
+// Helper class for testing the Expectation class template.
+class ExpectationTester;
+
+// Base class for function mockers.
+template <typename F> class FunctionMockerBase;
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+//
+// The reason we don't use more fine-grained protection is: when a
+// mock function Foo() is called, it needs to consult its expectations
+// to see which one should be picked. If another thread is allowed to
+// call a mock function (either Foo() or a different one) at the same
+// time, it could affect the "retired" attributes of Foo()'s
+// expectations when InSequence() is used, and thus affect which
+// expectation gets picked. Therefore, we sequence all mock function
+// calls to ensure the integrity of the mock objects' states.
+GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Untyped base class for ActionResultHolder<R>.
+class UntypedActionResultHolderBase;
+
+// Abstract base class of FunctionMockerBase. This is the
+// type-agnostic part of the function mocker interface. Its pure
+// virtual methods are implemented by FunctionMockerBase.
+class GTEST_API_ UntypedFunctionMockerBase {
+ public:
+ UntypedFunctionMockerBase();
+ virtual ~UntypedFunctionMockerBase();
+
+ // Verifies that all expectations on this mock function have been
+ // satisfied. Reports one or more Google Test non-fatal failures
+ // and returns false if not.
+ bool VerifyAndClearExpectationsLocked()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+ // Clears the ON_CALL()s set on this mock function.
+ virtual void ClearDefaultActionsLocked()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) = 0;
+
+ // In all of the following Untyped* functions, it's the caller's
+ // responsibility to guarantee the correctness of the arguments'
+ // types.
+
+ // Performs the default action with the given arguments and returns
+ // the action's result. The call description string will be used in
+ // the error message to describe the call in the case the default
+ // action fails.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+ const void* untyped_args,
+ const string& call_description) const = 0;
+
+ // Performs the given action with the given arguments and returns
+ // the action's result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformAction(
+ const void* untyped_action,
+ const void* untyped_args) const = 0;
+
+ // Writes a message that the call is uninteresting (i.e. neither
+ // explicitly expected nor explicitly unexpected) to the given
+ // ostream.
+ virtual void UntypedDescribeUninterestingCall(
+ const void* untyped_args,
+ ::std::ostream* os) const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) = 0;
+
+ // Returns the expectation that matches the given function arguments
+ // (or NULL is there's no match); when a match is found,
+ // untyped_action is set to point to the action that should be
+ // performed (or NULL if the action is "do default"), and
+ // is_excessive is modified to indicate whether the call exceeds the
+ // expected number.
+ virtual const ExpectationBase* UntypedFindMatchingExpectation(
+ const void* untyped_args,
+ const void** untyped_action, bool* is_excessive,
+ ::std::ostream* what, ::std::ostream* why)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) = 0;
+
+ // Prints the given function arguments to the ostream.
+ virtual void UntypedPrintArgs(const void* untyped_args,
+ ::std::ostream* os) const = 0;
+
+ // Sets the mock object this mock method belongs to, and registers
+ // this information in the global mock registry. Will be called
+ // whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+ // method.
+ // TODO(wan@google.com): rename to SetAndRegisterOwner().
+ void RegisterOwner(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ // Sets the mock object this mock method belongs to, and sets the
+ // name of the mock function. Will be called upon each invocation
+ // of this mock function.
+ void SetOwnerAndName(const void* mock_obj, const char* name)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ // Returns the mock object this mock method belongs to. Must be
+ // called after RegisterOwner() or SetOwnerAndName() has been
+ // called.
+ const void* MockObject() const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ // Returns the name of this mock method. Must be called after
+ // SetOwnerAndName() has been called.
+ const char* Name() const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ // Returns the result of invoking this mock function with the given
+ // arguments. This function can be safely called from multiple
+ // threads concurrently. The caller is responsible for deleting the
+ // result.
+ UntypedActionResultHolderBase* UntypedInvokeWith(
+ const void* untyped_args)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ protected:
+ typedef std::vector<const void*> UntypedOnCallSpecs;
+
+ typedef std::vector<internal::linked_ptr<ExpectationBase> >
+ UntypedExpectations;
+
+ // Returns an Expectation object that references and co-owns exp,
+ // which must be an expectation on this mock function.
+ Expectation GetHandleOf(ExpectationBase* exp);
+
+ // Address of the mock object this mock method belongs to. Only
+ // valid after this mock method has been called or
+ // ON_CALL/EXPECT_CALL has been invoked on it.
+ const void* mock_obj_; // Protected by g_gmock_mutex.
+
+ // Name of the function being mocked. Only valid after this mock
+ // method has been called.
+ const char* name_; // Protected by g_gmock_mutex.
+
+ // All default action specs for this function mocker.
+ UntypedOnCallSpecs untyped_on_call_specs_;
+
+ // All expectations for this function mocker.
+ UntypedExpectations untyped_expectations_;
+}; // class UntypedFunctionMockerBase
+
+// Untyped base class for OnCallSpec<F>.
+class UntypedOnCallSpecBase {
+ public:
+ // The arguments are the location of the ON_CALL() statement.
+ UntypedOnCallSpecBase(const char* a_file, int a_line)
+ : file_(a_file), line_(a_line), last_clause_(kNone) {}
+
+ // Where in the source file was the default action spec defined?
+ const char* file() const { return file_; }
+ int line() const { return line_; }
+
+ protected:
+ // Gives each clause in the ON_CALL() statement a name.
+ enum Clause {
+ // Do not change the order of the enum members! The run-time
+ // syntax checking relies on it.
+ kNone,
+ kWith,
+ kWillByDefault
+ };
+
+ // Asserts that the ON_CALL() statement has a certain property.
+ void AssertSpecProperty(bool property, const string& failure_message) const {
+ Assert(property, file_, line_, failure_message);
+ }
+
+ // Expects that the ON_CALL() statement has a certain property.
+ void ExpectSpecProperty(bool property, const string& failure_message) const {
+ Expect(property, file_, line_, failure_message);
+ }
+
+ const char* file_;
+ int line_;
+
+ // The last clause in the ON_CALL() statement as seen so far.
+ // Initially kNone and changes as the statement is parsed.
+ Clause last_clause_;
+}; // class UntypedOnCallSpecBase
+
+// This template class implements an ON_CALL spec.
+template <typename F>
+class OnCallSpec : public UntypedOnCallSpecBase {
+ public:
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+ // Constructs an OnCallSpec object from the information inside
+ // the parenthesis of an ON_CALL() statement.
+ OnCallSpec(const char* a_file, int a_line,
+ const ArgumentMatcherTuple& matchers)
+ : UntypedOnCallSpecBase(a_file, a_line),
+ matchers_(matchers),
+ // By default, extra_matcher_ should match anything. However,
+ // we cannot initialize it with _ as that triggers a compiler
+ // bug in Symbian's C++ compiler (cannot decide between two
+ // overloaded constructors of Matcher<const ArgumentTuple&>).
+ extra_matcher_(A<const ArgumentTuple&>()) {
+ }
+
+ // Implements the .With() clause.
+ OnCallSpec& With(const Matcher<const ArgumentTuple&>& m) {
+ // Makes sure this is called at most once.
+ ExpectSpecProperty(last_clause_ < kWith,
+ ".With() cannot appear "
+ "more than once in an ON_CALL().");
+ last_clause_ = kWith;
+
+ extra_matcher_ = m;
+ return *this;
+ }
+
+ // Implements the .WillByDefault() clause.
+ OnCallSpec& WillByDefault(const Action<F>& action) {
+ ExpectSpecProperty(last_clause_ < kWillByDefault,
+ ".WillByDefault() must appear "
+ "exactly once in an ON_CALL().");
+ last_clause_ = kWillByDefault;
+
+ ExpectSpecProperty(!action.IsDoDefault(),
+ "DoDefault() cannot be used in ON_CALL().");
+ action_ = action;
+ return *this;
+ }
+
+ // Returns true iff the given arguments match the matchers.
+ bool Matches(const ArgumentTuple& args) const {
+ return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+ }
+
+ // Returns the action specified by the user.
+ const Action<F>& GetAction() const {
+ AssertSpecProperty(last_clause_ == kWillByDefault,
+ ".WillByDefault() must appear exactly "
+ "once in an ON_CALL().");
+ return action_;
+ }
+
+ private:
+ // The information in statement
+ //
+ // ON_CALL(mock_object, Method(matchers))
+ // .With(multi-argument-matcher)
+ // .WillByDefault(action);
+ //
+ // is recorded in the data members like this:
+ //
+ // source file that contains the statement => file_
+ // line number of the statement => line_
+ // matchers => matchers_
+ // multi-argument-matcher => extra_matcher_
+ // action => action_
+ ArgumentMatcherTuple matchers_;
+ Matcher<const ArgumentTuple&> extra_matcher_;
+ Action<F> action_;
+}; // class OnCallSpec
+
+// Possible reactions on uninteresting calls.
+enum CallReaction {
+ kAllow,
+ kWarn,
+ kFail,
+ kDefault = kWarn // By default, warn about uninteresting calls.
+};
+
+} // namespace internal
+
+// Utilities for manipulating mock objects.
+class GTEST_API_ Mock {
+ public:
+ // The following public methods can be called concurrently.
+
+ // Tells Google Mock to ignore mock_obj when checking for leaked
+ // mock objects.
+ static void AllowLeak(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Verifies and clears all expectations on the given mock object.
+ // If the expectations aren't satisfied, generates one or more
+ // Google Test non-fatal failures and returns false.
+ static bool VerifyAndClearExpectations(void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Verifies all expectations on the given mock object and clears its
+ // default actions and expectations. Returns true iff the
+ // verification was successful.
+ static bool VerifyAndClear(void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ private:
+ friend class internal::UntypedFunctionMockerBase;
+
+ // Needed for a function mocker to register itself (so that we know
+ // how to clear a mock object).
+ template <typename F>
+ friend class internal::FunctionMockerBase;
+
+ template <typename M>
+ friend class NiceMock;
+
+ template <typename M>
+ friend class NaggyMock;
+
+ template <typename M>
+ friend class StrictMock;
+
+ // Tells Google Mock to allow uninteresting calls on the given mock
+ // object.
+ static void AllowUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Tells Google Mock to warn the user about uninteresting calls on
+ // the given mock object.
+ static void WarnUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Tells Google Mock to fail uninteresting calls on the given mock
+ // object.
+ static void FailUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Tells Google Mock the given mock object is being destroyed and
+ // its entry in the call-reaction table should be removed.
+ static void UnregisterCallReaction(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Returns the reaction Google Mock will have on uninteresting calls
+ // made on the given mock object.
+ static internal::CallReaction GetReactionOnUninterestingCalls(
+ const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Verifies that all expectations on the given mock object have been
+ // satisfied. Reports one or more Google Test non-fatal failures
+ // and returns false if not.
+ static bool VerifyAndClearExpectationsLocked(void* mock_obj)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+
+ // Clears all ON_CALL()s set on the given mock object.
+ static void ClearDefaultActionsLocked(void* mock_obj)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+
+ // Registers a mock object and a mock method it owns.
+ static void Register(
+ const void* mock_obj,
+ internal::UntypedFunctionMockerBase* mocker)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Tells Google Mock where in the source code mock_obj is used in an
+ // ON_CALL or EXPECT_CALL. In case mock_obj is leaked, this
+ // information helps the user identify which object it is.
+ static void RegisterUseByOnCallOrExpectCall(
+ const void* mock_obj, const char* file, int line)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ // Unregisters a mock method; removes the owning mock object from
+ // the registry when the last mock method associated with it has
+ // been unregistered. This is called only in the destructor of
+ // FunctionMockerBase.
+ static void UnregisterLocked(internal::UntypedFunctionMockerBase* mocker)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+}; // class Mock
+
+// An abstract handle of an expectation. Useful in the .After()
+// clause of EXPECT_CALL() for setting the (partial) order of
+// expectations. The syntax:
+//
+// Expectation e1 = EXPECT_CALL(...)...;
+// EXPECT_CALL(...).After(e1)...;
+//
+// sets two expectations where the latter can only be matched after
+// the former has been satisfied.
+//
+// Notes:
+// - This class is copyable and has value semantics.
+// - Constness is shallow: a const Expectation object itself cannot
+// be modified, but the mutable methods of the ExpectationBase
+// object it references can be called via expectation_base().
+// - The constructors and destructor are defined out-of-line because
+// the Symbian WINSCW compiler wants to otherwise instantiate them
+// when it sees this class definition, at which point it doesn't have
+// ExpectationBase available yet, leading to incorrect destruction
+// in the linked_ptr (or compilation errors if using a checking
+// linked_ptr).
+class GTEST_API_ Expectation {
+ public:
+ // Constructs a null object that doesn't reference any expectation.
+ Expectation();
+
+ ~Expectation();
+
+ // This single-argument ctor must not be explicit, in order to support the
+ // Expectation e = EXPECT_CALL(...);
+ // syntax.
+ //
+ // A TypedExpectation object stores its pre-requisites as
+ // Expectation objects, and needs to call the non-const Retire()
+ // method on the ExpectationBase objects they reference. Therefore
+ // Expectation must receive a *non-const* reference to the
+ // ExpectationBase object.
+ Expectation(internal::ExpectationBase& exp); // NOLINT
+
+ // The compiler-generated copy ctor and operator= work exactly as
+ // intended, so we don't need to define our own.
+
+ // Returns true iff rhs references the same expectation as this object does.
+ bool operator==(const Expectation& rhs) const {
+ return expectation_base_ == rhs.expectation_base_;
+ }
+
+ bool operator!=(const Expectation& rhs) const { return !(*this == rhs); }
+
+ private:
+ friend class ExpectationSet;
+ friend class Sequence;
+ friend class ::testing::internal::ExpectationBase;
+ friend class ::testing::internal::UntypedFunctionMockerBase;
+
+ template <typename F>
+ friend class ::testing::internal::FunctionMockerBase;
+
+ template <typename F>
+ friend class ::testing::internal::TypedExpectation;
+
+ // This comparator is needed for putting Expectation objects into a set.
+ class Less {
+ public:
+ bool operator()(const Expectation& lhs, const Expectation& rhs) const {
+ return lhs.expectation_base_.get() < rhs.expectation_base_.get();
+ }
+ };
+
+ typedef ::std::set<Expectation, Less> Set;
+
+ Expectation(
+ const internal::linked_ptr<internal::ExpectationBase>& expectation_base);
+
+ // Returns the expectation this object references.
+ const internal::linked_ptr<internal::ExpectationBase>&
+ expectation_base() const {
+ return expectation_base_;
+ }
+
+ // A linked_ptr that co-owns the expectation this handle references.
+ internal::linked_ptr<internal::ExpectationBase> expectation_base_;
+};
+
+// A set of expectation handles. Useful in the .After() clause of
+// EXPECT_CALL() for setting the (partial) order of expectations. The
+// syntax:
+//
+// ExpectationSet es;
+// es += EXPECT_CALL(...)...;
+// es += EXPECT_CALL(...)...;
+// EXPECT_CALL(...).After(es)...;
+//
+// sets three expectations where the last one can only be matched
+// after the first two have both been satisfied.
+//
+// This class is copyable and has value semantics.
+class ExpectationSet {
+ public:
+ // A bidirectional iterator that can read a const element in the set.
+ typedef Expectation::Set::const_iterator const_iterator;
+
+ // An object stored in the set. This is an alias of Expectation.
+ typedef Expectation::Set::value_type value_type;
+
+ // Constructs an empty set.
+ ExpectationSet() {}
+
+ // This single-argument ctor must not be explicit, in order to support the
+ // ExpectationSet es = EXPECT_CALL(...);
+ // syntax.
+ ExpectationSet(internal::ExpectationBase& exp) { // NOLINT
+ *this += Expectation(exp);
+ }
+
+ // This single-argument ctor implements implicit conversion from
+ // Expectation and thus must not be explicit. This allows either an
+ // Expectation or an ExpectationSet to be used in .After().
+ ExpectationSet(const Expectation& e) { // NOLINT
+ *this += e;
+ }
+
+ // The compiler-generator ctor and operator= works exactly as
+ // intended, so we don't need to define our own.
+
+ // Returns true iff rhs contains the same set of Expectation objects
+ // as this does.
+ bool operator==(const ExpectationSet& rhs) const {
+ return expectations_ == rhs.expectations_;
+ }
+
+ bool operator!=(const ExpectationSet& rhs) const { return !(*this == rhs); }
+
+ // Implements the syntax
+ // expectation_set += EXPECT_CALL(...);
+ ExpectationSet& operator+=(const Expectation& e) {
+ expectations_.insert(e);
+ return *this;
+ }
+
+ int size() const { return static_cast<int>(expectations_.size()); }
+
+ const_iterator begin() const { return expectations_.begin(); }
+ const_iterator end() const { return expectations_.end(); }
+
+ private:
+ Expectation::Set expectations_;
+};
+
+
+// Sequence objects are used by a user to specify the relative order
+// in which the expectations should match. They are copyable (we rely
+// on the compiler-defined copy constructor and assignment operator).
+class GTEST_API_ Sequence {
+ public:
+ // Constructs an empty sequence.
+ Sequence() : last_expectation_(new Expectation) {}
+
+ // Adds an expectation to this sequence. The caller must ensure
+ // that no other thread is accessing this Sequence object.
+ void AddExpectation(const Expectation& expectation) const;
+
+ private:
+ // The last expectation in this sequence. We use a linked_ptr here
+ // because Sequence objects are copyable and we want the copies to
+ // be aliases. The linked_ptr allows the copies to co-own and share
+ // the same Expectation object.
+ internal::linked_ptr<Expectation> last_expectation_;
+}; // class Sequence
+
+// An object of this type causes all EXPECT_CALL() statements
+// encountered in its scope to be put in an anonymous sequence. The
+// work is done in the constructor and destructor. You should only
+// create an InSequence object on the stack.
+//
+// The sole purpose for this class is to support easy definition of
+// sequential expectations, e.g.
+//
+// {
+// InSequence dummy; // The name of the object doesn't matter.
+//
+// // The following expectations must match in the order they appear.
+// EXPECT_CALL(a, Bar())...;
+// EXPECT_CALL(a, Baz())...;
+// ...
+// EXPECT_CALL(b, Xyz())...;
+// }
+//
+// You can create InSequence objects in multiple threads, as long as
+// they are used to affect different mock objects. The idea is that
+// each thread can create and set up its own mocks as if it's the only
+// thread. However, for clarity of your tests we recommend you to set
+// up mocks in the main thread unless you have a good reason not to do
+// so.
+class GTEST_API_ InSequence {
+ public:
+ InSequence();
+ ~InSequence();
+ private:
+ bool sequence_created_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InSequence); // NOLINT
+} GTEST_ATTRIBUTE_UNUSED_;
+
+namespace internal {
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+GTEST_API_ extern ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Base class for implementing expectations.
+//
+// There are two reasons for having a type-agnostic base class for
+// Expectation:
+//
+// 1. We need to store collections of expectations of different
+// types (e.g. all pre-requisites of a particular expectation, all
+// expectations in a sequence). Therefore these expectation objects
+// must share a common base class.
+//
+// 2. We can avoid binary code bloat by moving methods not depending
+// on the template argument of Expectation to the base class.
+//
+// This class is internal and mustn't be used by user code directly.
+class GTEST_API_ ExpectationBase {
+ public:
+ // source_text is the EXPECT_CALL(...) source that created this Expectation.
+ ExpectationBase(const char* file, int line, const string& source_text);
+
+ virtual ~ExpectationBase();
+
+ // Where in the source file was the expectation spec defined?
+ const char* file() const { return file_; }
+ int line() const { return line_; }
+ const char* source_text() const { return source_text_.c_str(); }
+ // Returns the cardinality specified in the expectation spec.
+ const Cardinality& cardinality() const { return cardinality_; }
+
+ // Describes the source file location of this expectation.
+ void DescribeLocationTo(::std::ostream* os) const {
+ *os << FormatFileLocation(file(), line()) << " ";
+ }
+
+ // Describes how many times a function call matching this
+ // expectation has occurred.
+ void DescribeCallCountTo(::std::ostream* os) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+ // If this mock method has an extra matcher (i.e. .With(matcher)),
+ // describes it to the ostream.
+ virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) = 0;
+
+ protected:
+ friend class ::testing::Expectation;
+ friend class UntypedFunctionMockerBase;
+
+ enum Clause {
+ // Don't change the order of the enum members!
+ kNone,
+ kWith,
+ kTimes,
+ kInSequence,
+ kAfter,
+ kWillOnce,
+ kWillRepeatedly,
+ kRetiresOnSaturation
+ };
+
+ typedef std::vector<const void*> UntypedActions;
+
+ // Returns an Expectation object that references and co-owns this
+ // expectation.
+ virtual Expectation GetHandle() = 0;
+
+ // Asserts that the EXPECT_CALL() statement has the given property.
+ void AssertSpecProperty(bool property, const string& failure_message) const {
+ Assert(property, file_, line_, failure_message);
+ }
+
+ // Expects that the EXPECT_CALL() statement has the given property.
+ void ExpectSpecProperty(bool property, const string& failure_message) const {
+ Expect(property, file_, line_, failure_message);
+ }
+
+ // Explicitly specifies the cardinality of this expectation. Used
+ // by the subclasses to implement the .Times() clause.
+ void SpecifyCardinality(const Cardinality& cardinality);
+
+ // Returns true iff the user specified the cardinality explicitly
+ // using a .Times().
+ bool cardinality_specified() const { return cardinality_specified_; }
+
+ // Sets the cardinality of this expectation spec.
+ void set_cardinality(const Cardinality& a_cardinality) {
+ cardinality_ = a_cardinality;
+ }
+
+ // The following group of methods should only be called after the
+ // EXPECT_CALL() statement, and only when g_gmock_mutex is held by
+ // the current thread.
+
+ // Retires all pre-requisites of this expectation.
+ void RetireAllPreRequisites()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+ // Returns true iff this expectation is retired.
+ bool is_retired() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return retired_;
+ }
+
+ // Retires this expectation.
+ void Retire()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ retired_ = true;
+ }
+
+ // Returns true iff this expectation is satisfied.
+ bool IsSatisfied() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsSatisfiedByCallCount(call_count_);
+ }
+
+ // Returns true iff this expectation is saturated.
+ bool IsSaturated() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsSaturatedByCallCount(call_count_);
+ }
+
+ // Returns true iff this expectation is over-saturated.
+ bool IsOverSaturated() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsOverSaturatedByCallCount(call_count_);
+ }
+
+ // Returns true iff all pre-requisites of this expectation are satisfied.
+ bool AllPrerequisitesAreSatisfied() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+ // Adds unsatisfied pre-requisites of this expectation to 'result'.
+ void FindUnsatisfiedPrerequisites(ExpectationSet* result) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+ // Returns the number this expectation has been invoked.
+ int call_count() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return call_count_;
+ }
+
+ // Increments the number this expectation has been invoked.
+ void IncrementCallCount()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ call_count_++;
+ }
+
+ // Checks the action count (i.e. the number of WillOnce() and
+ // WillRepeatedly() clauses) against the cardinality if this hasn't
+ // been done before. Prints a warning if there are too many or too
+ // few actions.
+ void CheckActionCountIfNotDone() const
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ friend class ::testing::Sequence;
+ friend class ::testing::internal::ExpectationTester;
+
+ template <typename Function>
+ friend class TypedExpectation;
+
+ // Implements the .Times() clause.
+ void UntypedTimes(const Cardinality& a_cardinality);
+
+ // This group of fields are part of the spec and won't change after
+ // an EXPECT_CALL() statement finishes.
+ const char* file_; // The file that contains the expectation.
+ int line_; // The line number of the expectation.
+ const string source_text_; // The EXPECT_CALL(...) source text.
+ // True iff the cardinality is specified explicitly.
+ bool cardinality_specified_;
+ Cardinality cardinality_; // The cardinality of the expectation.
+ // The immediate pre-requisites (i.e. expectations that must be
+ // satisfied before this expectation can be matched) of this
+ // expectation. We use linked_ptr in the set because we want an
+ // Expectation object to be co-owned by its FunctionMocker and its
+ // successors. This allows multiple mock objects to be deleted at
+ // different times.
+ ExpectationSet immediate_prerequisites_;
+
+ // This group of fields are the current state of the expectation,
+ // and can change as the mock function is called.
+ int call_count_; // How many times this expectation has been invoked.
+ bool retired_; // True iff this expectation has retired.
+ UntypedActions untyped_actions_;
+ bool extra_matcher_specified_;
+ bool repeated_action_specified_; // True if a WillRepeatedly() was specified.
+ bool retires_on_saturation_;
+ Clause last_clause_;
+ mutable bool action_count_checked_; // Under mutex_.
+ mutable Mutex mutex_; // Protects action_count_checked_.
+
+ GTEST_DISALLOW_ASSIGN_(ExpectationBase);
+}; // class ExpectationBase
+
+// Impements an expectation for the given function type.
+template <typename F>
+class TypedExpectation : public ExpectationBase {
+ public:
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+ typedef typename Function<F>::Result Result;
+
+ TypedExpectation(FunctionMockerBase<F>* owner,
+ const char* a_file, int a_line, const string& a_source_text,
+ const ArgumentMatcherTuple& m)
+ : ExpectationBase(a_file, a_line, a_source_text),
+ owner_(owner),
+ matchers_(m),
+ // By default, extra_matcher_ should match anything. However,
+ // we cannot initialize it with _ as that triggers a compiler
+ // bug in Symbian's C++ compiler (cannot decide between two
+ // overloaded constructors of Matcher<const ArgumentTuple&>).
+ extra_matcher_(A<const ArgumentTuple&>()),
+ repeated_action_(DoDefault()) {}
+
+ virtual ~TypedExpectation() {
+ // Check the validity of the action count if it hasn't been done
+ // yet (for example, if the expectation was never used).
+ CheckActionCountIfNotDone();
+ for (UntypedActions::const_iterator it = untyped_actions_.begin();
+ it != untyped_actions_.end(); ++it) {
+ delete static_cast<const Action<F>*>(*it);
+ }
+ }
+
+ // Implements the .With() clause.
+ TypedExpectation& With(const Matcher<const ArgumentTuple&>& m) {
+ if (last_clause_ == kWith) {
+ ExpectSpecProperty(false,
+ ".With() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kWith,
+ ".With() must be the first "
+ "clause in an EXPECT_CALL().");
+ }
+ last_clause_ = kWith;
+
+ extra_matcher_ = m;
+ extra_matcher_specified_ = true;
+ return *this;
+ }
+
+ // Implements the .Times() clause.
+ TypedExpectation& Times(const Cardinality& a_cardinality) {
+ ExpectationBase::UntypedTimes(a_cardinality);
+ return *this;
+ }
+
+ // Implements the .Times() clause.
+ TypedExpectation& Times(int n) {
+ return Times(Exactly(n));
+ }
+
+ // Implements the .InSequence() clause.
+ TypedExpectation& InSequence(const Sequence& s) {
+ ExpectSpecProperty(last_clause_ <= kInSequence,
+ ".InSequence() cannot appear after .After(),"
+ " .WillOnce(), .WillRepeatedly(), or "
+ ".RetiresOnSaturation().");
+ last_clause_ = kInSequence;
+
+ s.AddExpectation(GetHandle());
+ return *this;
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2) {
+ return InSequence(s1).InSequence(s2);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3) {
+ return InSequence(s1, s2).InSequence(s3);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3, const Sequence& s4) {
+ return InSequence(s1, s2, s3).InSequence(s4);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3, const Sequence& s4,
+ const Sequence& s5) {
+ return InSequence(s1, s2, s3, s4).InSequence(s5);
+ }
+
+ // Implements that .After() clause.
+ TypedExpectation& After(const ExpectationSet& s) {
+ ExpectSpecProperty(last_clause_ <= kAfter,
+ ".After() cannot appear after .WillOnce(),"
+ " .WillRepeatedly(), or "
+ ".RetiresOnSaturation().");
+ last_clause_ = kAfter;
+
+ for (ExpectationSet::const_iterator it = s.begin(); it != s.end(); ++it) {
+ immediate_prerequisites_ += *it;
+ }
+ return *this;
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2) {
+ return After(s1).After(s2);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3) {
+ return After(s1, s2).After(s3);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3, const ExpectationSet& s4) {
+ return After(s1, s2, s3).After(s4);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3, const ExpectationSet& s4,
+ const ExpectationSet& s5) {
+ return After(s1, s2, s3, s4).After(s5);
+ }
+
+ // Implements the .WillOnce() clause.
+ TypedExpectation& WillOnce(const Action<F>& action) {
+ ExpectSpecProperty(last_clause_ <= kWillOnce,
+ ".WillOnce() cannot appear after "
+ ".WillRepeatedly() or .RetiresOnSaturation().");
+ last_clause_ = kWillOnce;
+
+ untyped_actions_.push_back(new Action<F>(action));
+ if (!cardinality_specified()) {
+ set_cardinality(Exactly(static_cast<int>(untyped_actions_.size())));
+ }
+ return *this;
+ }
+
+ // Implements the .WillRepeatedly() clause.
+ TypedExpectation& WillRepeatedly(const Action<F>& action) {
+ if (last_clause_ == kWillRepeatedly) {
+ ExpectSpecProperty(false,
+ ".WillRepeatedly() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kWillRepeatedly,
+ ".WillRepeatedly() cannot appear "
+ "after .RetiresOnSaturation().");
+ }
+ last_clause_ = kWillRepeatedly;
+ repeated_action_specified_ = true;
+
+ repeated_action_ = action;
+ if (!cardinality_specified()) {
+ set_cardinality(AtLeast(static_cast<int>(untyped_actions_.size())));
+ }
+
+ // Now that no more action clauses can be specified, we check
+ // whether their count makes sense.
+ CheckActionCountIfNotDone();
+ return *this;
+ }
+
+ // Implements the .RetiresOnSaturation() clause.
+ TypedExpectation& RetiresOnSaturation() {
+ ExpectSpecProperty(last_clause_ < kRetiresOnSaturation,
+ ".RetiresOnSaturation() cannot appear "
+ "more than once.");
+ last_clause_ = kRetiresOnSaturation;
+ retires_on_saturation_ = true;
+
+ // Now that no more action clauses can be specified, we check
+ // whether their count makes sense.
+ CheckActionCountIfNotDone();
+ return *this;
+ }
+
+ // Returns the matchers for the arguments as specified inside the
+ // EXPECT_CALL() macro.
+ const ArgumentMatcherTuple& matchers() const {
+ return matchers_;
+ }
+
+ // Returns the matcher specified by the .With() clause.
+ const Matcher<const ArgumentTuple&>& extra_matcher() const {
+ return extra_matcher_;
+ }
+
+ // Returns the action specified by the .WillRepeatedly() clause.
+ const Action<F>& repeated_action() const { return repeated_action_; }
+
+ // If this mock method has an extra matcher (i.e. .With(matcher)),
+ // describes it to the ostream.
+ virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) {
+ if (extra_matcher_specified_) {
+ *os << " Expected args: ";
+ extra_matcher_.DescribeTo(os);
+ *os << "\n";
+ }
+ }
+
+ private:
+ template <typename Function>
+ friend class FunctionMockerBase;
+
+ // Returns an Expectation object that references and co-owns this
+ // expectation.
+ virtual Expectation GetHandle() {
+ return owner_->GetHandleOf(this);
+ }
+
+ // The following methods will be called only after the EXPECT_CALL()
+ // statement finishes and when the current thread holds
+ // g_gmock_mutex.
+
+ // Returns true iff this expectation matches the given arguments.
+ bool Matches(const ArgumentTuple& args) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+ }
+
+ // Returns true iff this expectation should handle the given arguments.
+ bool ShouldHandleArguments(const ArgumentTuple& args) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+
+ // In case the action count wasn't checked when the expectation
+ // was defined (e.g. if this expectation has no WillRepeatedly()
+ // or RetiresOnSaturation() clause), we check it when the
+ // expectation is used for the first time.
+ CheckActionCountIfNotDone();
+ return !is_retired() && AllPrerequisitesAreSatisfied() && Matches(args);
+ }
+
+ // Describes the result of matching the arguments against this
+ // expectation to the given ostream.
+ void ExplainMatchResultTo(
+ const ArgumentTuple& args,
+ ::std::ostream* os) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+
+ if (is_retired()) {
+ *os << " Expected: the expectation is active\n"
+ << " Actual: it is retired\n";
+ } else if (!Matches(args)) {
+ if (!TupleMatches(matchers_, args)) {
+ ExplainMatchFailureTupleTo(matchers_, args, os);
+ }
+ StringMatchResultListener listener;
+ if (!extra_matcher_.MatchAndExplain(args, &listener)) {
+ *os << " Expected args: ";
+ extra_matcher_.DescribeTo(os);
+ *os << "\n Actual: don't match";
+
+ internal::PrintIfNotEmpty(listener.str(), os);
+ *os << "\n";
+ }
+ } else if (!AllPrerequisitesAreSatisfied()) {
+ *os << " Expected: all pre-requisites are satisfied\n"
+ << " Actual: the following immediate pre-requisites "
+ << "are not satisfied:\n";
+ ExpectationSet unsatisfied_prereqs;
+ FindUnsatisfiedPrerequisites(&unsatisfied_prereqs);
+ int i = 0;
+ for (ExpectationSet::const_iterator it = unsatisfied_prereqs.begin();
+ it != unsatisfied_prereqs.end(); ++it) {
+ it->expectation_base()->DescribeLocationTo(os);
+ *os << "pre-requisite #" << i++ << "\n";
+ }
+ *os << " (end of pre-requisites)\n";
+ } else {
+ // This line is here just for completeness' sake. It will never
+ // be executed as currently the ExplainMatchResultTo() function
+ // is called only when the mock function call does NOT match the
+ // expectation.
+ *os << "The call matches the expectation.\n";
+ }
+ }
+
+ // Returns the action that should be taken for the current invocation.
+ const Action<F>& GetCurrentAction(
+ const FunctionMockerBase<F>* mocker,
+ const ArgumentTuple& args) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ const int count = call_count();
+ Assert(count >= 1, __FILE__, __LINE__,
+ "call_count() is <= 0 when GetCurrentAction() is "
+ "called - this should never happen.");
+
+ const int action_count = static_cast<int>(untyped_actions_.size());
+ if (action_count > 0 && !repeated_action_specified_ &&
+ count > action_count) {
+ // If there is at least one WillOnce() and no WillRepeatedly(),
+ // we warn the user when the WillOnce() clauses ran out.
+ ::std::stringstream ss;
+ DescribeLocationTo(&ss);
+ ss << "Actions ran out in " << source_text() << "...\n"
+ << "Called " << count << " times, but only "
+ << action_count << " WillOnce()"
+ << (action_count == 1 ? " is" : "s are") << " specified - ";
+ mocker->DescribeDefaultActionTo(args, &ss);
+ Log(kWarning, ss.str(), 1);
+ }
+
+ return count <= action_count ?
+ *static_cast<const Action<F>*>(untyped_actions_[count - 1]) :
+ repeated_action();
+ }
+
+ // Given the arguments of a mock function call, if the call will
+ // over-saturate this expectation, returns the default action;
+ // otherwise, returns the next action in this expectation. Also
+ // describes *what* happened to 'what', and explains *why* Google
+ // Mock does it to 'why'. This method is not const as it calls
+ // IncrementCallCount(). A return value of NULL means the default
+ // action.
+ const Action<F>* GetActionForArguments(
+ const FunctionMockerBase<F>* mocker,
+ const ArgumentTuple& args,
+ ::std::ostream* what,
+ ::std::ostream* why)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ if (IsSaturated()) {
+ // We have an excessive call.
+ IncrementCallCount();
+ *what << "Mock function called more times than expected - ";
+ mocker->DescribeDefaultActionTo(args, what);
+ DescribeCallCountTo(why);
+
+ // TODO(wan@google.com): allow the user to control whether
+ // unexpected calls should fail immediately or continue using a
+ // flag --gmock_unexpected_calls_are_fatal.
+ return NULL;
+ }
+
+ IncrementCallCount();
+ RetireAllPreRequisites();
+
+ if (retires_on_saturation_ && IsSaturated()) {
+ Retire();
+ }
+
+ // Must be done after IncrementCount()!
+ *what << "Mock function call matches " << source_text() <<"...\n";
+ return &(GetCurrentAction(mocker, args));
+ }
+
+ // All the fields below won't change once the EXPECT_CALL()
+ // statement finishes.
+ FunctionMockerBase<F>* const owner_;
+ ArgumentMatcherTuple matchers_;
+ Matcher<const ArgumentTuple&> extra_matcher_;
+ Action<F> repeated_action_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TypedExpectation);
+}; // class TypedExpectation
+
+// A MockSpec object is used by ON_CALL() or EXPECT_CALL() for
+// specifying the default behavior of, or expectation on, a mock
+// function.
+
+// Note: class MockSpec really belongs to the ::testing namespace.
+// However if we define it in ::testing, MSVC will complain when
+// classes in ::testing::internal declare it as a friend class
+// template. To workaround this compiler bug, we define MockSpec in
+// ::testing::internal and import it into ::testing.
+
+// Logs a message including file and line number information.
+GTEST_API_ void LogWithLocation(testing::internal::LogSeverity severity,
+ const char* file, int line,
+ const string& message);
+
+template <typename F>
+class MockSpec {
+ public:
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename internal::Function<F>::ArgumentMatcherTuple
+ ArgumentMatcherTuple;
+
+ // Constructs a MockSpec object, given the function mocker object
+ // that the spec is associated with.
+ explicit MockSpec(internal::FunctionMockerBase<F>* function_mocker)
+ : function_mocker_(function_mocker) {}
+
+ // Adds a new default action spec to the function mocker and returns
+ // the newly created spec.
+ internal::OnCallSpec<F>& InternalDefaultActionSetAt(
+ const char* file, int line, const char* obj, const char* call) {
+ LogWithLocation(internal::kInfo, file, line,
+ string("ON_CALL(") + obj + ", " + call + ") invoked");
+ return function_mocker_->AddNewOnCallSpec(file, line, matchers_);
+ }
+
+ // Adds a new expectation spec to the function mocker and returns
+ // the newly created spec.
+ internal::TypedExpectation<F>& InternalExpectedAt(
+ const char* file, int line, const char* obj, const char* call) {
+ const string source_text(string("EXPECT_CALL(") + obj + ", " + call + ")");
+ LogWithLocation(internal::kInfo, file, line, source_text + " invoked");
+ return function_mocker_->AddNewExpectation(
+ file, line, source_text, matchers_);
+ }
+
+ private:
+ template <typename Function>
+ friend class internal::FunctionMocker;
+
+ void SetMatchers(const ArgumentMatcherTuple& matchers) {
+ matchers_ = matchers;
+ }
+
+ // The function mocker that owns this spec.
+ internal::FunctionMockerBase<F>* const function_mocker_;
+ // The argument matchers specified in the spec.
+ ArgumentMatcherTuple matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(MockSpec);
+}; // class MockSpec
+
+// Wrapper type for generically holding an ordinary value or lvalue reference.
+// If T is not a reference type, it must be copyable or movable.
+// ReferenceOrValueWrapper<T> is movable, and will also be copyable unless
+// T is a move-only value type (which means that it will always be copyable
+// if the current platform does not support move semantics).
+//
+// The primary template defines handling for values, but function header
+// comments describe the contract for the whole template (including
+// specializations).
+template <typename T>
+class ReferenceOrValueWrapper {
+ public:
+ // Constructs a wrapper from the given value/reference.
+ explicit ReferenceOrValueWrapper(T value)
+ : value_(::testing::internal::move(value)) {
+ }
+
+ // Unwraps and returns the underlying value/reference, exactly as
+ // originally passed. The behavior of calling this more than once on
+ // the same object is unspecified.
+ T Unwrap() { return ::testing::internal::move(value_); }
+
+ // Provides nondestructive access to the underlying value/reference.
+ // Always returns a const reference (more precisely,
+ // const RemoveReference<T>&). The behavior of calling this after
+ // calling Unwrap on the same object is unspecified.
+ const T& Peek() const {
+ return value_;
+ }
+
+ private:
+ T value_;
+};
+
+// Specialization for lvalue reference types. See primary template
+// for documentation.
+template <typename T>
+class ReferenceOrValueWrapper<T&> {
+ public:
+ // Workaround for debatable pass-by-reference lint warning (c-library-team
+ // policy precludes NOLINT in this context)
+ typedef T& reference;
+ explicit ReferenceOrValueWrapper(reference ref)
+ : value_ptr_(&ref) {}
+ T& Unwrap() { return *value_ptr_; }
+ const T& Peek() const { return *value_ptr_; }
+
+ private:
+ T* value_ptr_;
+};
+
+// MSVC warns about using 'this' in base member initializer list, so
+// we need to temporarily disable the warning. We have to do it for
+// the entire class to suppress the warning, even though it's about
+// the constructor only.
+
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4355) // Temporarily disables warning 4355.
+#endif // _MSV_VER
+
+// C++ treats the void type specially. For example, you cannot define
+// a void-typed variable or pass a void value to a function.
+// ActionResultHolder<T> holds a value of type T, where T must be a
+// copyable type or void (T doesn't need to be default-constructable).
+// It hides the syntactic difference between void and other types, and
+// is used to unify the code for invoking both void-returning and
+// non-void-returning mock functions.
+
+// Untyped base class for ActionResultHolder<T>.
+class UntypedActionResultHolderBase {
+ public:
+ virtual ~UntypedActionResultHolderBase() {}
+
+ // Prints the held value as an action's result to os.
+ virtual void PrintAsActionResult(::std::ostream* os) const = 0;
+};
+
+// This generic definition is used when T is not void.
+template <typename T>
+class ActionResultHolder : public UntypedActionResultHolderBase {
+ public:
+ // Returns the held value. Must not be called more than once.
+ T Unwrap() {
+ return result_.Unwrap();
+ }
+
+ // Prints the held value as an action's result to os.
+ virtual void PrintAsActionResult(::std::ostream* os) const {
+ *os << "\n Returns: ";
+ // T may be a reference type, so we don't use UniversalPrint().
+ UniversalPrinter<T>::Print(result_.Peek(), os);
+ }
+
+ // Performs the given mock function's default action and returns the
+ // result in a new-ed ActionResultHolder.
+ template <typename F>
+ static ActionResultHolder* PerformDefaultAction(
+ const FunctionMockerBase<F>* func_mocker,
+ const typename Function<F>::ArgumentTuple& args,
+ const string& call_description) {
+ return new ActionResultHolder(Wrapper(
+ func_mocker->PerformDefaultAction(args, call_description)));
+ }
+
+ // Performs the given action and returns the result in a new-ed
+ // ActionResultHolder.
+ template <typename F>
+ static ActionResultHolder*
+ PerformAction(const Action<F>& action,
+ const typename Function<F>::ArgumentTuple& args) {
+ return new ActionResultHolder(Wrapper(action.Perform(args)));
+ }
+
+ private:
+ typedef ReferenceOrValueWrapper<T> Wrapper;
+
+ explicit ActionResultHolder(Wrapper result)
+ : result_(::testing::internal::move(result)) {
+ }
+
+ Wrapper result_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionResultHolder);
+};
+
+// Specialization for T = void.
+template <>
+class ActionResultHolder<void> : public UntypedActionResultHolderBase {
+ public:
+ void Unwrap() { }
+
+ virtual void PrintAsActionResult(::std::ostream* /* os */) const {}
+
+ // Performs the given mock function's default action and returns ownership
+ // of an empty ActionResultHolder*.
+ template <typename F>
+ static ActionResultHolder* PerformDefaultAction(
+ const FunctionMockerBase<F>* func_mocker,
+ const typename Function<F>::ArgumentTuple& args,
+ const string& call_description) {
+ func_mocker->PerformDefaultAction(args, call_description);
+ return new ActionResultHolder;
+ }
+
+ // Performs the given action and returns ownership of an empty
+ // ActionResultHolder*.
+ template <typename F>
+ static ActionResultHolder* PerformAction(
+ const Action<F>& action,
+ const typename Function<F>::ArgumentTuple& args) {
+ action.Perform(args);
+ return new ActionResultHolder;
+ }
+
+ private:
+ ActionResultHolder() {}
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionResultHolder);
+};
+
+// The base of the function mocker class for the given function type.
+// We put the methods in this class instead of its child to avoid code
+// bloat.
+template <typename F>
+class FunctionMockerBase : public UntypedFunctionMockerBase {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+ FunctionMockerBase() : current_spec_(this) {}
+
+ // The destructor verifies that all expectations on this mock
+ // function have been satisfied. If not, it will report Google Test
+ // non-fatal failures for the violations.
+ virtual ~FunctionMockerBase()
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ MutexLock l(&g_gmock_mutex);
+ VerifyAndClearExpectationsLocked();
+ Mock::UnregisterLocked(this);
+ ClearDefaultActionsLocked();
+ }
+
+ // Returns the ON_CALL spec that matches this mock function with the
+ // given arguments; returns NULL if no matching ON_CALL is found.
+ // L = *
+ const OnCallSpec<F>* FindOnCallSpec(
+ const ArgumentTuple& args) const {
+ for (UntypedOnCallSpecs::const_reverse_iterator it
+ = untyped_on_call_specs_.rbegin();
+ it != untyped_on_call_specs_.rend(); ++it) {
+ const OnCallSpec<F>* spec = static_cast<const OnCallSpec<F>*>(*it);
+ if (spec->Matches(args))
+ return spec;
+ }
+
+ return NULL;
+ }
+
+ // Performs the default action of this mock function on the given
+ // arguments and returns the result. Asserts (or throws if
+ // exceptions are enabled) with a helpful call descrption if there
+ // is no valid return value. This method doesn't depend on the
+ // mutable state of this object, and thus can be called concurrently
+ // without locking.
+ // L = *
+ Result PerformDefaultAction(const ArgumentTuple& args,
+ const string& call_description) const {
+ const OnCallSpec<F>* const spec =
+ this->FindOnCallSpec(args);
+ if (spec != NULL) {
+ return spec->GetAction().Perform(args);
+ }
+ const string message = call_description +
+ "\n The mock function has no default action "
+ "set, and its return type has no default value set.";
+#if GTEST_HAS_EXCEPTIONS
+ if (!DefaultValue<Result>::Exists()) {
+ throw std::runtime_error(message);
+ }
+#else
+ Assert(DefaultValue<Result>::Exists(), "", -1, message);
+#endif
+ return DefaultValue<Result>::Get();
+ }
+
+ // Performs the default action with the given arguments and returns
+ // the action's result. The call description string will be used in
+ // the error message to describe the call in the case the default
+ // action fails. The caller is responsible for deleting the result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+ const void* untyped_args, // must point to an ArgumentTuple
+ const string& call_description) const {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ return ResultHolder::PerformDefaultAction(this, args, call_description);
+ }
+
+ // Performs the given action with the given arguments and returns
+ // the action's result. The caller is responsible for deleting the
+ // result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformAction(
+ const void* untyped_action, const void* untyped_args) const {
+ // Make a copy of the action before performing it, in case the
+ // action deletes the mock object (and thus deletes itself).
+ const Action<F> action = *static_cast<const Action<F>*>(untyped_action);
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ return ResultHolder::PerformAction(action, args);
+ }
+
+ // Implements UntypedFunctionMockerBase::ClearDefaultActionsLocked():
+ // clears the ON_CALL()s set on this mock function.
+ virtual void ClearDefaultActionsLocked()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+
+ // Deleting our default actions may trigger other mock objects to be
+ // deleted, for example if an action contains a reference counted smart
+ // pointer to that mock object, and that is the last reference. So if we
+ // delete our actions within the context of the global mutex we may deadlock
+ // when this method is called again. Instead, make a copy of the set of
+ // actions to delete, clear our set within the mutex, and then delete the
+ // actions outside of the mutex.
+ UntypedOnCallSpecs specs_to_delete;
+ untyped_on_call_specs_.swap(specs_to_delete);
+
+ g_gmock_mutex.Unlock();
+ for (UntypedOnCallSpecs::const_iterator it =
+ specs_to_delete.begin();
+ it != specs_to_delete.end(); ++it) {
+ delete static_cast<const OnCallSpec<F>*>(*it);
+ }
+
+ // Lock the mutex again, since the caller expects it to be locked when we
+ // return.
+ g_gmock_mutex.Lock();
+ }
+
+ protected:
+ template <typename Function>
+ friend class MockSpec;
+
+ typedef ActionResultHolder<Result> ResultHolder;
+
+ // Returns the result of invoking this mock function with the given
+ // arguments. This function can be safely called from multiple
+ // threads concurrently.
+ Result InvokeWith(const ArgumentTuple& args)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ scoped_ptr<ResultHolder> holder(
+ DownCast_<ResultHolder*>(this->UntypedInvokeWith(&args)));
+ return holder->Unwrap();
+ }
+
+ // Adds and returns a default action spec for this mock function.
+ OnCallSpec<F>& AddNewOnCallSpec(
+ const char* file, int line,
+ const ArgumentMatcherTuple& m)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+ OnCallSpec<F>* const on_call_spec = new OnCallSpec<F>(file, line, m);
+ untyped_on_call_specs_.push_back(on_call_spec);
+ return *on_call_spec;
+ }
+
+ // Adds and returns an expectation spec for this mock function.
+ TypedExpectation<F>& AddNewExpectation(
+ const char* file,
+ int line,
+ const string& source_text,
+ const ArgumentMatcherTuple& m)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+ TypedExpectation<F>* const expectation =
+ new TypedExpectation<F>(this, file, line, source_text, m);
+ const linked_ptr<ExpectationBase> untyped_expectation(expectation);
+ untyped_expectations_.push_back(untyped_expectation);
+
+ // Adds this expectation into the implicit sequence if there is one.
+ Sequence* const implicit_sequence = g_gmock_implicit_sequence.get();
+ if (implicit_sequence != NULL) {
+ implicit_sequence->AddExpectation(Expectation(untyped_expectation));
+ }
+
+ return *expectation;
+ }
+
+ // The current spec (either default action spec or expectation spec)
+ // being described on this function mocker.
+ MockSpec<F>& current_spec() { return current_spec_; }
+
+ private:
+ template <typename Func> friend class TypedExpectation;
+
+ // Some utilities needed for implementing UntypedInvokeWith().
+
+ // Describes what default action will be performed for the given
+ // arguments.
+ // L = *
+ void DescribeDefaultActionTo(const ArgumentTuple& args,
+ ::std::ostream* os) const {
+ const OnCallSpec<F>* const spec = FindOnCallSpec(args);
+
+ if (spec == NULL) {
+ *os << (internal::type_equals<Result, void>::value ?
+ "returning directly.\n" :
+ "returning default value.\n");
+ } else {
+ *os << "taking default action specified at:\n"
+ << FormatFileLocation(spec->file(), spec->line()) << "\n";
+ }
+ }
+
+ // Writes a message that the call is uninteresting (i.e. neither
+ // explicitly expected nor explicitly unexpected) to the given
+ // ostream.
+ virtual void UntypedDescribeUninterestingCall(
+ const void* untyped_args,
+ ::std::ostream* os) const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ *os << "Uninteresting mock function call - ";
+ DescribeDefaultActionTo(args, os);
+ *os << " Function call: " << Name();
+ UniversalPrint(args, os);
+ }
+
+ // Returns the expectation that matches the given function arguments
+ // (or NULL is there's no match); when a match is found,
+ // untyped_action is set to point to the action that should be
+ // performed (or NULL if the action is "do default"), and
+ // is_excessive is modified to indicate whether the call exceeds the
+ // expected number.
+ //
+ // Critical section: We must find the matching expectation and the
+ // corresponding action that needs to be taken in an ATOMIC
+ // transaction. Otherwise another thread may call this mock
+ // method in the middle and mess up the state.
+ //
+ // However, performing the action has to be left out of the critical
+ // section. The reason is that we have no control on what the
+ // action does (it can invoke an arbitrary user function or even a
+ // mock function) and excessive locking could cause a dead lock.
+ virtual const ExpectationBase* UntypedFindMatchingExpectation(
+ const void* untyped_args,
+ const void** untyped_action, bool* is_excessive,
+ ::std::ostream* what, ::std::ostream* why)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ MutexLock l(&g_gmock_mutex);
+ TypedExpectation<F>* exp = this->FindMatchingExpectationLocked(args);
+ if (exp == NULL) { // A match wasn't found.
+ this->FormatUnexpectedCallMessageLocked(args, what, why);
+ return NULL;
+ }
+
+ // This line must be done before calling GetActionForArguments(),
+ // which will increment the call count for *exp and thus affect
+ // its saturation status.
+ *is_excessive = exp->IsSaturated();
+ const Action<F>* action = exp->GetActionForArguments(this, args, what, why);
+ if (action != NULL && action->IsDoDefault())
+ action = NULL; // Normalize "do default" to NULL.
+ *untyped_action = action;
+ return exp;
+ }
+
+ // Prints the given function arguments to the ostream.
+ virtual void UntypedPrintArgs(const void* untyped_args,
+ ::std::ostream* os) const {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ UniversalPrint(args, os);
+ }
+
+ // Returns the expectation that matches the arguments, or NULL if no
+ // expectation matches them.
+ TypedExpectation<F>* FindMatchingExpectationLocked(
+ const ArgumentTuple& args) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ for (typename UntypedExpectations::const_reverse_iterator it =
+ untyped_expectations_.rbegin();
+ it != untyped_expectations_.rend(); ++it) {
+ TypedExpectation<F>* const exp =
+ static_cast<TypedExpectation<F>*>(it->get());
+ if (exp->ShouldHandleArguments(args)) {
+ return exp;
+ }
+ }
+ return NULL;
+ }
+
+ // Returns a message that the arguments don't match any expectation.
+ void FormatUnexpectedCallMessageLocked(
+ const ArgumentTuple& args,
+ ::std::ostream* os,
+ ::std::ostream* why) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ *os << "\nUnexpected mock function call - ";
+ DescribeDefaultActionTo(args, os);
+ PrintTriedExpectationsLocked(args, why);
+ }
+
+ // Prints a list of expectations that have been tried against the
+ // current mock function call.
+ void PrintTriedExpectationsLocked(
+ const ArgumentTuple& args,
+ ::std::ostream* why) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ const int count = static_cast<int>(untyped_expectations_.size());
+ *why << "Google Mock tried the following " << count << " "
+ << (count == 1 ? "expectation, but it didn't match" :
+ "expectations, but none matched")
+ << ":\n";
+ for (int i = 0; i < count; i++) {
+ TypedExpectation<F>* const expectation =
+ static_cast<TypedExpectation<F>*>(untyped_expectations_[i].get());
+ *why << "\n";
+ expectation->DescribeLocationTo(why);
+ if (count > 1) {
+ *why << "tried expectation #" << i << ": ";
+ }
+ *why << expectation->source_text() << "...\n";
+ expectation->ExplainMatchResultTo(args, why);
+ expectation->DescribeCallCountTo(why);
+ }
+ }
+
+ // The current spec (either default action spec or expectation spec)
+ // being described on this function mocker.
+ MockSpec<F> current_spec_;
+
+ // There is no generally useful and implementable semantics of
+ // copying a mock object, so copying a mock is usually a user error.
+ // Thus we disallow copying function mockers. If the user really
+ // wants to copy a mock object, he should implement his own copy
+ // operation, for example:
+ //
+ // class MockFoo : public Foo {
+ // public:
+ // // Defines a copy constructor explicitly.
+ // MockFoo(const MockFoo& src) {}
+ // ...
+ // };
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(FunctionMockerBase);
+}; // class FunctionMockerBase
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif // _MSV_VER
+
+// Implements methods of FunctionMockerBase.
+
+// Verifies that all expectations on this mock function have been
+// satisfied. Reports one or more Google Test non-fatal failures and
+// returns false if not.
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg);
+
+} // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file. However, the MockSpec class template is
+// meant to be defined in the ::testing namespace. The following line
+// is just a trick for working around a bug in MSVC 8.0, which cannot
+// handle it if we define MockSpec in ::testing.
+using internal::MockSpec;
+
+// Const(x) is a convenient function for obtaining a const reference
+// to x. This is useful for setting expectations on an overloaded
+// const mock method, e.g.
+//
+// class MockFoo : public FooInterface {
+// public:
+// MOCK_METHOD0(Bar, int());
+// MOCK_CONST_METHOD0(Bar, int&());
+// };
+//
+// MockFoo foo;
+// // Expects a call to non-const MockFoo::Bar().
+// EXPECT_CALL(foo, Bar());
+// // Expects a call to const MockFoo::Bar().
+// EXPECT_CALL(Const(foo), Bar());
+template <typename T>
+inline const T& Const(const T& x) { return x; }
+
+// Constructs an Expectation object that references and co-owns exp.
+inline Expectation::Expectation(internal::ExpectationBase& exp) // NOLINT
+ : expectation_base_(exp.GetHandle().expectation_base()) {}
+
+} // namespace testing
+
+// A separate macro is required to avoid compile errors when the name
+// of the method used in call is a result of macro expansion.
+// See CompilesWithMethodNameExpandedFromMacro tests in
+// internal/gmock-spec-builders_test.cc for more details.
+#define GMOCK_ON_CALL_IMPL_(obj, call) \
+ ((obj).gmock_##call).InternalDefaultActionSetAt(__FILE__, __LINE__, \
+ #obj, #call)
+#define ON_CALL(obj, call) GMOCK_ON_CALL_IMPL_(obj, call)
+
+#define GMOCK_EXPECT_CALL_IMPL_(obj, call) \
+ ((obj).gmock_##call).InternalExpectedAt(__FILE__, __LINE__, #obj, #call)
+#define EXPECT_CALL(obj, call) GMOCK_EXPECT_CALL_IMPL_(obj, call)
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+#if GTEST_HAS_STD_FUNCTION_
+# include <functional>
+#endif
+
+namespace testing {
+namespace internal {
+
+template <typename F>
+class FunctionMockerBase;
+
+// Note: class FunctionMocker really belongs to the ::testing
+// namespace. However if we define it in ::testing, MSVC will
+// complain when classes in ::testing::internal declare it as a
+// friend class template. To workaround this compiler bug, we define
+// FunctionMocker in ::testing::internal and import it into ::testing.
+template <typename F>
+class FunctionMocker;
+
+template <typename R>
+class FunctionMocker<R()> : public
+ internal::FunctionMockerBase<R()> {
+ public:
+ typedef R F();
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With() {
+ return this->current_spec();
+ }
+
+ R Invoke() {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple());
+ }
+};
+
+template <typename R, typename A1>
+class FunctionMocker<R(A1)> : public
+ internal::FunctionMockerBase<R(A1)> {
+ public:
+ typedef R F(A1);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1));
+ }
+};
+
+template <typename R, typename A1, typename A2>
+class FunctionMocker<R(A1, A2)> : public
+ internal::FunctionMockerBase<R(A1, A2)> {
+ public:
+ typedef R F(A1, A2);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class FunctionMocker<R(A1, A2, A3)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3)> {
+ public:
+ typedef R F(A1, A2, A3);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class FunctionMocker<R(A1, A2, A3, A4)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4)> {
+ public:
+ typedef R F(A1, A2, A3, A4);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+class FunctionMocker<R(A1, A2, A3, A4, A5)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+ m6));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+ const Matcher<A9>& m9) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8, m9));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+ const Matcher<A9>& m9, const Matcher<A10>& m10) {
+ this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8, m9, m10));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9,
+ A10 a10) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9,
+ a10));
+ }
+};
+
+} // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file. However, the FunctionMocker class template
+// is meant to be defined in the ::testing namespace. The following
+// line is just a trick for working around a bug in MSVC 8.0, which
+// cannot handle it if we define FunctionMocker in ::testing.
+using internal::FunctionMocker;
+
+// GMOCK_RESULT_(tn, F) expands to the result type of function type F.
+// We define this as a variadic macro in case F contains unprotected
+// commas (the same reason that we use variadic macros in other places
+// in this file).
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_RESULT_(tn, ...) \
+ tn ::testing::internal::Function<__VA_ARGS__>::Result
+
+// The type of argument N of the given function type.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_ARG_(tn, N, ...) \
+ tn ::testing::internal::Function<__VA_ARGS__>::Argument##N
+
+// The matcher type for argument N of the given function type.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MATCHER_(tn, N, ...) \
+ const ::testing::Matcher<GMOCK_ARG_(tn, N, __VA_ARGS__)>&
+
+// The variable for mocking the given method.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MOCKER_(arity, constness, Method) \
+ GTEST_CONCAT_TOKEN_(gmock##constness##arity##_##Method##_, __LINE__)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD0_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ ) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 0), \
+ this_method_does_not_take_0_arguments); \
+ GMOCK_MOCKER_(0, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(0, constness, Method).Invoke(); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method() constness { \
+ GMOCK_MOCKER_(0, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(0, constness, Method).With(); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(0, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD1_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 1), \
+ this_method_does_not_take_1_argument); \
+ GMOCK_MOCKER_(1, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(1, constness, Method).Invoke(gmock_a1); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1) constness { \
+ GMOCK_MOCKER_(1, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(1, constness, Method).With(gmock_a1); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(1, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD2_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 2), \
+ this_method_does_not_take_2_arguments); \
+ GMOCK_MOCKER_(2, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(2, constness, Method).Invoke(gmock_a1, gmock_a2); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2) constness { \
+ GMOCK_MOCKER_(2, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(2, constness, Method).With(gmock_a1, gmock_a2); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(2, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD3_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 3), \
+ this_method_does_not_take_3_arguments); \
+ GMOCK_MOCKER_(3, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(3, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3) constness { \
+ GMOCK_MOCKER_(3, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(3, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(3, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD4_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 4), \
+ this_method_does_not_take_4_arguments); \
+ GMOCK_MOCKER_(4, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(4, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4) constness { \
+ GMOCK_MOCKER_(4, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(4, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(4, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD5_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 5), \
+ this_method_does_not_take_5_arguments); \
+ GMOCK_MOCKER_(5, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(5, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5) constness { \
+ GMOCK_MOCKER_(5, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(5, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(5, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD6_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 6), \
+ this_method_does_not_take_6_arguments); \
+ GMOCK_MOCKER_(6, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(6, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6) constness { \
+ GMOCK_MOCKER_(6, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(6, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(6, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD7_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 7), \
+ this_method_does_not_take_7_arguments); \
+ GMOCK_MOCKER_(7, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(7, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7) constness { \
+ GMOCK_MOCKER_(7, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(7, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(7, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD8_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 8), \
+ this_method_does_not_take_8_arguments); \
+ GMOCK_MOCKER_(8, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(8, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8) constness { \
+ GMOCK_MOCKER_(8, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(8, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(8, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD9_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8, \
+ GMOCK_ARG_(tn, 9, __VA_ARGS__) gmock_a9) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 9), \
+ this_method_does_not_take_9_arguments); \
+ GMOCK_MOCKER_(9, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(9, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+ gmock_a9); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8, \
+ GMOCK_MATCHER_(tn, 9, __VA_ARGS__) gmock_a9) constness { \
+ GMOCK_MOCKER_(9, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(9, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+ gmock_a9); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(9, constness, \
+ Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD10_(tn, constness, ct, Method, ...) \
+ GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+ GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8, \
+ GMOCK_ARG_(tn, 9, __VA_ARGS__) gmock_a9, \
+ GMOCK_ARG_(tn, 10, __VA_ARGS__) gmock_a10) constness { \
+ GTEST_COMPILE_ASSERT_((::testing::tuple_size< \
+ tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+ == 10), \
+ this_method_does_not_take_10_arguments); \
+ GMOCK_MOCKER_(10, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(10, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+ gmock_a10); \
+ } \
+ ::testing::MockSpec<__VA_ARGS__>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+ GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+ GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+ GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+ GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+ GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+ GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+ GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8, \
+ GMOCK_MATCHER_(tn, 9, __VA_ARGS__) gmock_a9, \
+ GMOCK_MATCHER_(tn, 10, \
+ __VA_ARGS__) gmock_a10) constness { \
+ GMOCK_MOCKER_(10, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(10, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+ gmock_a10); \
+ } \
+ mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(10, constness, \
+ Method)
+
+#define MOCK_METHOD0(m, ...) GMOCK_METHOD0_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD1(m, ...) GMOCK_METHOD1_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD2(m, ...) GMOCK_METHOD2_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD3(m, ...) GMOCK_METHOD3_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD4(m, ...) GMOCK_METHOD4_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD5(m, ...) GMOCK_METHOD5_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD6(m, ...) GMOCK_METHOD6_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD7(m, ...) GMOCK_METHOD7_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD8(m, ...) GMOCK_METHOD8_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD9(m, ...) GMOCK_METHOD9_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD10(m, ...) GMOCK_METHOD10_(, , , m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0(m, ...) GMOCK_METHOD0_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1(m, ...) GMOCK_METHOD1_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2(m, ...) GMOCK_METHOD2_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3(m, ...) GMOCK_METHOD3_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4(m, ...) GMOCK_METHOD4_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5(m, ...) GMOCK_METHOD5_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6(m, ...) GMOCK_METHOD6_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7(m, ...) GMOCK_METHOD7_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8(m, ...) GMOCK_METHOD8_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9(m, ...) GMOCK_METHOD9_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10(m, ...) GMOCK_METHOD10_(, const, , m, __VA_ARGS__)
+
+#define MOCK_METHOD0_T(m, ...) GMOCK_METHOD0_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD1_T(m, ...) GMOCK_METHOD1_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD2_T(m, ...) GMOCK_METHOD2_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD3_T(m, ...) GMOCK_METHOD3_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD4_T(m, ...) GMOCK_METHOD4_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD5_T(m, ...) GMOCK_METHOD5_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD6_T(m, ...) GMOCK_METHOD6_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD7_T(m, ...) GMOCK_METHOD7_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD8_T(m, ...) GMOCK_METHOD8_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD9_T(m, ...) GMOCK_METHOD9_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD10_T(m, ...) GMOCK_METHOD10_(typename, , , m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_T(m, ...) \
+ GMOCK_METHOD0_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_T(m, ...) \
+ GMOCK_METHOD1_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_T(m, ...) \
+ GMOCK_METHOD2_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_T(m, ...) \
+ GMOCK_METHOD3_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_T(m, ...) \
+ GMOCK_METHOD4_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_T(m, ...) \
+ GMOCK_METHOD5_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_T(m, ...) \
+ GMOCK_METHOD6_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_T(m, ...) \
+ GMOCK_METHOD7_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_T(m, ...) \
+ GMOCK_METHOD8_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_T(m, ...) \
+ GMOCK_METHOD9_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_T(m, ...) \
+ GMOCK_METHOD10_(typename, const, , m, __VA_ARGS__)
+
+#define MOCK_METHOD0_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD0_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD1_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD1_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD2_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD2_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD3_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD3_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD4_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD4_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD5_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD5_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD6_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD6_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD7_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD7_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD8_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD8_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD9_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD9_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD10_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD10_(, , ct, m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD0_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD1_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD2_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD3_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD4_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD5_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD6_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD7_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD8_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD9_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD10_(, const, ct, m, __VA_ARGS__)
+
+#define MOCK_METHOD0_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD0_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD1_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD1_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD2_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD2_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD3_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD3_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD4_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD4_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD5_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD5_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD6_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD6_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD7_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD7_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD8_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD8_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD9_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD9_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD10_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD10_(typename, , ct, m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD0_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD1_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD2_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD3_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD4_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD5_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD6_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD7_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD8_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD9_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_T_WITH_CALLTYPE(ct, m, ...) \
+ GMOCK_METHOD10_(typename, const, ct, m, __VA_ARGS__)
+
+// A MockFunction<F> class has one mock method whose type is F. It is
+// useful when you just want your test code to emit some messages and
+// have Google Mock verify the right messages are sent (and perhaps at
+// the right times). For example, if you are exercising code:
+//
+// Foo(1);
+// Foo(2);
+// Foo(3);
+//
+// and want to verify that Foo(1) and Foo(3) both invoke
+// mock.Bar("a"), but Foo(2) doesn't invoke anything, you can write:
+//
+// TEST(FooTest, InvokesBarCorrectly) {
+// MyMock mock;
+// MockFunction<void(string check_point_name)> check;
+// {
+// InSequence s;
+//
+// EXPECT_CALL(mock, Bar("a"));
+// EXPECT_CALL(check, Call("1"));
+// EXPECT_CALL(check, Call("2"));
+// EXPECT_CALL(mock, Bar("a"));
+// }
+// Foo(1);
+// check.Call("1");
+// Foo(2);
+// check.Call("2");
+// Foo(3);
+// }
+//
+// The expectation spec says that the first Bar("a") must happen
+// before check point "1", the second Bar("a") must happen after check
+// point "2", and nothing should happen between the two check
+// points. The explicit check points make it easy to tell which
+// Bar("a") is called by which call to Foo().
+//
+// MockFunction<F> can also be used to exercise code that accepts
+// std::function<F> callbacks. To do so, use AsStdFunction() method
+// to create std::function proxy forwarding to original object's Call.
+// Example:
+//
+// TEST(FooTest, RunsCallbackWithBarArgument) {
+// MockFunction<int(string)> callback;
+// EXPECT_CALL(callback, Call("bar")).WillOnce(Return(1));
+// Foo(callback.AsStdFunction());
+// }
+template <typename F>
+class MockFunction;
+
+template <typename R>
+class MockFunction<R()> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD0_T(Call, R());
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R()> AsStdFunction() {
+ return [this]() -> R {
+ return this->Call();
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0>
+class MockFunction<R(A0)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD1_T(Call, R(A0));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0)> AsStdFunction() {
+ return [this](A0 a0) -> R {
+ return this->Call(a0);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1>
+class MockFunction<R(A0, A1)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD2_T(Call, R(A0, A1));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1)> AsStdFunction() {
+ return [this](A0 a0, A1 a1) -> R {
+ return this->Call(a0, a1);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2>
+class MockFunction<R(A0, A1, A2)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD3_T(Call, R(A0, A1, A2));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2) -> R {
+ return this->Call(a0, a1, a2);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3>
+class MockFunction<R(A0, A1, A2, A3)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD4_T(Call, R(A0, A1, A2, A3));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3) -> R {
+ return this->Call(a0, a1, a2, a3);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4>
+class MockFunction<R(A0, A1, A2, A3, A4)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD5_T(Call, R(A0, A1, A2, A3, A4));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4) -> R {
+ return this->Call(a0, a1, a2, a3, a4);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5>
+class MockFunction<R(A0, A1, A2, A3, A4, A5)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD6_T(Call, R(A0, A1, A2, A3, A4, A5));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4, A5)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) -> R {
+ return this->Call(a0, a1, a2, a3, a4, a5);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD7_T(Call, R(A0, A1, A2, A3, A4, A5, A6));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4, A5, A6)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) -> R {
+ return this->Call(a0, a1, a2, a3, a4, a5, a6);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD8_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4, A5, A6, A7)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7) -> R {
+ return this->Call(a0, a1, a2, a3, a4, a5, a6, a7);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD9_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4, A5, A6, A7, A8)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7,
+ A8 a8) -> R {
+ return this->Call(a0, a1, a2, a3, a4, a5, a6, a7, a8);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD10_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9));
+
+#if GTEST_HAS_STD_FUNCTION_
+ std::function<R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9)> AsStdFunction() {
+ return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7,
+ A8 a8, A9 a9) -> R {
+ return this->Call(a0, a1, a2, a3, a4, a5, a6, a7, a8, a9);
+ };
+ }
+#endif // GTEST_HAS_STD_FUNCTION_
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+// This file was GENERATED by command:
+// pump.py gmock-generated-nice-strict.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Implements class templates NiceMock, NaggyMock, and StrictMock.
+//
+// Given a mock class MockFoo that is created using Google Mock,
+// NiceMock<MockFoo> is a subclass of MockFoo that allows
+// uninteresting calls (i.e. calls to mock methods that have no
+// EXPECT_CALL specs), NaggyMock<MockFoo> is a subclass of MockFoo
+// that prints a warning when an uninteresting call occurs, and
+// StrictMock<MockFoo> is a subclass of MockFoo that treats all
+// uninteresting calls as errors.
+//
+// Currently a mock is naggy by default, so MockFoo and
+// NaggyMock<MockFoo> behave like the same. However, we will soon
+// switch the default behavior of mocks to be nice, as that in general
+// leads to more maintainable tests. When that happens, MockFoo will
+// stop behaving like NaggyMock<MockFoo> and start behaving like
+// NiceMock<MockFoo>.
+//
+// NiceMock, NaggyMock, and StrictMock "inherit" the constructors of
+// their respective base class, with up-to 10 arguments. Therefore
+// you can write NiceMock<MockFoo>(5, "a") to construct a nice mock
+// where MockFoo has a constructor that accepts (int, const char*),
+// for example.
+//
+// A known limitation is that NiceMock<MockFoo>, NaggyMock<MockFoo>,
+// and StrictMock<MockFoo> only works for mock methods defined using
+// the MOCK_METHOD* family of macros DIRECTLY in the MockFoo class.
+// If a mock method is defined in a base class of MockFoo, the "nice"
+// or "strict" modifier may not affect it, depending on the compiler.
+// In particular, nesting NiceMock, NaggyMock, and StrictMock is NOT
+// supported.
+//
+// Another known limitation is that the constructors of the base mock
+// cannot have arguments passed by non-const reference, which are
+// banned by the Google C++ style guide anyway.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+
+
+namespace testing {
+
+template <class MockClass>
+class NiceMock : public MockClass {
+ public:
+ // We don't factor out the constructor body to a common method, as
+ // we have to avoid a possible clash with members of MockClass.
+ NiceMock() {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ // C++ doesn't (yet) allow inheritance of constructors, so we have
+ // to define it for each arity.
+ template <typename A1>
+ explicit NiceMock(const A1& a1) : MockClass(a1) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+ template <typename A1, typename A2>
+ NiceMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3,
+ const A4& a4) : MockClass(a1, a2, a3, a4) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+ a6, a7) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+ a2, a3, a4, a5, a6, a7, a8) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+ const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+ const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ virtual ~NiceMock() {
+ ::testing::Mock::UnregisterCallReaction(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(NiceMock);
+};
+
+template <class MockClass>
+class NaggyMock : public MockClass {
+ public:
+ // We don't factor out the constructor body to a common method, as
+ // we have to avoid a possible clash with members of MockClass.
+ NaggyMock() {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ // C++ doesn't (yet) allow inheritance of constructors, so we have
+ // to define it for each arity.
+ template <typename A1>
+ explicit NaggyMock(const A1& a1) : MockClass(a1) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+ template <typename A1, typename A2>
+ NaggyMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3,
+ const A4& a4) : MockClass(a1, a2, a3, a4) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+ a6, a7) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+ a2, a3, a4, a5, a6, a7, a8) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+ const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+ NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+ const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+ ::testing::Mock::WarnUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ virtual ~NaggyMock() {
+ ::testing::Mock::UnregisterCallReaction(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(NaggyMock);
+};
+
+template <class MockClass>
+class StrictMock : public MockClass {
+ public:
+ // We don't factor out the constructor body to a common method, as
+ // we have to avoid a possible clash with members of MockClass.
+ StrictMock() {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ // C++ doesn't (yet) allow inheritance of constructors, so we have
+ // to define it for each arity.
+ template <typename A1>
+ explicit StrictMock(const A1& a1) : MockClass(a1) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+ template <typename A1, typename A2>
+ StrictMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3,
+ const A4& a4) : MockClass(a1, a2, a3, a4) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+ a6, a7) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+ a2, a3, a4, a5, a6, a7, a8) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+ const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+ const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ virtual ~StrictMock() {
+ ::testing::Mock::UnregisterCallReaction(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StrictMock);
+};
+
+// The following specializations catch some (relatively more common)
+// user errors of nesting nice and strict mocks. They do NOT catch
+// all possible errors.
+
+// These specializations are declared but not defined, as NiceMock,
+// NaggyMock, and StrictMock cannot be nested.
+
+template <typename MockClass>
+class NiceMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class NiceMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class NiceMock<StrictMock<MockClass> >;
+
+template <typename MockClass>
+class NaggyMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class NaggyMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class NaggyMock<StrictMock<MockClass> >;
+
+template <typename MockClass>
+class StrictMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<StrictMock<MockClass> >;
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+// This file was GENERATED by command:
+// pump.py gmock-generated-matchers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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.
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic matchers.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+
+#include <iterator>
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace testing {
+namespace internal {
+
+// The type of the i-th (0-based) field of Tuple.
+#define GMOCK_FIELD_TYPE_(Tuple, i) \
+ typename ::testing::tuple_element<i, Tuple>::type
+
+// TupleFields<Tuple, k0, ..., kn> is for selecting fields from a
+// tuple of type Tuple. It has two members:
+//
+// type: a tuple type whose i-th field is the ki-th field of Tuple.
+// GetSelectedFields(t): returns fields k0, ..., and kn of t as a tuple.
+//
+// For example, in class TupleFields<tuple<bool, char, int>, 2, 0>, we have:
+//
+// type is tuple<int, bool>, and
+// GetSelectedFields(make_tuple(true, 'a', 42)) is (42, true).
+
+template <class Tuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1>
+class TupleFields;
+
+// This generic version is used when there are 10 selectors.
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7, int k8, int k9>
+class TupleFields {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8),
+ GMOCK_FIELD_TYPE_(Tuple, k9)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t), get<k9>(t));
+ }
+};
+
+// The following specialization is used for 0 ~ 9 selectors.
+
+template <class Tuple>
+class TupleFields<Tuple, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<> type;
+ static type GetSelectedFields(const Tuple& /* t */) {
+ return type();
+ }
+};
+
+template <class Tuple, int k0>
+class TupleFields<Tuple, k0, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1>
+class TupleFields<Tuple, k0, k1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2>
+class TupleFields<Tuple, k0, k1, k2, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3>
+class TupleFields<Tuple, k0, k1, k2, k3, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, -1, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, -1, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, -1, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7, int k8>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, k8, -1> {
+ public:
+ typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t));
+ }
+};
+
+#undef GMOCK_FIELD_TYPE_
+
+// Implements the Args() matcher.
+template <class ArgsTuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1>
+class ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
+ public:
+ // ArgsTuple may have top-level const or reference modifiers.
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(ArgsTuple) RawArgsTuple;
+ typedef typename internal::TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5,
+ k6, k7, k8, k9>::type SelectedArgs;
+ typedef Matcher<const SelectedArgs&> MonomorphicInnerMatcher;
+
+ template <typename InnerMatcher>
+ explicit ArgsMatcherImpl(const InnerMatcher& inner_matcher)
+ : inner_matcher_(SafeMatcherCast<const SelectedArgs&>(inner_matcher)) {}
+
+ virtual bool MatchAndExplain(ArgsTuple args,
+ MatchResultListener* listener) const {
+ const SelectedArgs& selected_args = GetSelectedArgs(args);
+ if (!listener->IsInterested())
+ return inner_matcher_.Matches(selected_args);
+
+ PrintIndices(listener->stream());
+ *listener << "are " << PrintToString(selected_args);
+
+ StringMatchResultListener inner_listener;
+ const bool match = inner_matcher_.MatchAndExplain(selected_args,
+ &inner_listener);
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return match;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "are a tuple ";
+ PrintIndices(os);
+ inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "are a tuple ";
+ PrintIndices(os);
+ inner_matcher_.DescribeNegationTo(os);
+ }
+
+ private:
+ static SelectedArgs GetSelectedArgs(ArgsTuple args) {
+ return TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>::GetSelectedFields(args);
+ }
+
+ // Prints the indices of the selected fields.
+ static void PrintIndices(::std::ostream* os) {
+ *os << "whose fields (";
+ const int indices[10] = { k0, k1, k2, k3, k4, k5, k6, k7, k8, k9 };
+ for (int i = 0; i < 10; i++) {
+ if (indices[i] < 0)
+ break;
+
+ if (i >= 1)
+ *os << ", ";
+
+ *os << "#" << indices[i];
+ }
+ *os << ") ";
+ }
+
+ const MonomorphicInnerMatcher inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ArgsMatcherImpl);
+};
+
+template <class InnerMatcher, int k0 = -1, int k1 = -1, int k2 = -1,
+ int k3 = -1, int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1,
+ int k8 = -1, int k9 = -1>
+class ArgsMatcher {
+ public:
+ explicit ArgsMatcher(const InnerMatcher& inner_matcher)
+ : inner_matcher_(inner_matcher) {}
+
+ template <typename ArgsTuple>
+ operator Matcher<ArgsTuple>() const {
+ return MakeMatcher(new ArgsMatcherImpl<ArgsTuple, k0, k1, k2, k3, k4, k5,
+ k6, k7, k8, k9>(inner_matcher_));
+ }
+
+ private:
+ const InnerMatcher inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ArgsMatcher);
+};
+
+// A set of metafunctions for computing the result type of AllOf.
+// AllOf(m1, ..., mN) returns
+// AllOfResultN<decltype(m1), ..., decltype(mN)>::type.
+
+// Although AllOf isn't defined for one argument, AllOfResult1 is defined
+// to simplify the implementation.
+template <typename M1>
+struct AllOfResult1 {
+ typedef M1 type;
+};
+
+template <typename M1, typename M2>
+struct AllOfResult2 {
+ typedef BothOfMatcher<
+ typename AllOfResult1<M1>::type,
+ typename AllOfResult1<M2>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3>
+struct AllOfResult3 {
+ typedef BothOfMatcher<
+ typename AllOfResult1<M1>::type,
+ typename AllOfResult2<M2, M3>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4>
+struct AllOfResult4 {
+ typedef BothOfMatcher<
+ typename AllOfResult2<M1, M2>::type,
+ typename AllOfResult2<M3, M4>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+struct AllOfResult5 {
+ typedef BothOfMatcher<
+ typename AllOfResult2<M1, M2>::type,
+ typename AllOfResult3<M3, M4, M5>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6>
+struct AllOfResult6 {
+ typedef BothOfMatcher<
+ typename AllOfResult3<M1, M2, M3>::type,
+ typename AllOfResult3<M4, M5, M6>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7>
+struct AllOfResult7 {
+ typedef BothOfMatcher<
+ typename AllOfResult3<M1, M2, M3>::type,
+ typename AllOfResult4<M4, M5, M6, M7>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8>
+struct AllOfResult8 {
+ typedef BothOfMatcher<
+ typename AllOfResult4<M1, M2, M3, M4>::type,
+ typename AllOfResult4<M5, M6, M7, M8>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9>
+struct AllOfResult9 {
+ typedef BothOfMatcher<
+ typename AllOfResult4<M1, M2, M3, M4>::type,
+ typename AllOfResult5<M5, M6, M7, M8, M9>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9, typename M10>
+struct AllOfResult10 {
+ typedef BothOfMatcher<
+ typename AllOfResult5<M1, M2, M3, M4, M5>::type,
+ typename AllOfResult5<M6, M7, M8, M9, M10>::type
+ > type;
+};
+
+// A set of metafunctions for computing the result type of AnyOf.
+// AnyOf(m1, ..., mN) returns
+// AnyOfResultN<decltype(m1), ..., decltype(mN)>::type.
+
+// Although AnyOf isn't defined for one argument, AnyOfResult1 is defined
+// to simplify the implementation.
+template <typename M1>
+struct AnyOfResult1 {
+ typedef M1 type;
+};
+
+template <typename M1, typename M2>
+struct AnyOfResult2 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult1<M1>::type,
+ typename AnyOfResult1<M2>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3>
+struct AnyOfResult3 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult1<M1>::type,
+ typename AnyOfResult2<M2, M3>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4>
+struct AnyOfResult4 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult2<M1, M2>::type,
+ typename AnyOfResult2<M3, M4>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+struct AnyOfResult5 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult2<M1, M2>::type,
+ typename AnyOfResult3<M3, M4, M5>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6>
+struct AnyOfResult6 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult3<M1, M2, M3>::type,
+ typename AnyOfResult3<M4, M5, M6>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7>
+struct AnyOfResult7 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult3<M1, M2, M3>::type,
+ typename AnyOfResult4<M4, M5, M6, M7>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8>
+struct AnyOfResult8 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult4<M1, M2, M3, M4>::type,
+ typename AnyOfResult4<M5, M6, M7, M8>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9>
+struct AnyOfResult9 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult4<M1, M2, M3, M4>::type,
+ typename AnyOfResult5<M5, M6, M7, M8, M9>::type
+ > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9, typename M10>
+struct AnyOfResult10 {
+ typedef EitherOfMatcher<
+ typename AnyOfResult5<M1, M2, M3, M4, M5>::type,
+ typename AnyOfResult5<M6, M7, M8, M9, M10>::type
+ > type;
+};
+
+} // namespace internal
+
+// Args<N1, N2, ..., Nk>(a_matcher) matches a tuple if the selected
+// fields of it matches a_matcher. C++ doesn't support default
+// arguments for function templates, so we have to overload it.
+template <typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher>(matcher);
+}
+
+template <int k1, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1>(matcher);
+}
+
+template <int k1, int k2, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2>(matcher);
+}
+
+template <int k1, int k2, int k3, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+ typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6,
+ k7>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7,
+ k8>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, int k10, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9,
+ k10>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>(matcher);
+}
+
+// ElementsAre(e_1, e_2, ... e_n) matches an STL-style container with
+// n elements, where the i-th element in the container must
+// match the i-th argument in the list. Each argument of
+// ElementsAre() can be either a value or a matcher. We support up to
+// 10 arguments.
+//
+// The use of DecayArray in the implementation allows ElementsAre()
+// to accept string literals, whose type is const char[N], but we
+// want to treat them as const char*.
+//
+// NOTE: Since ElementsAre() cares about the order of the elements, it
+// must not be used with containers whose elements's order is
+// undefined (e.g. hash_map).
+
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<> >
+ElementsAre() {
+ typedef ::testing::tuple<> Args;
+ return internal::ElementsAreMatcher<Args>(Args());
+}
+
+template <typename T1>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type> >
+ElementsAre(const T1& e1) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1));
+}
+
+template <typename T1, typename T2>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type> >
+ElementsAre(const T1& e1, const T2& e2) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2));
+}
+
+template <typename T1, typename T2, typename T3>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3));
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+ e8));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+ e8, e9));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+inline internal::ElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type,
+ typename internal::DecayArray<T10>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+ const T10& e10) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type,
+ typename internal::DecayArray<T10>::type> Args;
+ return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+ e8, e9, e10));
+}
+
+// UnorderedElementsAre(e_1, e_2, ..., e_n) is an ElementsAre extension
+// that matches n elements in any order. We support up to n=10 arguments.
+
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<> >
+UnorderedElementsAre() {
+ typedef ::testing::tuple<> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args());
+}
+
+template <typename T1>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type> >
+UnorderedElementsAre(const T1& e1) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1));
+}
+
+template <typename T1, typename T2>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2));
+}
+
+template <typename T1, typename T2, typename T3>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3));
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+ e6));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+ e6, e7));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+ e6, e7, e8));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+ e6, e7, e8, e9));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+inline internal::UnorderedElementsAreMatcher<
+ ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type,
+ typename internal::DecayArray<T10>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+ const T10& e10) {
+ typedef ::testing::tuple<
+ typename internal::DecayArray<T1>::type,
+ typename internal::DecayArray<T2>::type,
+ typename internal::DecayArray<T3>::type,
+ typename internal::DecayArray<T4>::type,
+ typename internal::DecayArray<T5>::type,
+ typename internal::DecayArray<T6>::type,
+ typename internal::DecayArray<T7>::type,
+ typename internal::DecayArray<T8>::type,
+ typename internal::DecayArray<T9>::type,
+ typename internal::DecayArray<T10>::type> Args;
+ return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+ e6, e7, e8, e9, e10));
+}
+
+// AllOf(m1, m2, ..., mk) matches any value that matches all of the given
+// sub-matchers. AllOf is called fully qualified to prevent ADL from firing.
+
+template <typename M1, typename M2>
+inline typename internal::AllOfResult2<M1, M2>::type
+AllOf(M1 m1, M2 m2) {
+ return typename internal::AllOfResult2<M1, M2>::type(
+ m1,
+ m2);
+}
+
+template <typename M1, typename M2, typename M3>
+inline typename internal::AllOfResult3<M1, M2, M3>::type
+AllOf(M1 m1, M2 m2, M3 m3) {
+ return typename internal::AllOfResult3<M1, M2, M3>::type(
+ m1,
+ ::testing::AllOf(m2, m3));
+}
+
+template <typename M1, typename M2, typename M3, typename M4>
+inline typename internal::AllOfResult4<M1, M2, M3, M4>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4) {
+ return typename internal::AllOfResult4<M1, M2, M3, M4>::type(
+ ::testing::AllOf(m1, m2),
+ ::testing::AllOf(m3, m4));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+inline typename internal::AllOfResult5<M1, M2, M3, M4, M5>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5) {
+ return typename internal::AllOfResult5<M1, M2, M3, M4, M5>::type(
+ ::testing::AllOf(m1, m2),
+ ::testing::AllOf(m3, m4, m5));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6>
+inline typename internal::AllOfResult6<M1, M2, M3, M4, M5, M6>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6) {
+ return typename internal::AllOfResult6<M1, M2, M3, M4, M5, M6>::type(
+ ::testing::AllOf(m1, m2, m3),
+ ::testing::AllOf(m4, m5, m6));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7>
+inline typename internal::AllOfResult7<M1, M2, M3, M4, M5, M6, M7>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7) {
+ return typename internal::AllOfResult7<M1, M2, M3, M4, M5, M6, M7>::type(
+ ::testing::AllOf(m1, m2, m3),
+ ::testing::AllOf(m4, m5, m6, m7));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8>
+inline typename internal::AllOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8) {
+ return typename internal::AllOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type(
+ ::testing::AllOf(m1, m2, m3, m4),
+ ::testing::AllOf(m5, m6, m7, m8));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9>
+inline typename internal::AllOfResult9<M1, M2, M3, M4, M5, M6, M7, M8, M9>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9) {
+ return typename internal::AllOfResult9<M1, M2, M3, M4, M5, M6, M7, M8,
+ M9>::type(
+ ::testing::AllOf(m1, m2, m3, m4),
+ ::testing::AllOf(m5, m6, m7, m8, m9));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9, typename M10>
+inline typename internal::AllOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+ M10>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9, M10 m10) {
+ return typename internal::AllOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+ M10>::type(
+ ::testing::AllOf(m1, m2, m3, m4, m5),
+ ::testing::AllOf(m6, m7, m8, m9, m10));
+}
+
+// AnyOf(m1, m2, ..., mk) matches any value that matches any of the given
+// sub-matchers. AnyOf is called fully qualified to prevent ADL from firing.
+
+template <typename M1, typename M2>
+inline typename internal::AnyOfResult2<M1, M2>::type
+AnyOf(M1 m1, M2 m2) {
+ return typename internal::AnyOfResult2<M1, M2>::type(
+ m1,
+ m2);
+}
+
+template <typename M1, typename M2, typename M3>
+inline typename internal::AnyOfResult3<M1, M2, M3>::type
+AnyOf(M1 m1, M2 m2, M3 m3) {
+ return typename internal::AnyOfResult3<M1, M2, M3>::type(
+ m1,
+ ::testing::AnyOf(m2, m3));
+}
+
+template <typename M1, typename M2, typename M3, typename M4>
+inline typename internal::AnyOfResult4<M1, M2, M3, M4>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4) {
+ return typename internal::AnyOfResult4<M1, M2, M3, M4>::type(
+ ::testing::AnyOf(m1, m2),
+ ::testing::AnyOf(m3, m4));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+inline typename internal::AnyOfResult5<M1, M2, M3, M4, M5>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5) {
+ return typename internal::AnyOfResult5<M1, M2, M3, M4, M5>::type(
+ ::testing::AnyOf(m1, m2),
+ ::testing::AnyOf(m3, m4, m5));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6>
+inline typename internal::AnyOfResult6<M1, M2, M3, M4, M5, M6>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6) {
+ return typename internal::AnyOfResult6<M1, M2, M3, M4, M5, M6>::type(
+ ::testing::AnyOf(m1, m2, m3),
+ ::testing::AnyOf(m4, m5, m6));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7>
+inline typename internal::AnyOfResult7<M1, M2, M3, M4, M5, M6, M7>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7) {
+ return typename internal::AnyOfResult7<M1, M2, M3, M4, M5, M6, M7>::type(
+ ::testing::AnyOf(m1, m2, m3),
+ ::testing::AnyOf(m4, m5, m6, m7));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8>
+inline typename internal::AnyOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8) {
+ return typename internal::AnyOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type(
+ ::testing::AnyOf(m1, m2, m3, m4),
+ ::testing::AnyOf(m5, m6, m7, m8));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9>
+inline typename internal::AnyOfResult9<M1, M2, M3, M4, M5, M6, M7, M8, M9>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9) {
+ return typename internal::AnyOfResult9<M1, M2, M3, M4, M5, M6, M7, M8,
+ M9>::type(
+ ::testing::AnyOf(m1, m2, m3, m4),
+ ::testing::AnyOf(m5, m6, m7, m8, m9));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+ typename M6, typename M7, typename M8, typename M9, typename M10>
+inline typename internal::AnyOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+ M10>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9, M10 m10) {
+ return typename internal::AnyOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+ M10>::type(
+ ::testing::AnyOf(m1, m2, m3, m4, m5),
+ ::testing::AnyOf(m6, m7, m8, m9, m10));
+}
+
+} // namespace testing
+
+
+// The MATCHER* family of macros can be used in a namespace scope to
+// define custom matchers easily.
+//
+// Basic Usage
+// ===========
+//
+// The syntax
+//
+// MATCHER(name, description_string) { statements; }
+//
+// defines a matcher with the given name that executes the statements,
+// which must return a bool to indicate if the match succeeds. Inside
+// the statements, you can refer to the value being matched by 'arg',
+// and refer to its type by 'arg_type'.
+//
+// The description string documents what the matcher does, and is used
+// to generate the failure message when the match fails. Since a
+// MATCHER() is usually defined in a header file shared by multiple
+// C++ source files, we require the description to be a C-string
+// literal to avoid possible side effects. It can be empty, in which
+// case we'll use the sequence of words in the matcher name as the
+// description.
+//
+// For example:
+//
+// MATCHER(IsEven, "") { return (arg % 2) == 0; }
+//
+// allows you to write
+//
+// // Expects mock_foo.Bar(n) to be called where n is even.
+// EXPECT_CALL(mock_foo, Bar(IsEven()));
+//
+// or,
+//
+// // Verifies that the value of some_expression is even.
+// EXPECT_THAT(some_expression, IsEven());
+//
+// If the above assertion fails, it will print something like:
+//
+// Value of: some_expression
+// Expected: is even
+// Actual: 7
+//
+// where the description "is even" is automatically calculated from the
+// matcher name IsEven.
+//
+// Argument Type
+// =============
+//
+// Note that the type of the value being matched (arg_type) is
+// determined by the context in which you use the matcher and is
+// supplied to you by the compiler, so you don't need to worry about
+// declaring it (nor can you). This allows the matcher to be
+// polymorphic. For example, IsEven() can be used to match any type
+// where the value of "(arg % 2) == 0" can be implicitly converted to
+// a bool. In the "Bar(IsEven())" example above, if method Bar()
+// takes an int, 'arg_type' will be int; if it takes an unsigned long,
+// 'arg_type' will be unsigned long; and so on.
+//
+// Parameterizing Matchers
+// =======================
+//
+// Sometimes you'll want to parameterize the matcher. For that you
+// can use another macro:
+//
+// MATCHER_P(name, param_name, description_string) { statements; }
+//
+// For example:
+//
+// MATCHER_P(HasAbsoluteValue, value, "") { return abs(arg) == value; }
+//
+// will allow you to write:
+//
+// EXPECT_THAT(Blah("a"), HasAbsoluteValue(n));
+//
+// which may lead to this message (assuming n is 10):
+//
+// Value of: Blah("a")
+// Expected: has absolute value 10
+// Actual: -9
+//
+// Note that both the matcher description and its parameter are
+// printed, making the message human-friendly.
+//
+// In the matcher definition body, you can write 'foo_type' to
+// reference the type of a parameter named 'foo'. For example, in the
+// body of MATCHER_P(HasAbsoluteValue, value) above, you can write
+// 'value_type' to refer to the type of 'value'.
+//
+// We also provide MATCHER_P2, MATCHER_P3, ..., up to MATCHER_P10 to
+// support multi-parameter matchers.
+//
+// Describing Parameterized Matchers
+// =================================
+//
+// The last argument to MATCHER*() is a string-typed expression. The
+// expression can reference all of the matcher's parameters and a
+// special bool-typed variable named 'negation'. When 'negation' is
+// false, the expression should evaluate to the matcher's description;
+// otherwise it should evaluate to the description of the negation of
+// the matcher. For example,
+//
+// using testing::PrintToString;
+//
+// MATCHER_P2(InClosedRange, low, hi,
+// string(negation ? "is not" : "is") + " in range [" +
+// PrintToString(low) + ", " + PrintToString(hi) + "]") {
+// return low <= arg && arg <= hi;
+// }
+// ...
+// EXPECT_THAT(3, InClosedRange(4, 6));
+// EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+// Expected: is in range [4, 6]
+// ...
+// Expected: is not in range [2, 4]
+//
+// If you specify "" as the description, the failure message will
+// contain the sequence of words in the matcher name followed by the
+// parameter values printed as a tuple. For example,
+//
+// MATCHER_P2(InClosedRange, low, hi, "") { ... }
+// ...
+// EXPECT_THAT(3, InClosedRange(4, 6));
+// EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+// Expected: in closed range (4, 6)
+// ...
+// Expected: not (in closed range (2, 4))
+//
+// Types of Matcher Parameters
+// ===========================
+//
+// For the purpose of typing, you can view
+//
+// MATCHER_Pk(Foo, p1, ..., pk, description_string) { ... }
+//
+// as shorthand for
+//
+// template <typename p1_type, ..., typename pk_type>
+// FooMatcherPk<p1_type, ..., pk_type>
+// Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// When you write Foo(v1, ..., vk), the compiler infers the types of
+// the parameters v1, ..., and vk for you. If you are not happy with
+// the result of the type inference, you can specify the types by
+// explicitly instantiating the template, as in Foo<long, bool>(5,
+// false). As said earlier, you don't get to (or need to) specify
+// 'arg_type' as that's determined by the context in which the matcher
+// is used. You can assign the result of expression Foo(p1, ..., pk)
+// to a variable of type FooMatcherPk<p1_type, ..., pk_type>. This
+// can be useful when composing matchers.
+//
+// While you can instantiate a matcher template with reference types,
+// passing the parameters by pointer usually makes your code more
+// readable. If, however, you still want to pass a parameter by
+// reference, be aware that in the failure message generated by the
+// matcher you will see the value of the referenced object but not its
+// address.
+//
+// Explaining Match Results
+// ========================
+//
+// Sometimes the matcher description alone isn't enough to explain why
+// the match has failed or succeeded. For example, when expecting a
+// long string, it can be very helpful to also print the diff between
+// the expected string and the actual one. To achieve that, you can
+// optionally stream additional information to a special variable
+// named result_listener, whose type is a pointer to class
+// MatchResultListener:
+//
+// MATCHER_P(EqualsLongString, str, "") {
+// if (arg == str) return true;
+//
+// *result_listener << "the difference: "
+/// << DiffStrings(str, arg);
+// return false;
+// }
+//
+// Overloading Matchers
+// ====================
+//
+// You can overload matchers with different numbers of parameters:
+//
+// MATCHER_P(Blah, a, description_string1) { ... }
+// MATCHER_P2(Blah, a, b, description_string2) { ... }
+//
+// Caveats
+// =======
+//
+// When defining a new matcher, you should also consider implementing
+// MatcherInterface or using MakePolymorphicMatcher(). These
+// approaches require more work than the MATCHER* macros, but also
+// give you more control on the types of the value being matched and
+// the matcher parameters, which may leads to better compiler error
+// messages when the matcher is used wrong. They also allow
+// overloading matchers based on parameter types (as opposed to just
+// based on the number of parameters).
+//
+// MATCHER*() can only be used in a namespace scope. The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates. The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using MATCHER*() inside
+// a function.
+//
+// More Information
+// ================
+//
+// To learn more about using these macros, please search for 'MATCHER'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+#define MATCHER(name, description)\
+ class name##Matcher {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl()\
+ {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<>()));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>());\
+ }\
+ name##Matcher() {\
+ }\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##Matcher);\
+ };\
+ inline name##Matcher name() {\
+ return name##Matcher();\
+ }\
+ template <typename arg_type>\
+ bool name##Matcher::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P(name, p0, description)\
+ template <typename p0##_type>\
+ class name##MatcherP {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ explicit gmock_Impl(p0##_type gmock_p0)\
+ : p0(gmock_p0) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type>(p0)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0));\
+ }\
+ explicit name##MatcherP(p0##_type gmock_p0) : p0(gmock_p0) {\
+ }\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP);\
+ };\
+ template <typename p0##_type>\
+ inline name##MatcherP<p0##_type> name(p0##_type p0) {\
+ return name##MatcherP<p0##_type>(p0);\
+ }\
+ template <typename p0##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP<p0##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P2(name, p0, p1, description)\
+ template <typename p0##_type, typename p1##_type>\
+ class name##MatcherP2 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1)\
+ : p0(gmock_p0), p1(gmock_p1) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type>(p0, p1)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1));\
+ }\
+ name##MatcherP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP2);\
+ };\
+ template <typename p0##_type, typename p1##_type>\
+ inline name##MatcherP2<p0##_type, p1##_type> name(p0##_type p0, \
+ p1##_type p1) {\
+ return name##MatcherP2<p0##_type, p1##_type>(p0, p1);\
+ }\
+ template <typename p0##_type, typename p1##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP2<p0##_type, \
+ p1##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P3(name, p0, p1, p2, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ class name##MatcherP3 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type>(p0, p1, \
+ p2)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2));\
+ }\
+ name##MatcherP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP3);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ inline name##MatcherP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2) {\
+ return name##MatcherP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP3<p0##_type, p1##_type, \
+ p2##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P4(name, p0, p1, p2, p3, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ class name##MatcherP4 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, \
+ p3##_type>(p0, p1, p2, p3)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3));\
+ }\
+ name##MatcherP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP4);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ inline name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3) {\
+ return name##MatcherP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, \
+ p1, p2, p3);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P5(name, p0, p1, p2, p3, p4, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ class name##MatcherP5 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4));\
+ }\
+ name##MatcherP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, \
+ p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP5);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ inline name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4) {\
+ return name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P6(name, p0, p1, p2, p3, p4, p5, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ class name##MatcherP6 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5));\
+ }\
+ name##MatcherP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP6);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ inline name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3, p4##_type p4, p5##_type p5) {\
+ return name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P7(name, p0, p1, p2, p3, p4, p5, p6, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ class name##MatcherP7 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, \
+ p6)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6));\
+ }\
+ name##MatcherP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+ p6(gmock_p6) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP7);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ inline name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+ p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6) {\
+ return name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P8(name, p0, p1, p2, p3, p4, p5, p6, p7, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ class name##MatcherP8 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7));\
+ }\
+ name##MatcherP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, \
+ p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP8);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ inline name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6, p7##_type p7) {\
+ return name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+ p6, p7);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, \
+ p7##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ class name##MatcherP9 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8));\
+ }\
+ name##MatcherP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP9);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ inline name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+ p8##_type p8) {\
+ return name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7, p8);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, \
+ p8##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ class name##MatcherP10 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8), p9(gmock_p9) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name, \
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9));\
+ }\
+ name##MatcherP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP10);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ inline name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9) {\
+ return name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+ p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg, \
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some actions that depend on gmock-generated-actions.h.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+
+#include <algorithm>
+
+
+namespace testing {
+namespace internal {
+
+// Implements the Invoke(f) action. The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor. Invoke(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeAction {
+ public:
+ // The c'tor makes a copy of function_impl (either a function
+ // pointer or a functor).
+ explicit InvokeAction(FunctionImpl function_impl)
+ : function_impl_(function_impl) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& args) {
+ return InvokeHelper<Result, ArgumentTuple>::Invoke(function_impl_, args);
+ }
+
+ private:
+ FunctionImpl function_impl_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeAction);
+};
+
+// Implements the Invoke(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodAction {
+ public:
+ InvokeMethodAction(Class* obj_ptr, MethodPtr method_ptr)
+ : method_ptr_(method_ptr), obj_ptr_(obj_ptr) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& args) const {
+ return InvokeHelper<Result, ArgumentTuple>::InvokeMethod(
+ obj_ptr_, method_ptr_, args);
+ }
+
+ private:
+ // The order of these members matters. Reversing the order can trigger
+ // warning C4121 in MSVC (see
+ // http://computer-programming-forum.com/7-vc.net/6fbc30265f860ad1.htm ).
+ const MethodPtr method_ptr_;
+ Class* const obj_ptr_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeMethodAction);
+};
+
+// An internal replacement for std::copy which mimics its behavior. This is
+// necessary because Visual Studio deprecates ::std::copy, issuing warning 4996.
+// However Visual Studio 2010 and later do not honor #pragmas which disable that
+// warning.
+template<typename InputIterator, typename OutputIterator>
+inline OutputIterator CopyElements(InputIterator first,
+ InputIterator last,
+ OutputIterator output) {
+ for (; first != last; ++first, ++output) {
+ *output = *first;
+ }
+ return output;
+}
+
+} // namespace internal
+
+// Various overloads for Invoke().
+
+// Creates an action that invokes 'function_impl' with the mock
+// function's arguments.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeAction<FunctionImpl> > Invoke(
+ FunctionImpl function_impl) {
+ return MakePolymorphicAction(
+ internal::InvokeAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with the mock function's arguments.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodAction<Class, MethodPtr> > Invoke(
+ Class* obj_ptr, MethodPtr method_ptr) {
+ return MakePolymorphicAction(
+ internal::InvokeMethodAction<Class, MethodPtr>(obj_ptr, method_ptr));
+}
+
+// WithoutArgs(inner_action) can be used in a mock function with a
+// non-empty argument list to perform inner_action, which takes no
+// argument. In other words, it adapts an action accepting no
+// argument to one that accepts (and ignores) arguments.
+template <typename InnerAction>
+inline internal::WithArgsAction<InnerAction>
+WithoutArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction>(action);
+}
+
+// WithArg<k>(an_action) creates an action that passes the k-th
+// (0-based) argument of the mock function to an_action and performs
+// it. It adapts an action accepting one argument to one that accepts
+// multiple arguments. For convenience, we also provide
+// WithArgs<k>(an_action) (defined below) as a synonym.
+template <int k, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k>
+WithArg(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k>(action);
+}
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4. Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma. Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Action ReturnArg<k>() returns the k-th argument of the mock function.
+ACTION_TEMPLATE(ReturnArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ return ::testing::get<k>(args);
+}
+
+// Action SaveArg<k>(pointer) saves the k-th (0-based) argument of the
+// mock function to *pointer.
+ACTION_TEMPLATE(SaveArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(pointer)) {
+ *pointer = ::testing::get<k>(args);
+}
+
+// Action SaveArgPointee<k>(pointer) saves the value pointed to
+// by the k-th (0-based) argument of the mock function to *pointer.
+ACTION_TEMPLATE(SaveArgPointee,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(pointer)) {
+ *pointer = *::testing::get<k>(args);
+}
+
+// Action SetArgReferee<k>(value) assigns 'value' to the variable
+// referenced by the k-th (0-based) argument of the mock function.
+ACTION_TEMPLATE(SetArgReferee,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(value)) {
+ typedef typename ::testing::tuple_element<k, args_type>::type argk_type;
+ // Ensures that argument #k is a reference. If you get a compiler
+ // error on the next line, you are using SetArgReferee<k>(value) in
+ // a mock function whose k-th (0-based) argument is not a reference.
+ GTEST_COMPILE_ASSERT_(internal::is_reference<argk_type>::value,
+ SetArgReferee_must_be_used_with_a_reference_argument);
+ ::testing::get<k>(args) = value;
+}
+
+// Action SetArrayArgument<k>(first, last) copies the elements in
+// source range [first, last) to the array pointed to by the k-th
+// (0-based) argument, which can be either a pointer or an
+// iterator. The action does not take ownership of the elements in the
+// source range.
+ACTION_TEMPLATE(SetArrayArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_2_VALUE_PARAMS(first, last)) {
+ // Visual Studio deprecates ::std::copy, so we use our own copy in that case.
+#ifdef _MSC_VER
+ internal::CopyElements(first, last, ::testing::get<k>(args));
+#else
+ ::std::copy(first, last, ::testing::get<k>(args));
+#endif
+}
+
+// Action DeleteArg<k>() deletes the k-th (0-based) argument of the mock
+// function.
+ACTION_TEMPLATE(DeleteArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ delete ::testing::get<k>(args);
+}
+
+// This action returns the value pointed to by 'pointer'.
+ACTION_P(ReturnPointee, pointer) { return *pointer; }
+
+// Action Throw(exception) can be used in a mock function of any type
+// to throw the given exception. Any copyable value can be thrown.
+#if GTEST_HAS_EXCEPTIONS
+
+// Suppresses the 'unreachable code' warning that VC generates in opt modes.
+# ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4702) // Temporarily disables warning 4702.
+# endif
+ACTION_P(Throw, exception) { throw exception; }
+# ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+# endif
+
+#endif // GTEST_HAS_EXCEPTIONS
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+// Copyright 2013, Google Inc.
+// All rights reserved.
+//
+// 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: marcus.boerger@google.com (Marcus Boerger)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some matchers that depend on gmock-generated-matchers.h.
+//
+// Note that tests are implemented in gmock-matchers_test.cc rather than
+// gmock-more-matchers-test.cc.
+
+#ifndef GMOCK_GMOCK_MORE_MATCHERS_H_
+#define GMOCK_GMOCK_MORE_MATCHERS_H_
+
+
+namespace testing {
+
+// Defines a matcher that matches an empty container. The container must
+// support both size() and empty(), which all STL-like containers provide.
+MATCHER(IsEmpty, negation ? "isn't empty" : "is empty") {
+ if (arg.empty()) {
+ return true;
+ }
+ *result_listener << "whose size is " << arg.size();
+ return false;
+}
+
+} // namespace testing
+
+#endif // GMOCK_GMOCK_MORE_MATCHERS_H_
+
+namespace testing {
+
+// Declares Google Mock flags that we want a user to use programmatically.
+GMOCK_DECLARE_bool_(catch_leaked_mocks);
+GMOCK_DECLARE_string_(verbose);
+
+// Initializes Google Mock. This must be called before running the
+// tests. In particular, it parses the command line for the flags
+// that Google Mock recognizes. Whenever a Google Mock flag is seen,
+// it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+GTEST_API_ void InitGoogleMock(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleMock(int* argc, wchar_t** argv);
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_H_
--- /dev/null
+// Copyright (c) 2007, Google Inc.
+// All rights reserved.
+//
+// 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: Zhanyong Wan
+//
+// Defines the ScopedMockLog class (using Google C++ Mocking
+// Framework), which is convenient for testing code that uses LOG().
+//
+// NOTE(keir): This is a fork until Google Log exports the scoped mock log
+// class; see: http://code.google.com/p/google-glog/issues/detail?id=88
+
+#ifndef GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+#define GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+
+#include <string>
+
+#include <gmock/gmock.h>
+
+#include "glog/logging.h"
+
+namespace testing {
+
+// A ScopedMockLog object intercepts LOG() messages issued during its
+// lifespan. Using this together with Google C++ Mocking Framework,
+// it's very easy to test how a piece of code calls LOG(). The
+// typical usage:
+//
+// TEST(FooTest, LogsCorrectly) {
+// ScopedMockLog log;
+//
+// // We expect the WARNING "Something bad!" exactly twice.
+// EXPECT_CALL(log, Log(WARNING, _, "Something bad!"))
+// .Times(2);
+//
+// // We allow foo.cc to call LOG(INFO) any number of times.
+// EXPECT_CALL(log, Log(INFO, HasSubstr("/foo.cc"), _))
+// .Times(AnyNumber());
+//
+// Foo(); // Exercises the code under test.
+// }
+class ScopedMockLog : public google::LogSink {
+ public:
+ // When a ScopedMockLog object is constructed, it starts to
+ // intercept logs.
+ ScopedMockLog() { AddLogSink(this); }
+
+ // When the object is destructed, it stops intercepting logs.
+ virtual ~ScopedMockLog() { RemoveLogSink(this); }
+
+ // Implements the mock method:
+ //
+ // void Log(LogSeverity severity, const string& file_path,
+ // const string& message);
+ //
+ // The second argument to Send() is the full path of the source file
+ // in which the LOG() was issued.
+ //
+ // Note, that in a multi-threaded environment, all LOG() messages from a
+ // single thread will be handled in sequence, but that cannot be guaranteed
+ // for messages from different threads. In fact, if the same or multiple
+ // expectations are matched on two threads concurrently, their actions will
+ // be executed concurrently as well and may interleave.
+ MOCK_METHOD3(Log, void(google::LogSeverity severity,
+ const std::string& file_path,
+ const std::string& message));
+
+ private:
+ // Implements the send() virtual function in class LogSink.
+ // Whenever a LOG() statement is executed, this function will be
+ // invoked with information presented in the LOG().
+ //
+ // The method argument list is long and carries much information a
+ // test usually doesn't care about, so we trim the list before
+ // forwarding the call to Log(), which is much easier to use in
+ // tests.
+ //
+ // We still cannot call Log() directly, as it may invoke other LOG()
+ // messages, either due to Invoke, or due to an error logged in
+ // Google C++ Mocking Framework code, which would trigger a deadlock
+ // since a lock is held during send().
+ //
+ // Hence, we save the message for WaitTillSent() which will be called after
+ // the lock on send() is released, and we'll call Log() inside
+ // WaitTillSent(). Since while a single send() call may be running at a
+ // time, multiple WaitTillSent() calls (along with the one send() call) may
+ // be running simultaneously, we ensure thread-safety of the exchange between
+ // send() and WaitTillSent(), and that for each message, LOG(), send(),
+ // WaitTillSent() and Log() are executed in the same thread.
+ virtual void send(google::LogSeverity severity,
+ const char* full_filename,
+ const char* base_filename, int line, const tm* tm_time,
+ const char* message, size_t message_len) {
+ // We are only interested in the log severity, full file name, and
+ // log message.
+ message_info_.severity = severity;
+ message_info_.file_path = full_filename;
+ message_info_.message = std::string(message, message_len);
+ }
+
+ // Implements the WaitTillSent() virtual function in class LogSink.
+ // It will be executed after send() and after the global logging lock is
+ // released, so calls within it (or rather within the Log() method called
+ // within) may also issue LOG() statements.
+ //
+ // LOG(), send(), WaitTillSent() and Log() will occur in the same thread for
+ // a given log message.
+ virtual void WaitTillSent() {
+ // First, and very importantly, we save a copy of the message being
+ // processed before calling Log(), since Log() may indirectly call send()
+ // and WaitTillSent() in the same thread again.
+ MessageInfo message_info = message_info_;
+ Log(message_info.severity, message_info.file_path, message_info.message);
+ }
+
+ // All relevant information about a logged message that needs to be passed
+ // from send() to WaitTillSent().
+ struct MessageInfo {
+ google::LogSeverity severity;
+ std::string file_path;
+ std::string message;
+ };
+ MessageInfo message_info_;
+};
+
+} // namespace testing
+
+#endif // GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
--- /dev/null
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: mheule@google.com (Markus Heule)
+//
+// Google C++ Testing Framework (Google Test)
+//
+// Sometimes it's desirable to build Google Test by compiling a single file.
+// This file serves this purpose.
+
+// This line ensures that gtest.h can be compiled on its own, even
+// when it's fused.
+#include "gtest/gtest.h"
+
+// The following lines pull in the real gtest *.cc files.
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// Utilities for testing Google Test itself and code that uses Google Test
+// (e.g. frameworks built on top of Google Test).
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+#define GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+
+namespace testing {
+
+// This helper class can be used to mock out Google Test failure reporting
+// so that we can test Google Test or code that builds on Google Test.
+//
+// An object of this class appends a TestPartResult object to the
+// TestPartResultArray object given in the constructor whenever a Google Test
+// failure is reported. It can either intercept only failures that are
+// generated in the same thread that created this object or it can intercept
+// all generated failures. The scope of this mock object can be controlled with
+// the second argument to the two arguments constructor.
+class GTEST_API_ ScopedFakeTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ // The two possible mocking modes of this object.
+ enum InterceptMode {
+ INTERCEPT_ONLY_CURRENT_THREAD, // Intercepts only thread local failures.
+ INTERCEPT_ALL_THREADS // Intercepts all failures.
+ };
+
+ // The c'tor sets this object as the test part result reporter used
+ // by Google Test. The 'result' parameter specifies where to report the
+ // results. This reporter will only catch failures generated in the current
+ // thread. DEPRECATED
+ explicit ScopedFakeTestPartResultReporter(TestPartResultArray* result);
+
+ // Same as above, but you can choose the interception scope of this object.
+ ScopedFakeTestPartResultReporter(InterceptMode intercept_mode,
+ TestPartResultArray* result);
+
+ // The d'tor restores the previous test part result reporter.
+ virtual ~ScopedFakeTestPartResultReporter();
+
+ // Appends the TestPartResult object to the TestPartResultArray
+ // received in the constructor.
+ //
+ // This method is from the TestPartResultReporterInterface
+ // interface.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+ private:
+ void Init();
+
+ const InterceptMode intercept_mode_;
+ TestPartResultReporterInterface* old_reporter_;
+ TestPartResultArray* const result_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedFakeTestPartResultReporter);
+};
+
+namespace internal {
+
+// A helper class for implementing EXPECT_FATAL_FAILURE() and
+// EXPECT_NONFATAL_FAILURE(). Its destructor verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring. If that's not the case, a
+// non-fatal failure will be generated.
+class GTEST_API_ SingleFailureChecker {
+ public:
+ // The constructor remembers the arguments.
+ SingleFailureChecker(const TestPartResultArray* results,
+ TestPartResult::Type type,
+ const string& substr);
+ ~SingleFailureChecker();
+ private:
+ const TestPartResultArray* const results_;
+ const TestPartResult::Type type_;
+ const string substr_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(SingleFailureChecker);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+// A set of macros for testing Google Test assertions or code that's expected
+// to generate Google Test fatal failures. It verifies that the given
+// statement will cause exactly one fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_FATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_FATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+// - 'statement' cannot reference local non-static variables or
+// non-static members of the current object.
+// - 'statement' cannot return a value.
+// - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works. The AcceptsMacroThatExpandsToUnprotectedComma test in
+// gtest_unittest.cc will fail to compile if we do that.
+#define EXPECT_FATAL_FAILURE(statement, substr) \
+ do { \
+ class GTestExpectFatalFailureHelper {\
+ public:\
+ static void Execute() { statement; }\
+ };\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
+ GTestExpectFatalFailureHelper::Execute();\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_FATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+ do { \
+ class GTestExpectFatalFailureHelper {\
+ public:\
+ static void Execute() { statement; }\
+ };\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ALL_THREADS, >est_failures);\
+ GTestExpectFatalFailureHelper::Execute();\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+// A macro for testing Google Test assertions or code that's expected to
+// generate Google Test non-fatal failures. It asserts that the given
+// statement will cause exactly one non-fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_NONFATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// 'statement' is allowed to reference local variables and members of
+// the current object.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+// - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works. If we do that, the code won't compile when the user gives
+// EXPECT_NONFATAL_FAILURE() a statement that contains a macro that
+// expands to code containing an unprotected comma. The
+// AcceptsMacroThatExpandsToUnprotectedComma test in gtest_unittest.cc
+// catches that.
+//
+// For the same reason, we have to write
+// if (::testing::internal::AlwaysTrue()) { statement; }
+// instead of
+// GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+// to avoid an MSVC warning on unreachable code.
+#define EXPECT_NONFATAL_FAILURE(statement, substr) \
+ do {\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
+ (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
+ if (::testing::internal::AlwaysTrue()) { statement; }\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+ do {\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
+ (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter::INTERCEPT_ALL_THREADS, \
+ >est_failures);\
+ if (::testing::internal::AlwaysTrue()) { statement; }\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <wchar.h>
+#include <wctype.h>
+
+#include <algorithm>
+#include <iomanip>
+#include <limits>
+#include <list>
+#include <map>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <vector>
+
+#if GTEST_OS_LINUX
+
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+# include <fcntl.h> // NOLINT
+# include <limits.h> // NOLINT
+# include <sched.h> // NOLINT
+// Declares vsnprintf(). This header is not available on Windows.
+# include <strings.h> // NOLINT
+# include <sys/mman.h> // NOLINT
+# include <sys/time.h> // NOLINT
+# include <unistd.h> // NOLINT
+# include <string>
+
+#elif GTEST_OS_SYMBIAN
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+
+#elif GTEST_OS_ZOS
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+
+// On z/OS we additionally need strings.h for strcasecmp.
+# include <strings.h> // NOLINT
+
+#elif GTEST_OS_WINDOWS_MOBILE // We are on Windows CE.
+
+# include <windows.h> // NOLINT
+# undef min
+
+#elif GTEST_OS_WINDOWS // We are on Windows proper.
+
+# include <io.h> // NOLINT
+# include <sys/timeb.h> // NOLINT
+# include <sys/types.h> // NOLINT
+# include <sys/stat.h> // NOLINT
+
+# if GTEST_OS_WINDOWS_MINGW
+// MinGW has gettimeofday() but not _ftime64().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+// TODO(kenton@google.com): There are other ways to get the time on
+// Windows, like GetTickCount() or GetSystemTimeAsFileTime(). MinGW
+// supports these. consider using them instead.
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+# endif // GTEST_OS_WINDOWS_MINGW
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <windows.h> // NOLINT
+# undef min
+
+#else
+
+// Assume other platforms have gettimeofday().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <sys/time.h> // NOLINT
+# include <unistd.h> // NOLINT
+
+#endif // GTEST_OS_LINUX
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>
+#endif
+
+#if GTEST_CAN_STREAM_RESULTS_
+# include <arpa/inet.h> // NOLINT
+# include <netdb.h> // NOLINT
+# include <sys/socket.h> // NOLINT
+# include <sys/types.h> // NOLINT
+#endif
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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.
+
+// Utility functions and classes used by the Google C++ testing framework.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// This file contains purely Google Test's internal implementation. Please
+// DO NOT #INCLUDE IT IN A USER PROGRAM.
+
+#ifndef GTEST_SRC_GTEST_INTERNAL_INL_H_
+#define GTEST_SRC_GTEST_INTERNAL_INL_H_
+
+// GTEST_IMPLEMENTATION_ is defined to 1 iff the current translation unit is
+// part of Google Test's implementation; otherwise it's undefined.
+#if !GTEST_IMPLEMENTATION_
+// If this file is included from the user's code, just say no.
+# error "gtest-internal-inl.h is part of Google Test's internal implementation."
+# error "It must not be included except by Google Test itself."
+#endif // GTEST_IMPLEMENTATION_
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif // !_WIN32_WCE
+#include <stddef.h>
+#include <stdlib.h> // For strtoll/_strtoul64/malloc/free.
+#include <string.h> // For memmove.
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+
+#if GTEST_CAN_STREAM_RESULTS_
+# include <arpa/inet.h> // NOLINT
+# include <netdb.h> // NOLINT
+#endif
+
+#if GTEST_OS_WINDOWS
+# include <windows.h> // NOLINT
+#endif // GTEST_OS_WINDOWS
+
+
+namespace testing {
+
+// Declares the flags.
+//
+// We don't want the users to modify this flag in the code, but want
+// Google Test's own unit tests to be able to access it. Therefore we
+// declare it here as opposed to in gtest.h.
+GTEST_DECLARE_bool_(death_test_use_fork);
+
+namespace internal {
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library. This is solely for testing GetTestTypeId().
+GTEST_API_ extern const TypeId kTestTypeIdInGoogleTest;
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kAlsoRunDisabledTestsFlag[] = "also_run_disabled_tests";
+const char kBreakOnFailureFlag[] = "break_on_failure";
+const char kCatchExceptionsFlag[] = "catch_exceptions";
+const char kColorFlag[] = "color";
+const char kFilterFlag[] = "filter";
+const char kListTestsFlag[] = "list_tests";
+const char kOutputFlag[] = "output";
+const char kPrintTimeFlag[] = "print_time";
+const char kRandomSeedFlag[] = "random_seed";
+const char kRepeatFlag[] = "repeat";
+const char kShuffleFlag[] = "shuffle";
+const char kStackTraceDepthFlag[] = "stack_trace_depth";
+const char kStreamResultToFlag[] = "stream_result_to";
+const char kThrowOnFailureFlag[] = "throw_on_failure";
+const char kFlagfileFlag[] = "flagfile";
+
+// A valid random seed must be in [1, kMaxRandomSeed].
+const int kMaxRandomSeed = 99999;
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+GTEST_API_ extern bool g_help_flag;
+
+// Returns the current time in milliseconds.
+GTEST_API_ TimeInMillis GetTimeInMillis();
+
+// Returns true iff Google Test should use colors in the output.
+GTEST_API_ bool ShouldUseColor(bool stdout_is_tty);
+
+// Formats the given time in milliseconds as seconds.
+GTEST_API_ std::string FormatTimeInMillisAsSeconds(TimeInMillis ms);
+
+// Converts the given time in milliseconds to a date string in the ISO 8601
+// format, without the timezone information. N.B.: due to the use the
+// non-reentrant localtime() function, this function is not thread safe. Do
+// not use it in any code that can be called from multiple threads.
+GTEST_API_ std::string FormatEpochTimeInMillisAsIso8601(TimeInMillis ms);
+
+// Parses a string for an Int32 flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+GTEST_API_ bool ParseInt32Flag(
+ const char* str, const char* flag, Int32* value);
+
+// Returns a random seed in range [1, kMaxRandomSeed] based on the
+// given --gtest_random_seed flag value.
+inline int GetRandomSeedFromFlag(Int32 random_seed_flag) {
+ const unsigned int raw_seed = (random_seed_flag == 0) ?
+ static_cast<unsigned int>(GetTimeInMillis()) :
+ static_cast<unsigned int>(random_seed_flag);
+
+ // Normalizes the actual seed to range [1, kMaxRandomSeed] such that
+ // it's easy to type.
+ const int normalized_seed =
+ static_cast<int>((raw_seed - 1U) %
+ static_cast<unsigned int>(kMaxRandomSeed)) + 1;
+ return normalized_seed;
+}
+
+// Returns the first valid random seed after 'seed'. The behavior is
+// undefined if 'seed' is invalid. The seed after kMaxRandomSeed is
+// considered to be 1.
+inline int GetNextRandomSeed(int seed) {
+ GTEST_CHECK_(1 <= seed && seed <= kMaxRandomSeed)
+ << "Invalid random seed " << seed << " - must be in [1, "
+ << kMaxRandomSeed << "].";
+ const int next_seed = seed + 1;
+ return (next_seed > kMaxRandomSeed) ? 1 : next_seed;
+}
+
+// This class saves the values of all Google Test flags in its c'tor, and
+// restores them in its d'tor.
+class GTestFlagSaver {
+ public:
+ // The c'tor.
+ GTestFlagSaver() {
+ also_run_disabled_tests_ = GTEST_FLAG(also_run_disabled_tests);
+ break_on_failure_ = GTEST_FLAG(break_on_failure);
+ catch_exceptions_ = GTEST_FLAG(catch_exceptions);
+ color_ = GTEST_FLAG(color);
+ death_test_style_ = GTEST_FLAG(death_test_style);
+ death_test_use_fork_ = GTEST_FLAG(death_test_use_fork);
+ filter_ = GTEST_FLAG(filter);
+ internal_run_death_test_ = GTEST_FLAG(internal_run_death_test);
+ list_tests_ = GTEST_FLAG(list_tests);
+ output_ = GTEST_FLAG(output);
+ print_time_ = GTEST_FLAG(print_time);
+ random_seed_ = GTEST_FLAG(random_seed);
+ repeat_ = GTEST_FLAG(repeat);
+ shuffle_ = GTEST_FLAG(shuffle);
+ stack_trace_depth_ = GTEST_FLAG(stack_trace_depth);
+ stream_result_to_ = GTEST_FLAG(stream_result_to);
+ throw_on_failure_ = GTEST_FLAG(throw_on_failure);
+ }
+
+ // The d'tor is not virtual. DO NOT INHERIT FROM THIS CLASS.
+ ~GTestFlagSaver() {
+ GTEST_FLAG(also_run_disabled_tests) = also_run_disabled_tests_;
+ GTEST_FLAG(break_on_failure) = break_on_failure_;
+ GTEST_FLAG(catch_exceptions) = catch_exceptions_;
+ GTEST_FLAG(color) = color_;
+ GTEST_FLAG(death_test_style) = death_test_style_;
+ GTEST_FLAG(death_test_use_fork) = death_test_use_fork_;
+ GTEST_FLAG(filter) = filter_;
+ GTEST_FLAG(internal_run_death_test) = internal_run_death_test_;
+ GTEST_FLAG(list_tests) = list_tests_;
+ GTEST_FLAG(output) = output_;
+ GTEST_FLAG(print_time) = print_time_;
+ GTEST_FLAG(random_seed) = random_seed_;
+ GTEST_FLAG(repeat) = repeat_;
+ GTEST_FLAG(shuffle) = shuffle_;
+ GTEST_FLAG(stack_trace_depth) = stack_trace_depth_;
+ GTEST_FLAG(stream_result_to) = stream_result_to_;
+ GTEST_FLAG(throw_on_failure) = throw_on_failure_;
+ }
+
+ private:
+ // Fields for saving the original values of flags.
+ bool also_run_disabled_tests_;
+ bool break_on_failure_;
+ bool catch_exceptions_;
+ std::string color_;
+ std::string death_test_style_;
+ bool death_test_use_fork_;
+ std::string filter_;
+ std::string internal_run_death_test_;
+ bool list_tests_;
+ std::string output_;
+ bool print_time_;
+ internal::Int32 random_seed_;
+ internal::Int32 repeat_;
+ bool shuffle_;
+ internal::Int32 stack_trace_depth_;
+ std::string stream_result_to_;
+ bool throw_on_failure_;
+} GTEST_ATTRIBUTE_UNUSED_;
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be converted
+// to "(Invalid Unicode 0xXXXXXXXX)".
+GTEST_API_ std::string CodePointToUtf8(UInt32 code_point);
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+GTEST_API_ std::string WideStringToUtf8(const wchar_t* str, int num_chars);
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded();
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (e.g., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+GTEST_API_ bool ShouldShard(const char* total_shards_str,
+ const char* shard_index_str,
+ bool in_subprocess_for_death_test);
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error and
+// and aborts.
+GTEST_API_ Int32 Int32FromEnvOrDie(const char* env_var, Int32 default_val);
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+GTEST_API_ bool ShouldRunTestOnShard(
+ int total_shards, int shard_index, int test_id);
+
+// STL container utilities.
+
+// Returns the number of elements in the given container that satisfy
+// the given predicate.
+template <class Container, typename Predicate>
+inline int CountIf(const Container& c, Predicate predicate) {
+ // Implemented as an explicit loop since std::count_if() in libCstd on
+ // Solaris has a non-standard signature.
+ int count = 0;
+ for (typename Container::const_iterator it = c.begin(); it != c.end(); ++it) {
+ if (predicate(*it))
+ ++count;
+ }
+ return count;
+}
+
+// Applies a function/functor to each element in the container.
+template <class Container, typename Functor>
+void ForEach(const Container& c, Functor functor) {
+ std::for_each(c.begin(), c.end(), functor);
+}
+
+// Returns the i-th element of the vector, or default_value if i is not
+// in range [0, v.size()).
+template <typename E>
+inline E GetElementOr(const std::vector<E>& v, int i, E default_value) {
+ return (i < 0 || i >= static_cast<int>(v.size())) ? default_value : v[i];
+}
+
+// Performs an in-place shuffle of a range of the vector's elements.
+// 'begin' and 'end' are element indices as an STL-style range;
+// i.e. [begin, end) are shuffled, where 'end' == size() means to
+// shuffle to the end of the vector.
+template <typename E>
+void ShuffleRange(internal::Random* random, int begin, int end,
+ std::vector<E>* v) {
+ const int size = static_cast<int>(v->size());
+ GTEST_CHECK_(0 <= begin && begin <= size)
+ << "Invalid shuffle range start " << begin << ": must be in range [0, "
+ << size << "].";
+ GTEST_CHECK_(begin <= end && end <= size)
+ << "Invalid shuffle range finish " << end << ": must be in range ["
+ << begin << ", " << size << "].";
+
+ // Fisher-Yates shuffle, from
+ // http://en.wikipedia.org/wiki/Fisher-Yates_shuffle
+ for (int range_width = end - begin; range_width >= 2; range_width--) {
+ const int last_in_range = begin + range_width - 1;
+ const int selected = begin + random->Generate(range_width);
+ std::swap((*v)[selected], (*v)[last_in_range]);
+ }
+}
+
+// Performs an in-place shuffle of the vector's elements.
+template <typename E>
+inline void Shuffle(internal::Random* random, std::vector<E>* v) {
+ ShuffleRange(random, 0, static_cast<int>(v->size()), v);
+}
+
+// A function for deleting an object. Handy for being used as a
+// functor.
+template <typename T>
+static void Delete(T* x) {
+ delete x;
+}
+
+// A predicate that checks the key of a TestProperty against a known key.
+//
+// TestPropertyKeyIs is copyable.
+class TestPropertyKeyIs {
+ public:
+ // Constructor.
+ //
+ // TestPropertyKeyIs has NO default constructor.
+ explicit TestPropertyKeyIs(const std::string& key) : key_(key) {}
+
+ // Returns true iff the test name of test property matches on key_.
+ bool operator()(const TestProperty& test_property) const {
+ return test_property.key() == key_;
+ }
+
+ private:
+ std::string key_;
+};
+
+// Class UnitTestOptions.
+//
+// This class contains functions for processing options the user
+// specifies when running the tests. It has only static members.
+//
+// In most cases, the user can specify an option using either an
+// environment variable or a command line flag. E.g. you can set the
+// test filter using either GTEST_FILTER or --gtest_filter. If both
+// the variable and the flag are present, the latter overrides the
+// former.
+class GTEST_API_ UnitTestOptions {
+ public:
+ // Functions for processing the gtest_output flag.
+
+ // Returns the output format, or "" for normal printed output.
+ static std::string GetOutputFormat();
+
+ // Returns the absolute path of the requested output file, or the
+ // default (test_detail.xml in the original working directory) if
+ // none was explicitly specified.
+ static std::string GetAbsolutePathToOutputFile();
+
+ // Functions for processing the gtest_filter flag.
+
+ // Returns true iff the wildcard pattern matches the string. The
+ // first ':' or '\0' character in pattern marks the end of it.
+ //
+ // This recursive algorithm isn't very efficient, but is clear and
+ // works well enough for matching test names, which are short.
+ static bool PatternMatchesString(const char *pattern, const char *str);
+
+ // Returns true iff the user-specified filter matches the test case
+ // name and the test name.
+ static bool FilterMatchesTest(const std::string &test_case_name,
+ const std::string &test_name);
+
+#if GTEST_OS_WINDOWS
+ // Function for supporting the gtest_catch_exception flag.
+
+ // Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+ // given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+ // This function is useful as an __except condition.
+ static int GTestShouldProcessSEH(DWORD exception_code);
+#endif // GTEST_OS_WINDOWS
+
+ // Returns true if "name" matches the ':' separated list of glob-style
+ // filters in "filter".
+ static bool MatchesFilter(const std::string& name, const char* filter);
+};
+
+// Returns the current application's name, removing directory path if that
+// is present. Used by UnitTestOptions::GetOutputFile.
+GTEST_API_ FilePath GetCurrentExecutableName();
+
+// The role interface for getting the OS stack trace as a string.
+class OsStackTraceGetterInterface {
+ public:
+ OsStackTraceGetterInterface() {}
+ virtual ~OsStackTraceGetterInterface() {}
+
+ // Returns the current OS stack trace as an std::string. Parameters:
+ //
+ // max_depth - the maximum number of stack frames to be included
+ // in the trace.
+ // skip_count - the number of top frames to be skipped; doesn't count
+ // against max_depth.
+ virtual string CurrentStackTrace(int max_depth, int skip_count) = 0;
+
+ // UponLeavingGTest() should be called immediately before Google Test calls
+ // user code. It saves some information about the current stack that
+ // CurrentStackTrace() will use to find and hide Google Test stack frames.
+ virtual void UponLeavingGTest() = 0;
+
+ // This string is inserted in place of stack frames that are part of
+ // Google Test's implementation.
+ static const char* const kElidedFramesMarker;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetterInterface);
+};
+
+// A working implementation of the OsStackTraceGetterInterface interface.
+class OsStackTraceGetter : public OsStackTraceGetterInterface {
+ public:
+ OsStackTraceGetter() {}
+
+ virtual string CurrentStackTrace(int max_depth, int skip_count);
+ virtual void UponLeavingGTest();
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetter);
+};
+
+// Information about a Google Test trace point.
+struct TraceInfo {
+ const char* file;
+ int line;
+ std::string message;
+};
+
+// This is the default global test part result reporter used in UnitTestImpl.
+// This class should only be used by UnitTestImpl.
+class DefaultGlobalTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ explicit DefaultGlobalTestPartResultReporter(UnitTestImpl* unit_test);
+ // Implements the TestPartResultReporterInterface. Reports the test part
+ // result in the current test.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+ UnitTestImpl* const unit_test_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultGlobalTestPartResultReporter);
+};
+
+// This is the default per thread test part result reporter used in
+// UnitTestImpl. This class should only be used by UnitTestImpl.
+class DefaultPerThreadTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ explicit DefaultPerThreadTestPartResultReporter(UnitTestImpl* unit_test);
+ // Implements the TestPartResultReporterInterface. The implementation just
+ // delegates to the current global test part result reporter of *unit_test_.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+ UnitTestImpl* const unit_test_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultPerThreadTestPartResultReporter);
+};
+
+// The private implementation of the UnitTest class. We don't protect
+// the methods under a mutex, as this class is not accessible by a
+// user and the UnitTest class that delegates work to this class does
+// proper locking.
+class GTEST_API_ UnitTestImpl {
+ public:
+ explicit UnitTestImpl(UnitTest* parent);
+ virtual ~UnitTestImpl();
+
+ // There are two different ways to register your own TestPartResultReporter.
+ // You can register your own repoter to listen either only for test results
+ // from the current thread or for results from all threads.
+ // By default, each per-thread test result repoter just passes a new
+ // TestPartResult to the global test result reporter, which registers the
+ // test part result for the currently running test.
+
+ // Returns the global test part result reporter.
+ TestPartResultReporterInterface* GetGlobalTestPartResultReporter();
+
+ // Sets the global test part result reporter.
+ void SetGlobalTestPartResultReporter(
+ TestPartResultReporterInterface* reporter);
+
+ // Returns the test part result reporter for the current thread.
+ TestPartResultReporterInterface* GetTestPartResultReporterForCurrentThread();
+
+ // Sets the test part result reporter for the current thread.
+ void SetTestPartResultReporterForCurrentThread(
+ TestPartResultReporterInterface* reporter);
+
+ // Gets the number of successful test cases.
+ int successful_test_case_count() const;
+
+ // Gets the number of failed test cases.
+ int failed_test_case_count() const;
+
+ // Gets the number of all test cases.
+ int total_test_case_count() const;
+
+ // Gets the number of all test cases that contain at least one test
+ // that should run.
+ int test_case_to_run_count() const;
+
+ // Gets the number of successful tests.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests that will be reported in the XML report.
+ int reportable_disabled_test_count() const;
+
+ // Gets the number of disabled tests.
+ int disabled_test_count() const;
+
+ // Gets the number of tests to be printed in the XML report.
+ int reportable_test_count() const;
+
+ // Gets the number of all tests.
+ int total_test_count() const;
+
+ // Gets the number of tests that should run.
+ int test_to_run_count() const;
+
+ // Gets the time of the test program start, in ms from the start of the
+ // UNIX epoch.
+ TimeInMillis start_timestamp() const { return start_timestamp_; }
+
+ // Gets the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns true iff the unit test passed (i.e. all test cases passed).
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the unit test failed (i.e. some test case failed
+ // or something outside of all tests failed).
+ bool Failed() const {
+ return failed_test_case_count() > 0 || ad_hoc_test_result()->Failed();
+ }
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ const TestCase* GetTestCase(int i) const {
+ const int index = GetElementOr(test_case_indices_, i, -1);
+ return index < 0 ? NULL : test_cases_[i];
+ }
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ TestCase* GetMutableTestCase(int i) {
+ const int index = GetElementOr(test_case_indices_, i, -1);
+ return index < 0 ? NULL : test_cases_[index];
+ }
+
+ // Provides access to the event listener list.
+ TestEventListeners* listeners() { return &listeners_; }
+
+ // Returns the TestResult for the test that's currently running, or
+ // the TestResult for the ad hoc test if no test is running.
+ TestResult* current_test_result();
+
+ // Returns the TestResult for the ad hoc test.
+ const TestResult* ad_hoc_test_result() const { return &ad_hoc_test_result_; }
+
+ // Sets the OS stack trace getter.
+ //
+ // Does nothing if the input and the current OS stack trace getter
+ // are the same; otherwise, deletes the old getter and makes the
+ // input the current getter.
+ void set_os_stack_trace_getter(OsStackTraceGetterInterface* getter);
+
+ // Returns the current OS stack trace getter if it is not NULL;
+ // otherwise, creates an OsStackTraceGetter, makes it the current
+ // getter, and returns it.
+ OsStackTraceGetterInterface* os_stack_trace_getter();
+
+ // Returns the current OS stack trace as an std::string.
+ //
+ // The maximum number of stack frames to be included is specified by
+ // the gtest_stack_trace_depth flag. The skip_count parameter
+ // specifies the number of top frames to be skipped, which doesn't
+ // count against the number of frames to be included.
+ //
+ // For example, if Foo() calls Bar(), which in turn calls
+ // CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+ // trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+ std::string CurrentOsStackTraceExceptTop(int skip_count) GTEST_NO_INLINE_;
+
+ // Finds and returns a TestCase with the given name. If one doesn't
+ // exist, creates one and returns it.
+ //
+ // Arguments:
+ //
+ // test_case_name: name of the test case
+ // type_param: the name of the test's type parameter, or NULL if
+ // this is not a typed or a type-parameterized test.
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ TestCase* GetTestCase(const char* test_case_name,
+ const char* type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc);
+
+ // Adds a TestInfo to the unit test.
+ //
+ // Arguments:
+ //
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ // test_info: the TestInfo object
+ void AddTestInfo(Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc,
+ TestInfo* test_info) {
+ // In order to support thread-safe death tests, we need to
+ // remember the original working directory when the test program
+ // was first invoked. We cannot do this in RUN_ALL_TESTS(), as
+ // the user may have changed the current directory before calling
+ // RUN_ALL_TESTS(). Therefore we capture the current directory in
+ // AddTestInfo(), which is called to register a TEST or TEST_F
+ // before main() is reached.
+ if (original_working_dir_.IsEmpty()) {
+ original_working_dir_.Set(FilePath::GetCurrentDir());
+ GTEST_CHECK_(!original_working_dir_.IsEmpty())
+ << "Failed to get the current working directory.";
+ }
+
+ GetTestCase(test_info->test_case_name(),
+ test_info->type_param(),
+ set_up_tc,
+ tear_down_tc)->AddTestInfo(test_info);
+ }
+
+#if GTEST_HAS_PARAM_TEST
+ // Returns ParameterizedTestCaseRegistry object used to keep track of
+ // value-parameterized tests and instantiate and register them.
+ internal::ParameterizedTestCaseRegistry& parameterized_test_registry() {
+ return parameterized_test_registry_;
+ }
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Sets the TestCase object for the test that's currently running.
+ void set_current_test_case(TestCase* a_current_test_case) {
+ current_test_case_ = a_current_test_case;
+ }
+
+ // Sets the TestInfo object for the test that's currently running. If
+ // current_test_info is NULL, the assertion results will be stored in
+ // ad_hoc_test_result_.
+ void set_current_test_info(TestInfo* a_current_test_info) {
+ current_test_info_ = a_current_test_info;
+ }
+
+ // Registers all parameterized tests defined using TEST_P and
+ // INSTANTIATE_TEST_CASE_P, creating regular tests for each test/parameter
+ // combination. This method can be called more then once; it has guards
+ // protecting from registering the tests more then once. If
+ // value-parameterized tests are disabled, RegisterParameterizedTests is
+ // present but does nothing.
+ void RegisterParameterizedTests();
+
+ // Runs all tests in this UnitTest object, prints the result, and
+ // returns true if all tests are successful. If any exception is
+ // thrown during a test, this test is considered to be failed, but
+ // the rest of the tests will still be run.
+ bool RunAllTests();
+
+ // Clears the results of all tests, except the ad hoc tests.
+ void ClearNonAdHocTestResult() {
+ ForEach(test_cases_, TestCase::ClearTestCaseResult);
+ }
+
+ // Clears the results of ad-hoc test assertions.
+ void ClearAdHocTestResult() {
+ ad_hoc_test_result_.Clear();
+ }
+
+ // Adds a TestProperty to the current TestResult object when invoked in a
+ // context of a test or a test case, or to the global property set. If the
+ // result already contains a property with the same key, the value will be
+ // updated.
+ void RecordProperty(const TestProperty& test_property);
+
+ enum ReactionToSharding {
+ HONOR_SHARDING_PROTOCOL,
+ IGNORE_SHARDING_PROTOCOL
+ };
+
+ // Matches the full name of each test against the user-specified
+ // filter to decide whether the test should run, then records the
+ // result in each TestCase and TestInfo object.
+ // If shard_tests == HONOR_SHARDING_PROTOCOL, further filters tests
+ // based on sharding variables in the environment.
+ // Returns the number of tests that should run.
+ int FilterTests(ReactionToSharding shard_tests);
+
+ // Prints the names of the tests matching the user-specified filter flag.
+ void ListTestsMatchingFilter();
+
+ const TestCase* current_test_case() const { return current_test_case_; }
+ TestInfo* current_test_info() { return current_test_info_; }
+ const TestInfo* current_test_info() const { return current_test_info_; }
+
+ // Returns the vector of environments that need to be set-up/torn-down
+ // before/after the tests are run.
+ std::vector<Environment*>& environments() { return environments_; }
+
+ // Getters for the per-thread Google Test trace stack.
+ std::vector<TraceInfo>& gtest_trace_stack() {
+ return *(gtest_trace_stack_.pointer());
+ }
+ const std::vector<TraceInfo>& gtest_trace_stack() const {
+ return gtest_trace_stack_.get();
+ }
+
+#if GTEST_HAS_DEATH_TEST
+ void InitDeathTestSubprocessControlInfo() {
+ internal_run_death_test_flag_.reset(ParseInternalRunDeathTestFlag());
+ }
+ // Returns a pointer to the parsed --gtest_internal_run_death_test
+ // flag, or NULL if that flag was not specified.
+ // This information is useful only in a death test child process.
+ // Must not be called before a call to InitGoogleTest.
+ const InternalRunDeathTestFlag* internal_run_death_test_flag() const {
+ return internal_run_death_test_flag_.get();
+ }
+
+ // Returns a pointer to the current death test factory.
+ internal::DeathTestFactory* death_test_factory() {
+ return death_test_factory_.get();
+ }
+
+ void SuppressTestEventsIfInSubprocess();
+
+ friend class ReplaceDeathTestFactory;
+#endif // GTEST_HAS_DEATH_TEST
+
+ // Initializes the event listener performing XML output as specified by
+ // UnitTestOptions. Must not be called before InitGoogleTest.
+ void ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+ // Initializes the event listener for streaming test results to a socket.
+ // Must not be called before InitGoogleTest.
+ void ConfigureStreamingOutput();
+#endif
+
+ // Performs initialization dependent upon flag values obtained in
+ // ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
+ // ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
+ // this function is also called from RunAllTests. Since this function can be
+ // called more than once, it has to be idempotent.
+ void PostFlagParsingInit();
+
+ // Gets the random seed used at the start of the current test iteration.
+ int random_seed() const { return random_seed_; }
+
+ // Gets the random number generator.
+ internal::Random* random() { return &random_; }
+
+ // Shuffles all test cases, and the tests within each test case,
+ // making sure that death tests are still run first.
+ void ShuffleTests();
+
+ // Restores the test cases and tests to their order before the first shuffle.
+ void UnshuffleTests();
+
+ // Returns the value of GTEST_FLAG(catch_exceptions) at the moment
+ // UnitTest::Run() starts.
+ bool catch_exceptions() const { return catch_exceptions_; }
+
+ private:
+ friend class ::testing::UnitTest;
+
+ // Used by UnitTest::Run() to capture the state of
+ // GTEST_FLAG(catch_exceptions) at the moment it starts.
+ void set_catch_exceptions(bool value) { catch_exceptions_ = value; }
+
+ // The UnitTest object that owns this implementation object.
+ UnitTest* const parent_;
+
+ // The working directory when the first TEST() or TEST_F() was
+ // executed.
+ internal::FilePath original_working_dir_;
+
+ // The default test part result reporters.
+ DefaultGlobalTestPartResultReporter default_global_test_part_result_reporter_;
+ DefaultPerThreadTestPartResultReporter
+ default_per_thread_test_part_result_reporter_;
+
+ // Points to (but doesn't own) the global test part result reporter.
+ TestPartResultReporterInterface* global_test_part_result_repoter_;
+
+ // Protects read and write access to global_test_part_result_reporter_.
+ internal::Mutex global_test_part_result_reporter_mutex_;
+
+ // Points to (but doesn't own) the per-thread test part result reporter.
+ internal::ThreadLocal<TestPartResultReporterInterface*>
+ per_thread_test_part_result_reporter_;
+
+ // The vector of environments that need to be set-up/torn-down
+ // before/after the tests are run.
+ std::vector<Environment*> environments_;
+
+ // The vector of TestCases in their original order. It owns the
+ // elements in the vector.
+ std::vector<TestCase*> test_cases_;
+
+ // Provides a level of indirection for the test case list to allow
+ // easy shuffling and restoring the test case order. The i-th
+ // element of this vector is the index of the i-th test case in the
+ // shuffled order.
+ std::vector<int> test_case_indices_;
+
+#if GTEST_HAS_PARAM_TEST
+ // ParameterizedTestRegistry object used to register value-parameterized
+ // tests.
+ internal::ParameterizedTestCaseRegistry parameterized_test_registry_;
+
+ // Indicates whether RegisterParameterizedTests() has been called already.
+ bool parameterized_tests_registered_;
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Index of the last death test case registered. Initially -1.
+ int last_death_test_case_;
+
+ // This points to the TestCase for the currently running test. It
+ // changes as Google Test goes through one test case after another.
+ // When no test is running, this is set to NULL and Google Test
+ // stores assertion results in ad_hoc_test_result_. Initially NULL.
+ TestCase* current_test_case_;
+
+ // This points to the TestInfo for the currently running test. It
+ // changes as Google Test goes through one test after another. When
+ // no test is running, this is set to NULL and Google Test stores
+ // assertion results in ad_hoc_test_result_. Initially NULL.
+ TestInfo* current_test_info_;
+
+ // Normally, a user only writes assertions inside a TEST or TEST_F,
+ // or inside a function called by a TEST or TEST_F. Since Google
+ // Test keeps track of which test is current running, it can
+ // associate such an assertion with the test it belongs to.
+ //
+ // If an assertion is encountered when no TEST or TEST_F is running,
+ // Google Test attributes the assertion result to an imaginary "ad hoc"
+ // test, and records the result in ad_hoc_test_result_.
+ TestResult ad_hoc_test_result_;
+
+ // The list of event listeners that can be used to track events inside
+ // Google Test.
+ TestEventListeners listeners_;
+
+ // The OS stack trace getter. Will be deleted when the UnitTest
+ // object is destructed. By default, an OsStackTraceGetter is used,
+ // but the user can set this field to use a custom getter if that is
+ // desired.
+ OsStackTraceGetterInterface* os_stack_trace_getter_;
+
+ // True iff PostFlagParsingInit() has been called.
+ bool post_flag_parse_init_performed_;
+
+ // The random number seed used at the beginning of the test run.
+ int random_seed_;
+
+ // Our random number generator.
+ internal::Random random_;
+
+ // The time of the test program start, in ms from the start of the
+ // UNIX epoch.
+ TimeInMillis start_timestamp_;
+
+ // How long the test took to run, in milliseconds.
+ TimeInMillis elapsed_time_;
+
+#if GTEST_HAS_DEATH_TEST
+ // The decomposed components of the gtest_internal_run_death_test flag,
+ // parsed when RUN_ALL_TESTS is called.
+ internal::scoped_ptr<InternalRunDeathTestFlag> internal_run_death_test_flag_;
+ internal::scoped_ptr<internal::DeathTestFactory> death_test_factory_;
+#endif // GTEST_HAS_DEATH_TEST
+
+ // A per-thread stack of traces created by the SCOPED_TRACE() macro.
+ internal::ThreadLocal<std::vector<TraceInfo> > gtest_trace_stack_;
+
+ // The value of GTEST_FLAG(catch_exceptions) at the moment RunAllTests()
+ // starts.
+ bool catch_exceptions_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTestImpl);
+}; // class UnitTestImpl
+
+// Convenience function for accessing the global UnitTest
+// implementation object.
+inline UnitTestImpl* GetUnitTestImpl() {
+ return UnitTest::GetInstance()->impl();
+}
+
+#if GTEST_USES_SIMPLE_RE
+
+// Internal helper functions for implementing the simple regular
+// expression matcher.
+GTEST_API_ bool IsInSet(char ch, const char* str);
+GTEST_API_ bool IsAsciiDigit(char ch);
+GTEST_API_ bool IsAsciiPunct(char ch);
+GTEST_API_ bool IsRepeat(char ch);
+GTEST_API_ bool IsAsciiWhiteSpace(char ch);
+GTEST_API_ bool IsAsciiWordChar(char ch);
+GTEST_API_ bool IsValidEscape(char ch);
+GTEST_API_ bool AtomMatchesChar(bool escaped, char pattern, char ch);
+GTEST_API_ bool ValidateRegex(const char* regex);
+GTEST_API_ bool MatchRegexAtHead(const char* regex, const char* str);
+GTEST_API_ bool MatchRepetitionAndRegexAtHead(
+ bool escaped, char ch, char repeat, const char* regex, const char* str);
+GTEST_API_ bool MatchRegexAnywhere(const char* regex, const char* str);
+
+#endif // GTEST_USES_SIMPLE_RE
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, char** argv);
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv);
+
+#if GTEST_HAS_DEATH_TEST
+
+// Returns the message describing the last system error, regardless of the
+// platform.
+GTEST_API_ std::string GetLastErrnoDescription();
+
+// Attempts to parse a string into a positive integer pointed to by the
+// number parameter. Returns true if that is possible.
+// GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we can use
+// it here.
+template <typename Integer>
+bool ParseNaturalNumber(const ::std::string& str, Integer* number) {
+ // Fail fast if the given string does not begin with a digit;
+ // this bypasses strtoXXX's "optional leading whitespace and plus
+ // or minus sign" semantics, which are undesirable here.
+ if (str.empty() || !IsDigit(str[0])) {
+ return false;
+ }
+ errno = 0;
+
+ char* end;
+ // BiggestConvertible is the largest integer type that system-provided
+ // string-to-number conversion routines can return.
+
+# if GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+ // MSVC and C++ Builder define __int64 instead of the standard long long.
+ typedef unsigned __int64 BiggestConvertible;
+ const BiggestConvertible parsed = _strtoui64(str.c_str(), &end, 10);
+
+# else
+
+ typedef unsigned long long BiggestConvertible; // NOLINT
+ const BiggestConvertible parsed = strtoull(str.c_str(), &end, 10);
+
+# endif // GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+ const bool parse_success = *end == '\0' && errno == 0;
+
+ // TODO(vladl@google.com): Convert this to compile time assertion when it is
+ // available.
+ GTEST_CHECK_(sizeof(Integer) <= sizeof(parsed));
+
+ const Integer result = static_cast<Integer>(parsed);
+ if (parse_success && static_cast<BiggestConvertible>(result) == parsed) {
+ *number = result;
+ return true;
+ }
+ return false;
+}
+#endif // GTEST_HAS_DEATH_TEST
+
+// TestResult contains some private methods that should be hidden from
+// Google Test user but are required for testing. This class allow our tests
+// to access them.
+//
+// This class is supplied only for the purpose of testing Google Test's own
+// constructs. Do not use it in user tests, either directly or indirectly.
+class TestResultAccessor {
+ public:
+ static void RecordProperty(TestResult* test_result,
+ const std::string& xml_element,
+ const TestProperty& property) {
+ test_result->RecordProperty(xml_element, property);
+ }
+
+ static void ClearTestPartResults(TestResult* test_result) {
+ test_result->ClearTestPartResults();
+ }
+
+ static const std::vector<testing::TestPartResult>& test_part_results(
+ const TestResult& test_result) {
+ return test_result.test_part_results();
+ }
+};
+
+#if GTEST_CAN_STREAM_RESULTS_
+
+// Streams test results to the given port on the given host machine.
+class GTEST_API_ StreamingListener : public EmptyTestEventListener {
+ public:
+ // Abstract base class for writing strings to a socket.
+ class AbstractSocketWriter {
+ public:
+ virtual ~AbstractSocketWriter() {}
+
+ // Sends a string to the socket.
+ virtual void Send(const string& message) = 0;
+
+ // Closes the socket.
+ virtual void CloseConnection() {}
+
+ // Sends a string and a newline to the socket.
+ void SendLn(const string& message) {
+ Send(message + "\n");
+ }
+ };
+
+ // Concrete class for actually writing strings to a socket.
+ class SocketWriter : public AbstractSocketWriter {
+ public:
+ SocketWriter(const string& host, const string& port)
+ : sockfd_(-1), host_name_(host), port_num_(port) {
+ MakeConnection();
+ }
+
+ virtual ~SocketWriter() {
+ if (sockfd_ != -1)
+ CloseConnection();
+ }
+
+ // Sends a string to the socket.
+ virtual void Send(const string& message) {
+ GTEST_CHECK_(sockfd_ != -1)
+ << "Send() can be called only when there is a connection.";
+
+ const int len = static_cast<int>(message.length());
+ if (write(sockfd_, message.c_str(), len) != len) {
+ GTEST_LOG_(WARNING)
+ << "stream_result_to: failed to stream to "
+ << host_name_ << ":" << port_num_;
+ }
+ }
+
+ private:
+ // Creates a client socket and connects to the server.
+ void MakeConnection();
+
+ // Closes the socket.
+ void CloseConnection() {
+ GTEST_CHECK_(sockfd_ != -1)
+ << "CloseConnection() can be called only when there is a connection.";
+
+ close(sockfd_);
+ sockfd_ = -1;
+ }
+
+ int sockfd_; // socket file descriptor
+ const string host_name_;
+ const string port_num_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(SocketWriter);
+ }; // class SocketWriter
+
+ // Escapes '=', '&', '%', and '\n' characters in str as "%xx".
+ static string UrlEncode(const char* str);
+
+ StreamingListener(const string& host, const string& port)
+ : socket_writer_(new SocketWriter(host, port)) { Start(); }
+
+ explicit StreamingListener(AbstractSocketWriter* socket_writer)
+ : socket_writer_(socket_writer) { Start(); }
+
+ void OnTestProgramStart(const UnitTest& /* unit_test */) {
+ SendLn("event=TestProgramStart");
+ }
+
+ void OnTestProgramEnd(const UnitTest& unit_test) {
+ // Note that Google Test current only report elapsed time for each
+ // test iteration, not for the entire test program.
+ SendLn("event=TestProgramEnd&passed=" + FormatBool(unit_test.Passed()));
+
+ // Notify the streaming server to stop.
+ socket_writer_->CloseConnection();
+ }
+
+ void OnTestIterationStart(const UnitTest& /* unit_test */, int iteration) {
+ SendLn("event=TestIterationStart&iteration=" +
+ StreamableToString(iteration));
+ }
+
+ void OnTestIterationEnd(const UnitTest& unit_test, int /* iteration */) {
+ SendLn("event=TestIterationEnd&passed=" +
+ FormatBool(unit_test.Passed()) + "&elapsed_time=" +
+ StreamableToString(unit_test.elapsed_time()) + "ms");
+ }
+
+ void OnTestCaseStart(const TestCase& test_case) {
+ SendLn(std::string("event=TestCaseStart&name=") + test_case.name());
+ }
+
+ void OnTestCaseEnd(const TestCase& test_case) {
+ SendLn("event=TestCaseEnd&passed=" + FormatBool(test_case.Passed())
+ + "&elapsed_time=" + StreamableToString(test_case.elapsed_time())
+ + "ms");
+ }
+
+ void OnTestStart(const TestInfo& test_info) {
+ SendLn(std::string("event=TestStart&name=") + test_info.name());
+ }
+
+ void OnTestEnd(const TestInfo& test_info) {
+ SendLn("event=TestEnd&passed=" +
+ FormatBool((test_info.result())->Passed()) +
+ "&elapsed_time=" +
+ StreamableToString((test_info.result())->elapsed_time()) + "ms");
+ }
+
+ void OnTestPartResult(const TestPartResult& test_part_result) {
+ const char* file_name = test_part_result.file_name();
+ if (file_name == NULL)
+ file_name = "";
+ SendLn("event=TestPartResult&file=" + UrlEncode(file_name) +
+ "&line=" + StreamableToString(test_part_result.line_number()) +
+ "&message=" + UrlEncode(test_part_result.message()));
+ }
+
+ private:
+ // Sends the given message and a newline to the socket.
+ void SendLn(const string& message) { socket_writer_->SendLn(message); }
+
+ // Called at the start of streaming to notify the receiver what
+ // protocol we are using.
+ void Start() { SendLn("gtest_streaming_protocol_version=1.0"); }
+
+ string FormatBool(bool value) { return value ? "1" : "0"; }
+
+ const scoped_ptr<AbstractSocketWriter> socket_writer_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamingListener);
+}; // class StreamingListener
+
+#endif // GTEST_CAN_STREAM_RESULTS_
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_SRC_GTEST_INTERNAL_INL_H_
+#undef GTEST_IMPLEMENTATION_
+
+#if GTEST_OS_WINDOWS
+# define vsnprintf _vsnprintf
+#endif // GTEST_OS_WINDOWS
+
+namespace testing {
+
+using internal::CountIf;
+using internal::ForEach;
+using internal::GetElementOr;
+using internal::Shuffle;
+
+// Constants.
+
+// A test whose test case name or test name matches this filter is
+// disabled and not run.
+static const char kDisableTestFilter[] = "DISABLED_*:*/DISABLED_*";
+
+// A test case whose name matches this filter is considered a death
+// test case and will be run before test cases whose name doesn't
+// match this filter.
+static const char kDeathTestCaseFilter[] = "*DeathTest:*DeathTest/*";
+
+// A test filter that matches everything.
+static const char kUniversalFilter[] = "*";
+
+// The default output file for XML output.
+static const char kDefaultOutputFile[] = "test_detail.xml";
+
+// The environment variable name for the test shard index.
+static const char kTestShardIndex[] = "GTEST_SHARD_INDEX";
+// The environment variable name for the total number of test shards.
+static const char kTestTotalShards[] = "GTEST_TOTAL_SHARDS";
+// The environment variable name for the test shard status file.
+static const char kTestShardStatusFile[] = "GTEST_SHARD_STATUS_FILE";
+
+namespace internal {
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+const char kStackTraceMarker[] = "\nStack trace:\n";
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+bool g_help_flag = false;
+
+} // namespace internal
+
+static const char* GetDefaultFilter() {
+#ifdef GTEST_TEST_FILTER_ENV_VAR_
+ const char* const testbridge_test_only = getenv(GTEST_TEST_FILTER_ENV_VAR_);
+ if (testbridge_test_only != NULL) {
+ return testbridge_test_only;
+ }
+#endif // GTEST_TEST_FILTER_ENV_VAR_
+ return kUniversalFilter;
+}
+
+GTEST_DEFINE_bool_(
+ also_run_disabled_tests,
+ internal::BoolFromGTestEnv("also_run_disabled_tests", false),
+ "Run disabled tests too, in addition to the tests normally being run.");
+
+GTEST_DEFINE_bool_(
+ break_on_failure,
+ internal::BoolFromGTestEnv("break_on_failure", false),
+ "True iff a failed assertion should be a debugger break-point.");
+
+GTEST_DEFINE_bool_(
+ catch_exceptions,
+ internal::BoolFromGTestEnv("catch_exceptions", true),
+ "True iff " GTEST_NAME_
+ " should catch exceptions and treat them as test failures.");
+
+GTEST_DEFINE_string_(
+ color,
+ internal::StringFromGTestEnv("color", "auto"),
+ "Whether to use colors in the output. Valid values: yes, no, "
+ "and auto. 'auto' means to use colors if the output is "
+ "being sent to a terminal and the TERM environment variable "
+ "is set to a terminal type that supports colors.");
+
+GTEST_DEFINE_string_(
+ filter,
+ internal::StringFromGTestEnv("filter", GetDefaultFilter()),
+ "A colon-separated list of glob (not regex) patterns "
+ "for filtering the tests to run, optionally followed by a "
+ "'-' and a : separated list of negative patterns (tests to "
+ "exclude). A test is run if it matches one of the positive "
+ "patterns and does not match any of the negative patterns.");
+
+GTEST_DEFINE_bool_(list_tests, false,
+ "List all tests without running them.");
+
+GTEST_DEFINE_string_(
+ output,
+ internal::StringFromGTestEnv("output", ""),
+ "A format (currently must be \"xml\"), optionally followed "
+ "by a colon and an output file name or directory. A directory "
+ "is indicated by a trailing pathname separator. "
+ "Examples: \"xml:filename.xml\", \"xml::directoryname/\". "
+ "If a directory is specified, output files will be created "
+ "within that directory, with file-names based on the test "
+ "executable's name and, if necessary, made unique by adding "
+ "digits.");
+
+GTEST_DEFINE_bool_(
+ print_time,
+ internal::BoolFromGTestEnv("print_time", true),
+ "True iff " GTEST_NAME_
+ " should display elapsed time in text output.");
+
+GTEST_DEFINE_int32_(
+ random_seed,
+ internal::Int32FromGTestEnv("random_seed", 0),
+ "Random number seed to use when shuffling test orders. Must be in range "
+ "[1, 99999], or 0 to use a seed based on the current time.");
+
+GTEST_DEFINE_int32_(
+ repeat,
+ internal::Int32FromGTestEnv("repeat", 1),
+ "How many times to repeat each test. Specify a negative number "
+ "for repeating forever. Useful for shaking out flaky tests.");
+
+GTEST_DEFINE_bool_(
+ show_internal_stack_frames, false,
+ "True iff " GTEST_NAME_ " should include internal stack frames when "
+ "printing test failure stack traces.");
+
+GTEST_DEFINE_bool_(
+ shuffle,
+ internal::BoolFromGTestEnv("shuffle", false),
+ "True iff " GTEST_NAME_
+ " should randomize tests' order on every run.");
+
+GTEST_DEFINE_int32_(
+ stack_trace_depth,
+ internal::Int32FromGTestEnv("stack_trace_depth", kMaxStackTraceDepth),
+ "The maximum number of stack frames to print when an "
+ "assertion fails. The valid range is 0 through 100, inclusive.");
+
+GTEST_DEFINE_string_(
+ stream_result_to,
+ internal::StringFromGTestEnv("stream_result_to", ""),
+ "This flag specifies the host name and the port number on which to stream "
+ "test results. Example: \"localhost:555\". The flag is effective only on "
+ "Linux.");
+
+GTEST_DEFINE_bool_(
+ throw_on_failure,
+ internal::BoolFromGTestEnv("throw_on_failure", false),
+ "When this flag is specified, a failed assertion will throw an exception "
+ "if exceptions are enabled or exit the program with a non-zero code "
+ "otherwise.");
+
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+GTEST_DEFINE_string_(
+ flagfile,
+ internal::StringFromGTestEnv("flagfile", ""),
+ "This flag specifies the flagfile to read command-line flags from.");
+#endif // GTEST_USE_OWN_FLAGFILE_FLAG_
+
+namespace internal {
+
+// Generates a random number from [0, range), using a Linear
+// Congruential Generator (LCG). Crashes if 'range' is 0 or greater
+// than kMaxRange.
+UInt32 Random::Generate(UInt32 range) {
+ // These constants are the same as are used in glibc's rand(3).
+ state_ = (1103515245U*state_ + 12345U) % kMaxRange;
+
+ GTEST_CHECK_(range > 0)
+ << "Cannot generate a number in the range [0, 0).";
+ GTEST_CHECK_(range <= kMaxRange)
+ << "Generation of a number in [0, " << range << ") was requested, "
+ << "but this can only generate numbers in [0, " << kMaxRange << ").";
+
+ // Converting via modulus introduces a bit of downward bias, but
+ // it's simple, and a linear congruential generator isn't too good
+ // to begin with.
+ return state_ % range;
+}
+
+// GTestIsInitialized() returns true iff the user has initialized
+// Google Test. Useful for catching the user mistake of not initializing
+// Google Test before calling RUN_ALL_TESTS().
+static bool GTestIsInitialized() { return GetArgvs().size() > 0; }
+
+// Iterates over a vector of TestCases, keeping a running sum of the
+// results of calling a given int-returning method on each.
+// Returns the sum.
+static int SumOverTestCaseList(const std::vector<TestCase*>& case_list,
+ int (TestCase::*method)() const) {
+ int sum = 0;
+ for (size_t i = 0; i < case_list.size(); i++) {
+ sum += (case_list[i]->*method)();
+ }
+ return sum;
+}
+
+// Returns true iff the test case passed.
+static bool TestCasePassed(const TestCase* test_case) {
+ return test_case->should_run() && test_case->Passed();
+}
+
+// Returns true iff the test case failed.
+static bool TestCaseFailed(const TestCase* test_case) {
+ return test_case->should_run() && test_case->Failed();
+}
+
+// Returns true iff test_case contains at least one test that should
+// run.
+static bool ShouldRunTestCase(const TestCase* test_case) {
+ return test_case->should_run();
+}
+
+// AssertHelper constructor.
+AssertHelper::AssertHelper(TestPartResult::Type type,
+ const char* file,
+ int line,
+ const char* message)
+ : data_(new AssertHelperData(type, file, line, message)) {
+}
+
+AssertHelper::~AssertHelper() {
+ delete data_;
+}
+
+// Message assignment, for assertion streaming support.
+void AssertHelper::operator=(const Message& message) const {
+ UnitTest::GetInstance()->
+ AddTestPartResult(data_->type, data_->file, data_->line,
+ AppendUserMessage(data_->message, message),
+ UnitTest::GetInstance()->impl()
+ ->CurrentOsStackTraceExceptTop(1)
+ // Skips the stack frame for this function itself.
+ ); // NOLINT
+}
+
+// Mutex for linked pointers.
+GTEST_API_ GTEST_DEFINE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// A copy of all command line arguments. Set by InitGoogleTest().
+::std::vector<testing::internal::string> g_argvs;
+
+const ::std::vector<testing::internal::string>& GetArgvs() {
+#if defined(GTEST_CUSTOM_GET_ARGVS_)
+ return GTEST_CUSTOM_GET_ARGVS_();
+#else // defined(GTEST_CUSTOM_GET_ARGVS_)
+ return g_argvs;
+#endif // defined(GTEST_CUSTOM_GET_ARGVS_)
+}
+
+// Returns the current application's name, removing directory path if that
+// is present.
+FilePath GetCurrentExecutableName() {
+ FilePath result;
+
+#if GTEST_OS_WINDOWS
+ result.Set(FilePath(GetArgvs()[0]).RemoveExtension("exe"));
+#else
+ result.Set(FilePath(GetArgvs()[0]));
+#endif // GTEST_OS_WINDOWS
+
+ return result.RemoveDirectoryName();
+}
+
+// Functions for processing the gtest_output flag.
+
+// Returns the output format, or "" for normal printed output.
+std::string UnitTestOptions::GetOutputFormat() {
+ const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+ if (gtest_output_flag == NULL) return std::string("");
+
+ const char* const colon = strchr(gtest_output_flag, ':');
+ return (colon == NULL) ?
+ std::string(gtest_output_flag) :
+ std::string(gtest_output_flag, colon - gtest_output_flag);
+}
+
+// Returns the name of the requested output file, or the default if none
+// was explicitly specified.
+std::string UnitTestOptions::GetAbsolutePathToOutputFile() {
+ const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+ if (gtest_output_flag == NULL)
+ return "";
+
+ const char* const colon = strchr(gtest_output_flag, ':');
+ if (colon == NULL)
+ return internal::FilePath::ConcatPaths(
+ internal::FilePath(
+ UnitTest::GetInstance()->original_working_dir()),
+ internal::FilePath(kDefaultOutputFile)).string();
+
+ internal::FilePath output_name(colon + 1);
+ if (!output_name.IsAbsolutePath())
+ // TODO(wan@google.com): on Windows \some\path is not an absolute
+ // path (as its meaning depends on the current drive), yet the
+ // following logic for turning it into an absolute path is wrong.
+ // Fix it.
+ output_name = internal::FilePath::ConcatPaths(
+ internal::FilePath(UnitTest::GetInstance()->original_working_dir()),
+ internal::FilePath(colon + 1));
+
+ if (!output_name.IsDirectory())
+ return output_name.string();
+
+ internal::FilePath result(internal::FilePath::GenerateUniqueFileName(
+ output_name, internal::GetCurrentExecutableName(),
+ GetOutputFormat().c_str()));
+ return result.string();
+}
+
+// Returns true iff the wildcard pattern matches the string. The
+// first ':' or '\0' character in pattern marks the end of it.
+//
+// This recursive algorithm isn't very efficient, but is clear and
+// works well enough for matching test names, which are short.
+bool UnitTestOptions::PatternMatchesString(const char *pattern,
+ const char *str) {
+ switch (*pattern) {
+ case '\0':
+ case ':': // Either ':' or '\0' marks the end of the pattern.
+ return *str == '\0';
+ case '?': // Matches any single character.
+ return *str != '\0' && PatternMatchesString(pattern + 1, str + 1);
+ case '*': // Matches any string (possibly empty) of characters.
+ return (*str != '\0' && PatternMatchesString(pattern, str + 1)) ||
+ PatternMatchesString(pattern + 1, str);
+ default: // Non-special character. Matches itself.
+ return *pattern == *str &&
+ PatternMatchesString(pattern + 1, str + 1);
+ }
+}
+
+bool UnitTestOptions::MatchesFilter(
+ const std::string& name, const char* filter) {
+ const char *cur_pattern = filter;
+ for (;;) {
+ if (PatternMatchesString(cur_pattern, name.c_str())) {
+ return true;
+ }
+
+ // Finds the next pattern in the filter.
+ cur_pattern = strchr(cur_pattern, ':');
+
+ // Returns if no more pattern can be found.
+ if (cur_pattern == NULL) {
+ return false;
+ }
+
+ // Skips the pattern separater (the ':' character).
+ cur_pattern++;
+ }
+}
+
+// Returns true iff the user-specified filter matches the test case
+// name and the test name.
+bool UnitTestOptions::FilterMatchesTest(const std::string &test_case_name,
+ const std::string &test_name) {
+ const std::string& full_name = test_case_name + "." + test_name.c_str();
+
+ // Split --gtest_filter at '-', if there is one, to separate into
+ // positive filter and negative filter portions
+ const char* const p = GTEST_FLAG(filter).c_str();
+ const char* const dash = strchr(p, '-');
+ std::string positive;
+ std::string negative;
+ if (dash == NULL) {
+ positive = GTEST_FLAG(filter).c_str(); // Whole string is a positive filter
+ negative = "";
+ } else {
+ positive = std::string(p, dash); // Everything up to the dash
+ negative = std::string(dash + 1); // Everything after the dash
+ if (positive.empty()) {
+ // Treat '-test1' as the same as '*-test1'
+ positive = kUniversalFilter;
+ }
+ }
+
+ // A filter is a colon-separated list of patterns. It matches a
+ // test if any pattern in it matches the test.
+ return (MatchesFilter(full_name, positive.c_str()) &&
+ !MatchesFilter(full_name, negative.c_str()));
+}
+
+#if GTEST_HAS_SEH
+// Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+// given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+// This function is useful as an __except condition.
+int UnitTestOptions::GTestShouldProcessSEH(DWORD exception_code) {
+ // Google Test should handle a SEH exception if:
+ // 1. the user wants it to, AND
+ // 2. this is not a breakpoint exception, AND
+ // 3. this is not a C++ exception (VC++ implements them via SEH,
+ // apparently).
+ //
+ // SEH exception code for C++ exceptions.
+ // (see http://support.microsoft.com/kb/185294 for more information).
+ const DWORD kCxxExceptionCode = 0xe06d7363;
+
+ bool should_handle = true;
+
+ if (!GTEST_FLAG(catch_exceptions))
+ should_handle = false;
+ else if (exception_code == EXCEPTION_BREAKPOINT)
+ should_handle = false;
+ else if (exception_code == kCxxExceptionCode)
+ should_handle = false;
+
+ return should_handle ? EXCEPTION_EXECUTE_HANDLER : EXCEPTION_CONTINUE_SEARCH;
+}
+#endif // GTEST_HAS_SEH
+
+} // namespace internal
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test. The 'result' parameter specifies where to report the
+// results. Intercepts only failures from the current thread.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+ TestPartResultArray* result)
+ : intercept_mode_(INTERCEPT_ONLY_CURRENT_THREAD),
+ result_(result) {
+ Init();
+}
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test. The 'result' parameter specifies where to report the
+// results.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+ InterceptMode intercept_mode, TestPartResultArray* result)
+ : intercept_mode_(intercept_mode),
+ result_(result) {
+ Init();
+}
+
+void ScopedFakeTestPartResultReporter::Init() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+ old_reporter_ = impl->GetGlobalTestPartResultReporter();
+ impl->SetGlobalTestPartResultReporter(this);
+ } else {
+ old_reporter_ = impl->GetTestPartResultReporterForCurrentThread();
+ impl->SetTestPartResultReporterForCurrentThread(this);
+ }
+}
+
+// The d'tor restores the test part result reporter used by Google Test
+// before.
+ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+ impl->SetGlobalTestPartResultReporter(old_reporter_);
+ } else {
+ impl->SetTestPartResultReporterForCurrentThread(old_reporter_);
+ }
+}
+
+// Increments the test part result count and remembers the result.
+// This method is from the TestPartResultReporterInterface interface.
+void ScopedFakeTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ result_->Append(result);
+}
+
+namespace internal {
+
+// Returns the type ID of ::testing::Test. We should always call this
+// instead of GetTypeId< ::testing::Test>() to get the type ID of
+// testing::Test. This is to work around a suspected linker bug when
+// using Google Test as a framework on Mac OS X. The bug causes
+// GetTypeId< ::testing::Test>() to return different values depending
+// on whether the call is from the Google Test framework itself or
+// from user test code. GetTestTypeId() is guaranteed to always
+// return the same value, as it always calls GetTypeId<>() from the
+// gtest.cc, which is within the Google Test framework.
+TypeId GetTestTypeId() {
+ return GetTypeId<Test>();
+}
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library. This is solely for testing GetTestTypeId().
+extern const TypeId kTestTypeIdInGoogleTest = GetTestTypeId();
+
+// This predicate-formatter checks that 'results' contains a test part
+// failure of the given type and that the failure message contains the
+// given substring.
+AssertionResult HasOneFailure(const char* /* results_expr */,
+ const char* /* type_expr */,
+ const char* /* substr_expr */,
+ const TestPartResultArray& results,
+ TestPartResult::Type type,
+ const string& substr) {
+ const std::string expected(type == TestPartResult::kFatalFailure ?
+ "1 fatal failure" :
+ "1 non-fatal failure");
+ Message msg;
+ if (results.size() != 1) {
+ msg << "Expected: " << expected << "\n"
+ << " Actual: " << results.size() << " failures";
+ for (int i = 0; i < results.size(); i++) {
+ msg << "\n" << results.GetTestPartResult(i);
+ }
+ return AssertionFailure() << msg;
+ }
+
+ const TestPartResult& r = results.GetTestPartResult(0);
+ if (r.type() != type) {
+ return AssertionFailure() << "Expected: " << expected << "\n"
+ << " Actual:\n"
+ << r;
+ }
+
+ if (strstr(r.message(), substr.c_str()) == NULL) {
+ return AssertionFailure() << "Expected: " << expected << " containing \""
+ << substr << "\"\n"
+ << " Actual:\n"
+ << r;
+ }
+
+ return AssertionSuccess();
+}
+
+// The constructor of SingleFailureChecker remembers where to look up
+// test part results, what type of failure we expect, and what
+// substring the failure message should contain.
+SingleFailureChecker:: SingleFailureChecker(
+ const TestPartResultArray* results,
+ TestPartResult::Type type,
+ const string& substr)
+ : results_(results),
+ type_(type),
+ substr_(substr) {}
+
+// The destructor of SingleFailureChecker verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring. If that's not the case, a
+// non-fatal failure will be generated.
+SingleFailureChecker::~SingleFailureChecker() {
+ EXPECT_PRED_FORMAT3(HasOneFailure, *results_, type_, substr_);
+}
+
+DefaultGlobalTestPartResultReporter::DefaultGlobalTestPartResultReporter(
+ UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultGlobalTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ unit_test_->current_test_result()->AddTestPartResult(result);
+ unit_test_->listeners()->repeater()->OnTestPartResult(result);
+}
+
+DefaultPerThreadTestPartResultReporter::DefaultPerThreadTestPartResultReporter(
+ UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultPerThreadTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ unit_test_->GetGlobalTestPartResultReporter()->ReportTestPartResult(result);
+}
+
+// Returns the global test part result reporter.
+TestPartResultReporterInterface*
+UnitTestImpl::GetGlobalTestPartResultReporter() {
+ internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+ return global_test_part_result_repoter_;
+}
+
+// Sets the global test part result reporter.
+void UnitTestImpl::SetGlobalTestPartResultReporter(
+ TestPartResultReporterInterface* reporter) {
+ internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+ global_test_part_result_repoter_ = reporter;
+}
+
+// Returns the test part result reporter for the current thread.
+TestPartResultReporterInterface*
+UnitTestImpl::GetTestPartResultReporterForCurrentThread() {
+ return per_thread_test_part_result_reporter_.get();
+}
+
+// Sets the test part result reporter for the current thread.
+void UnitTestImpl::SetTestPartResultReporterForCurrentThread(
+ TestPartResultReporterInterface* reporter) {
+ per_thread_test_part_result_reporter_.set(reporter);
+}
+
+// Gets the number of successful test cases.
+int UnitTestImpl::successful_test_case_count() const {
+ return CountIf(test_cases_, TestCasePassed);
+}
+
+// Gets the number of failed test cases.
+int UnitTestImpl::failed_test_case_count() const {
+ return CountIf(test_cases_, TestCaseFailed);
+}
+
+// Gets the number of all test cases.
+int UnitTestImpl::total_test_case_count() const {
+ return static_cast<int>(test_cases_.size());
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTestImpl::test_case_to_run_count() const {
+ return CountIf(test_cases_, ShouldRunTestCase);
+}
+
+// Gets the number of successful tests.
+int UnitTestImpl::successful_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::successful_test_count);
+}
+
+// Gets the number of failed tests.
+int UnitTestImpl::failed_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::failed_test_count);
+}
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int UnitTestImpl::reportable_disabled_test_count() const {
+ return SumOverTestCaseList(test_cases_,
+ &TestCase::reportable_disabled_test_count);
+}
+
+// Gets the number of disabled tests.
+int UnitTestImpl::disabled_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::disabled_test_count);
+}
+
+// Gets the number of tests to be printed in the XML report.
+int UnitTestImpl::reportable_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::reportable_test_count);
+}
+
+// Gets the number of all tests.
+int UnitTestImpl::total_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::total_test_count);
+}
+
+// Gets the number of tests that should run.
+int UnitTestImpl::test_to_run_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::test_to_run_count);
+}
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+// trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+std::string UnitTestImpl::CurrentOsStackTraceExceptTop(int skip_count) {
+ return os_stack_trace_getter()->CurrentStackTrace(
+ static_cast<int>(GTEST_FLAG(stack_trace_depth)),
+ skip_count + 1
+ // Skips the user-specified number of frames plus this function
+ // itself.
+ ); // NOLINT
+}
+
+// Returns the current time in milliseconds.
+TimeInMillis GetTimeInMillis() {
+#if GTEST_OS_WINDOWS_MOBILE || defined(__BORLANDC__)
+ // Difference between 1970-01-01 and 1601-01-01 in milliseconds.
+ // http://analogous.blogspot.com/2005/04/epoch.html
+ const TimeInMillis kJavaEpochToWinFileTimeDelta =
+ static_cast<TimeInMillis>(116444736UL) * 100000UL;
+ const DWORD kTenthMicrosInMilliSecond = 10000;
+
+ SYSTEMTIME now_systime;
+ FILETIME now_filetime;
+ ULARGE_INTEGER now_int64;
+ // TODO(kenton@google.com): Shouldn't this just use
+ // GetSystemTimeAsFileTime()?
+ GetSystemTime(&now_systime);
+ if (SystemTimeToFileTime(&now_systime, &now_filetime)) {
+ now_int64.LowPart = now_filetime.dwLowDateTime;
+ now_int64.HighPart = now_filetime.dwHighDateTime;
+ now_int64.QuadPart = (now_int64.QuadPart / kTenthMicrosInMilliSecond) -
+ kJavaEpochToWinFileTimeDelta;
+ return now_int64.QuadPart;
+ }
+ return 0;
+#elif GTEST_OS_WINDOWS && !GTEST_HAS_GETTIMEOFDAY_
+ __timeb64 now;
+
+ // MSVC 8 deprecates _ftime64(), so we want to suppress warning 4996
+ // (deprecated function) there.
+ // TODO(kenton@google.com): Use GetTickCount()? Or use
+ // SystemTimeToFileTime()
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
+ _ftime64(&now);
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+ return static_cast<TimeInMillis>(now.time) * 1000 + now.millitm;
+#elif GTEST_HAS_GETTIMEOFDAY_
+ struct timeval now;
+ gettimeofday(&now, NULL);
+ return static_cast<TimeInMillis>(now.tv_sec) * 1000 + now.tv_usec / 1000;
+#else
+# error "Don't know how to get the current time on your system."
+#endif
+}
+
+// Utilities
+
+// class String.
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Creates a UTF-16 wide string from the given ANSI string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the wide string, or NULL if the
+// input is NULL.
+LPCWSTR String::AnsiToUtf16(const char* ansi) {
+ if (!ansi) return NULL;
+ const int length = strlen(ansi);
+ const int unicode_length =
+ MultiByteToWideChar(CP_ACP, 0, ansi, length,
+ NULL, 0);
+ WCHAR* unicode = new WCHAR[unicode_length + 1];
+ MultiByteToWideChar(CP_ACP, 0, ansi, length,
+ unicode, unicode_length);
+ unicode[unicode_length] = 0;
+ return unicode;
+}
+
+// Creates an ANSI string from the given wide string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the ANSI string, or NULL if the
+// input is NULL.
+const char* String::Utf16ToAnsi(LPCWSTR utf16_str) {
+ if (!utf16_str) return NULL;
+ const int ansi_length =
+ WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+ NULL, 0, NULL, NULL);
+ char* ansi = new char[ansi_length + 1];
+ WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+ ansi, ansi_length, NULL, NULL);
+ ansi[ansi_length] = 0;
+ return ansi;
+}
+
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+// Compares two C strings. Returns true iff they have the same content.
+//
+// Unlike strcmp(), this function can handle NULL argument(s). A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CStringEquals(const char * lhs, const char * rhs) {
+ if ( lhs == NULL ) return rhs == NULL;
+
+ if ( rhs == NULL ) return false;
+
+ return strcmp(lhs, rhs) == 0;
+}
+
+#if GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+// Converts an array of wide chars to a narrow string using the UTF-8
+// encoding, and streams the result to the given Message object.
+static void StreamWideCharsToMessage(const wchar_t* wstr, size_t length,
+ Message* msg) {
+ for (size_t i = 0; i != length; ) { // NOLINT
+ if (wstr[i] != L'\0') {
+ *msg << WideStringToUtf8(wstr + i, static_cast<int>(length - i));
+ while (i != length && wstr[i] != L'\0')
+ i++;
+ } else {
+ *msg << '\0';
+ i++;
+ }
+ }
+}
+
+#endif // GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+void SplitString(const ::std::string& str, char delimiter,
+ ::std::vector< ::std::string>* dest) {
+ ::std::vector< ::std::string> parsed;
+ ::std::string::size_type pos = 0;
+ while (::testing::internal::AlwaysTrue()) {
+ const ::std::string::size_type colon = str.find(delimiter, pos);
+ if (colon == ::std::string::npos) {
+ parsed.push_back(str.substr(pos));
+ break;
+ } else {
+ parsed.push_back(str.substr(pos, colon - pos));
+ pos = colon + 1;
+ }
+ }
+ dest->swap(parsed);
+}
+
+} // namespace internal
+
+// Constructs an empty Message.
+// We allocate the stringstream separately because otherwise each use of
+// ASSERT/EXPECT in a procedure adds over 200 bytes to the procedure's
+// stack frame leading to huge stack frames in some cases; gcc does not reuse
+// the stack space.
+Message::Message() : ss_(new ::std::stringstream) {
+ // By default, we want there to be enough precision when printing
+ // a double to a Message.
+ *ss_ << std::setprecision(std::numeric_limits<double>::digits10 + 2);
+}
+
+// These two overloads allow streaming a wide C string to a Message
+// using the UTF-8 encoding.
+Message& Message::operator <<(const wchar_t* wide_c_str) {
+ return *this << internal::String::ShowWideCString(wide_c_str);
+}
+Message& Message::operator <<(wchar_t* wide_c_str) {
+ return *this << internal::String::ShowWideCString(wide_c_str);
+}
+
+#if GTEST_HAS_STD_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::std::wstring& wstr) {
+ internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+ return *this;
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::wstring& wstr) {
+ internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+ return *this;
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// Gets the text streamed to this object so far as an std::string.
+// Each '\0' character in the buffer is replaced with "\\0".
+std::string Message::GetString() const {
+ return internal::StringStreamToString(ss_.get());
+}
+
+// AssertionResult constructors.
+// Used in EXPECT_TRUE/FALSE(assertion_result).
+AssertionResult::AssertionResult(const AssertionResult& other)
+ : success_(other.success_),
+ message_(other.message_.get() != NULL ?
+ new ::std::string(*other.message_) :
+ static_cast< ::std::string*>(NULL)) {
+}
+
+// Swaps two AssertionResults.
+void AssertionResult::swap(AssertionResult& other) {
+ using std::swap;
+ swap(success_, other.success_);
+ swap(message_, other.message_);
+}
+
+// Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+AssertionResult AssertionResult::operator!() const {
+ AssertionResult negation(!success_);
+ if (message_.get() != NULL)
+ negation << *message_;
+ return negation;
+}
+
+// Makes a successful assertion result.
+AssertionResult AssertionSuccess() {
+ return AssertionResult(true);
+}
+
+// Makes a failed assertion result.
+AssertionResult AssertionFailure() {
+ return AssertionResult(false);
+}
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << message.
+AssertionResult AssertionFailure(const Message& message) {
+ return AssertionFailure() << message;
+}
+
+namespace internal {
+
+namespace edit_distance {
+std::vector<EditType> CalculateOptimalEdits(const std::vector<size_t>& left,
+ const std::vector<size_t>& right) {
+ std::vector<std::vector<double> > costs(
+ left.size() + 1, std::vector<double>(right.size() + 1));
+ std::vector<std::vector<EditType> > best_move(
+ left.size() + 1, std::vector<EditType>(right.size() + 1));
+
+ // Populate for empty right.
+ for (size_t l_i = 0; l_i < costs.size(); ++l_i) {
+ costs[l_i][0] = static_cast<double>(l_i);
+ best_move[l_i][0] = kRemove;
+ }
+ // Populate for empty left.
+ for (size_t r_i = 1; r_i < costs[0].size(); ++r_i) {
+ costs[0][r_i] = static_cast<double>(r_i);
+ best_move[0][r_i] = kAdd;
+ }
+
+ for (size_t l_i = 0; l_i < left.size(); ++l_i) {
+ for (size_t r_i = 0; r_i < right.size(); ++r_i) {
+ if (left[l_i] == right[r_i]) {
+ // Found a match. Consume it.
+ costs[l_i + 1][r_i + 1] = costs[l_i][r_i];
+ best_move[l_i + 1][r_i + 1] = kMatch;
+ continue;
+ }
+
+ const double add = costs[l_i + 1][r_i];
+ const double remove = costs[l_i][r_i + 1];
+ const double replace = costs[l_i][r_i];
+ if (add < remove && add < replace) {
+ costs[l_i + 1][r_i + 1] = add + 1;
+ best_move[l_i + 1][r_i + 1] = kAdd;
+ } else if (remove < add && remove < replace) {
+ costs[l_i + 1][r_i + 1] = remove + 1;
+ best_move[l_i + 1][r_i + 1] = kRemove;
+ } else {
+ // We make replace a little more expensive than add/remove to lower
+ // their priority.
+ costs[l_i + 1][r_i + 1] = replace + 1.00001;
+ best_move[l_i + 1][r_i + 1] = kReplace;
+ }
+ }
+ }
+
+ // Reconstruct the best path. We do it in reverse order.
+ std::vector<EditType> best_path;
+ for (size_t l_i = left.size(), r_i = right.size(); l_i > 0 || r_i > 0;) {
+ EditType move = best_move[l_i][r_i];
+ best_path.push_back(move);
+ l_i -= move != kAdd;
+ r_i -= move != kRemove;
+ }
+ std::reverse(best_path.begin(), best_path.end());
+ return best_path;
+}
+
+namespace {
+
+// Helper class to convert string into ids with deduplication.
+class InternalStrings {
+ public:
+ size_t GetId(const std::string& str) {
+ IdMap::iterator it = ids_.find(str);
+ if (it != ids_.end()) return it->second;
+ size_t id = ids_.size();
+ return ids_[str] = id;
+ }
+
+ private:
+ typedef std::map<std::string, size_t> IdMap;
+ IdMap ids_;
+};
+
+} // namespace
+
+std::vector<EditType> CalculateOptimalEdits(
+ const std::vector<std::string>& left,
+ const std::vector<std::string>& right) {
+ std::vector<size_t> left_ids, right_ids;
+ {
+ InternalStrings intern_table;
+ for (size_t i = 0; i < left.size(); ++i) {
+ left_ids.push_back(intern_table.GetId(left[i]));
+ }
+ for (size_t i = 0; i < right.size(); ++i) {
+ right_ids.push_back(intern_table.GetId(right[i]));
+ }
+ }
+ return CalculateOptimalEdits(left_ids, right_ids);
+}
+
+namespace {
+
+// Helper class that holds the state for one hunk and prints it out to the
+// stream.
+// It reorders adds/removes when possible to group all removes before all
+// adds. It also adds the hunk header before printint into the stream.
+class Hunk {
+ public:
+ Hunk(size_t left_start, size_t right_start)
+ : left_start_(left_start),
+ right_start_(right_start),
+ adds_(),
+ removes_(),
+ common_() {}
+
+ void PushLine(char edit, const char* line) {
+ switch (edit) {
+ case ' ':
+ ++common_;
+ FlushEdits();
+ hunk_.push_back(std::make_pair(' ', line));
+ break;
+ case '-':
+ ++removes_;
+ hunk_removes_.push_back(std::make_pair('-', line));
+ break;
+ case '+':
+ ++adds_;
+ hunk_adds_.push_back(std::make_pair('+', line));
+ break;
+ }
+ }
+
+ void PrintTo(std::ostream* os) {
+ PrintHeader(os);
+ FlushEdits();
+ for (std::list<std::pair<char, const char*> >::const_iterator it =
+ hunk_.begin();
+ it != hunk_.end(); ++it) {
+ *os << it->first << it->second << "\n";
+ }
+ }
+
+ bool has_edits() const { return adds_ || removes_; }
+
+ private:
+ void FlushEdits() {
+ hunk_.splice(hunk_.end(), hunk_removes_);
+ hunk_.splice(hunk_.end(), hunk_adds_);
+ }
+
+ // Print a unified diff header for one hunk.
+ // The format is
+ // "@@ -<left_start>,<left_length> +<right_start>,<right_length> @@"
+ // where the left/right parts are ommitted if unnecessary.
+ void PrintHeader(std::ostream* ss) const {
+ *ss << "@@ ";
+ if (removes_) {
+ *ss << "-" << left_start_ << "," << (removes_ + common_);
+ }
+ if (removes_ && adds_) {
+ *ss << " ";
+ }
+ if (adds_) {
+ *ss << "+" << right_start_ << "," << (adds_ + common_);
+ }
+ *ss << " @@\n";
+ }
+
+ size_t left_start_, right_start_;
+ size_t adds_, removes_, common_;
+ std::list<std::pair<char, const char*> > hunk_, hunk_adds_, hunk_removes_;
+};
+
+} // namespace
+
+// Create a list of diff hunks in Unified diff format.
+// Each hunk has a header generated by PrintHeader above plus a body with
+// lines prefixed with ' ' for no change, '-' for deletion and '+' for
+// addition.
+// 'context' represents the desired unchanged prefix/suffix around the diff.
+// If two hunks are close enough that their contexts overlap, then they are
+// joined into one hunk.
+std::string CreateUnifiedDiff(const std::vector<std::string>& left,
+ const std::vector<std::string>& right,
+ size_t context) {
+ const std::vector<EditType> edits = CalculateOptimalEdits(left, right);
+
+ size_t l_i = 0, r_i = 0, edit_i = 0;
+ std::stringstream ss;
+ while (edit_i < edits.size()) {
+ // Find first edit.
+ while (edit_i < edits.size() && edits[edit_i] == kMatch) {
+ ++l_i;
+ ++r_i;
+ ++edit_i;
+ }
+
+ // Find the first line to include in the hunk.
+ const size_t prefix_context = std::min(l_i, context);
+ Hunk hunk(l_i - prefix_context + 1, r_i - prefix_context + 1);
+ for (size_t i = prefix_context; i > 0; --i) {
+ hunk.PushLine(' ', left[l_i - i].c_str());
+ }
+
+ // Iterate the edits until we found enough suffix for the hunk or the input
+ // is over.
+ size_t n_suffix = 0;
+ for (; edit_i < edits.size(); ++edit_i) {
+ if (n_suffix >= context) {
+ // Continue only if the next hunk is very close.
+ std::vector<EditType>::const_iterator it = edits.begin() + edit_i;
+ while (it != edits.end() && *it == kMatch) ++it;
+ if (it == edits.end() || (it - edits.begin()) - edit_i >= context) {
+ // There is no next edit or it is too far away.
+ break;
+ }
+ }
+
+ EditType edit = edits[edit_i];
+ // Reset count when a non match is found.
+ n_suffix = edit == kMatch ? n_suffix + 1 : 0;
+
+ if (edit == kMatch || edit == kRemove || edit == kReplace) {
+ hunk.PushLine(edit == kMatch ? ' ' : '-', left[l_i].c_str());
+ }
+ if (edit == kAdd || edit == kReplace) {
+ hunk.PushLine('+', right[r_i].c_str());
+ }
+
+ // Advance indices, depending on edit type.
+ l_i += edit != kAdd;
+ r_i += edit != kRemove;
+ }
+
+ if (!hunk.has_edits()) {
+ // We are done. We don't want this hunk.
+ break;
+ }
+
+ hunk.PrintTo(&ss);
+ }
+ return ss.str();
+}
+
+} // namespace edit_distance
+
+namespace {
+
+// The string representation of the values received in EqFailure() are already
+// escaped. Split them on escaped '\n' boundaries. Leave all other escaped
+// characters the same.
+std::vector<std::string> SplitEscapedString(const std::string& str) {
+ std::vector<std::string> lines;
+ size_t start = 0, end = str.size();
+ if (end > 2 && str[0] == '"' && str[end - 1] == '"') {
+ ++start;
+ --end;
+ }
+ bool escaped = false;
+ for (size_t i = start; i + 1 < end; ++i) {
+ if (escaped) {
+ escaped = false;
+ if (str[i] == 'n') {
+ lines.push_back(str.substr(start, i - start - 1));
+ start = i + 1;
+ }
+ } else {
+ escaped = str[i] == '\\';
+ }
+ }
+ lines.push_back(str.substr(start, end - start));
+ return lines;
+}
+
+} // namespace
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+// lhs_expression: "foo"
+// rhs_expression: "bar"
+// lhs_value: "5"
+// rhs_value: "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*. When it's true, the string "Ignoring case" will
+// be inserted into the message.
+AssertionResult EqFailure(const char* lhs_expression,
+ const char* rhs_expression,
+ const std::string& lhs_value,
+ const std::string& rhs_value,
+ bool ignoring_case) {
+ Message msg;
+ msg << " Expected: " << lhs_expression;
+ if (lhs_value != lhs_expression) {
+ msg << "\n Which is: " << lhs_value;
+ }
+ msg << "\nTo be equal to: " << rhs_expression;
+ if (rhs_value != rhs_expression) {
+ msg << "\n Which is: " << rhs_value;
+ }
+
+ if (ignoring_case) {
+ msg << "\nIgnoring case";
+ }
+
+ if (!lhs_value.empty() && !rhs_value.empty()) {
+ const std::vector<std::string> lhs_lines =
+ SplitEscapedString(lhs_value);
+ const std::vector<std::string> rhs_lines =
+ SplitEscapedString(rhs_value);
+ if (lhs_lines.size() > 1 || rhs_lines.size() > 1) {
+ msg << "\nWith diff:\n"
+ << edit_distance::CreateUnifiedDiff(lhs_lines, rhs_lines);
+ }
+ }
+
+ return AssertionFailure() << msg;
+}
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+std::string GetBoolAssertionFailureMessage(
+ const AssertionResult& assertion_result,
+ const char* expression_text,
+ const char* actual_predicate_value,
+ const char* expected_predicate_value) {
+ const char* actual_message = assertion_result.message();
+ Message msg;
+ msg << "Value of: " << expression_text
+ << "\n Actual: " << actual_predicate_value;
+ if (actual_message[0] != '\0')
+ msg << " (" << actual_message << ")";
+ msg << "\nExpected: " << expected_predicate_value;
+ return msg.GetString();
+}
+
+// Helper function for implementing ASSERT_NEAR.
+AssertionResult DoubleNearPredFormat(const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ double val1,
+ double val2,
+ double abs_error) {
+ const double diff = fabs(val1 - val2);
+ if (diff <= abs_error) return AssertionSuccess();
+
+ // TODO(wan): do not print the value of an expression if it's
+ // already a literal.
+ return AssertionFailure()
+ << "The difference between " << expr1 << " and " << expr2
+ << " is " << diff << ", which exceeds " << abs_error_expr << ", where\n"
+ << expr1 << " evaluates to " << val1 << ",\n"
+ << expr2 << " evaluates to " << val2 << ", and\n"
+ << abs_error_expr << " evaluates to " << abs_error << ".";
+}
+
+
+// Helper template for implementing FloatLE() and DoubleLE().
+template <typename RawType>
+AssertionResult FloatingPointLE(const char* expr1,
+ const char* expr2,
+ RawType val1,
+ RawType val2) {
+ // Returns success if val1 is less than val2,
+ if (val1 < val2) {
+ return AssertionSuccess();
+ }
+
+ // or if val1 is almost equal to val2.
+ const FloatingPoint<RawType> lhs(val1), rhs(val2);
+ if (lhs.AlmostEquals(rhs)) {
+ return AssertionSuccess();
+ }
+
+ // Note that the above two checks will both fail if either val1 or
+ // val2 is NaN, as the IEEE floating-point standard requires that
+ // any predicate involving a NaN must return false.
+
+ ::std::stringstream val1_ss;
+ val1_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << val1;
+
+ ::std::stringstream val2_ss;
+ val2_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << val2;
+
+ return AssertionFailure()
+ << "Expected: (" << expr1 << ") <= (" << expr2 << ")\n"
+ << " Actual: " << StringStreamToString(&val1_ss) << " vs "
+ << StringStreamToString(&val2_ss);
+}
+
+} // namespace internal
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+AssertionResult FloatLE(const char* expr1, const char* expr2,
+ float val1, float val2) {
+ return internal::FloatingPointLE<float>(expr1, expr2, val1, val2);
+}
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+AssertionResult DoubleLE(const char* expr1, const char* expr2,
+ double val1, double val2) {
+ return internal::FloatingPointLE<double>(expr1, expr2, val1, val2);
+}
+
+namespace internal {
+
+// The helper function for {ASSERT|EXPECT}_EQ with int or enum
+// arguments.
+AssertionResult CmpHelperEQ(const char* lhs_expression,
+ const char* rhs_expression,
+ BiggestInt lhs,
+ BiggestInt rhs) {
+ if (lhs == rhs) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ FormatForComparisonFailureMessage(lhs, rhs),
+ FormatForComparisonFailureMessage(rhs, lhs),
+ false);
+}
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_?? with integer or enum arguments. It is here
+// just to avoid copy-and-paste of similar code.
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+ BiggestInt val1, BiggestInt val2) {\
+ if (val1 op val2) {\
+ return AssertionSuccess();\
+ } else {\
+ return AssertionFailure() \
+ << "Expected: (" << expr1 << ") " #op " (" << expr2\
+ << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
+ << " vs " << FormatForComparisonFailureMessage(val2, val1);\
+ }\
+}
+
+// Implements the helper function for {ASSERT|EXPECT}_NE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(NE, !=)
+// Implements the helper function for {ASSERT|EXPECT}_LE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LE, <=)
+// Implements the helper function for {ASSERT|EXPECT}_LT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LT, < )
+// Implements the helper function for {ASSERT|EXPECT}_GE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GE, >=)
+// Implements the helper function for {ASSERT|EXPECT}_GT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GT, > )
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+AssertionResult CmpHelperSTREQ(const char* lhs_expression,
+ const char* rhs_expression,
+ const char* lhs,
+ const char* rhs) {
+ if (String::CStringEquals(lhs, rhs)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ PrintToString(lhs),
+ PrintToString(rhs),
+ false);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+AssertionResult CmpHelperSTRCASEEQ(const char* lhs_expression,
+ const char* rhs_expression,
+ const char* lhs,
+ const char* rhs) {
+ if (String::CaseInsensitiveCStringEquals(lhs, rhs)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ PrintToString(lhs),
+ PrintToString(rhs),
+ true);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2) {
+ if (!String::CStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ } else {
+ return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << "), actual: \""
+ << s1 << "\" vs \"" << s2 << "\"";
+ }
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2) {
+ if (!String::CaseInsensitiveCStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ } else {
+ return AssertionFailure()
+ << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << ") (ignoring case), actual: \""
+ << s1 << "\" vs \"" << s2 << "\"";
+ }
+}
+
+} // namespace internal
+
+namespace {
+
+// Helper functions for implementing IsSubString() and IsNotSubstring().
+
+// This group of overloaded functions return true iff needle is a
+// substring of haystack. NULL is considered a substring of itself
+// only.
+
+bool IsSubstringPred(const char* needle, const char* haystack) {
+ if (needle == NULL || haystack == NULL)
+ return needle == haystack;
+
+ return strstr(haystack, needle) != NULL;
+}
+
+bool IsSubstringPred(const wchar_t* needle, const wchar_t* haystack) {
+ if (needle == NULL || haystack == NULL)
+ return needle == haystack;
+
+ return wcsstr(haystack, needle) != NULL;
+}
+
+// StringType here can be either ::std::string or ::std::wstring.
+template <typename StringType>
+bool IsSubstringPred(const StringType& needle,
+ const StringType& haystack) {
+ return haystack.find(needle) != StringType::npos;
+}
+
+// This function implements either IsSubstring() or IsNotSubstring(),
+// depending on the value of the expected_to_be_substring parameter.
+// StringType here can be const char*, const wchar_t*, ::std::string,
+// or ::std::wstring.
+template <typename StringType>
+AssertionResult IsSubstringImpl(
+ bool expected_to_be_substring,
+ const char* needle_expr, const char* haystack_expr,
+ const StringType& needle, const StringType& haystack) {
+ if (IsSubstringPred(needle, haystack) == expected_to_be_substring)
+ return AssertionSuccess();
+
+ const bool is_wide_string = sizeof(needle[0]) > 1;
+ const char* const begin_string_quote = is_wide_string ? "L\"" : "\"";
+ return AssertionFailure()
+ << "Value of: " << needle_expr << "\n"
+ << " Actual: " << begin_string_quote << needle << "\"\n"
+ << "Expected: " << (expected_to_be_substring ? "" : "not ")
+ << "a substring of " << haystack_expr << "\n"
+ << "Which is: " << begin_string_quote << haystack << "\"";
+}
+
+} // namespace
+
+// IsSubstring() and IsNotSubstring() check whether needle is a
+// substring of haystack (NULL is considered a substring of itself
+// only), and return an appropriate error message when they fail.
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+#if GTEST_HAS_STD_WSTRING
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+
+namespace {
+
+// Helper function for IsHRESULT{SuccessFailure} predicates
+AssertionResult HRESULTFailureHelper(const char* expr,
+ const char* expected,
+ long hr) { // NOLINT
+# if GTEST_OS_WINDOWS_MOBILE
+
+ // Windows CE doesn't support FormatMessage.
+ const char error_text[] = "";
+
+# else
+
+ // Looks up the human-readable system message for the HRESULT code
+ // and since we're not passing any params to FormatMessage, we don't
+ // want inserts expanded.
+ const DWORD kFlags = FORMAT_MESSAGE_FROM_SYSTEM |
+ FORMAT_MESSAGE_IGNORE_INSERTS;
+ const DWORD kBufSize = 4096;
+ // Gets the system's human readable message string for this HRESULT.
+ char error_text[kBufSize] = { '\0' };
+ DWORD message_length = ::FormatMessageA(kFlags,
+ 0, // no source, we're asking system
+ hr, // the error
+ 0, // no line width restrictions
+ error_text, // output buffer
+ kBufSize, // buf size
+ NULL); // no arguments for inserts
+ // Trims tailing white space (FormatMessage leaves a trailing CR-LF)
+ for (; message_length && IsSpace(error_text[message_length - 1]);
+ --message_length) {
+ error_text[message_length - 1] = '\0';
+ }
+
+# endif // GTEST_OS_WINDOWS_MOBILE
+
+ const std::string error_hex("0x" + String::FormatHexInt(hr));
+ return ::testing::AssertionFailure()
+ << "Expected: " << expr << " " << expected << ".\n"
+ << " Actual: " << error_hex << " " << error_text << "\n";
+}
+
+} // namespace
+
+AssertionResult IsHRESULTSuccess(const char* expr, long hr) { // NOLINT
+ if (SUCCEEDED(hr)) {
+ return AssertionSuccess();
+ }
+ return HRESULTFailureHelper(expr, "succeeds", hr);
+}
+
+AssertionResult IsHRESULTFailure(const char* expr, long hr) { // NOLINT
+ if (FAILED(hr)) {
+ return AssertionSuccess();
+ }
+ return HRESULTFailureHelper(expr, "fails", hr);
+}
+
+#endif // GTEST_OS_WINDOWS
+
+// Utility functions for encoding Unicode text (wide strings) in
+// UTF-8.
+
+// A Unicode code-point can have upto 21 bits, and is encoded in UTF-8
+// like this:
+//
+// Code-point length Encoding
+// 0 - 7 bits 0xxxxxxx
+// 8 - 11 bits 110xxxxx 10xxxxxx
+// 12 - 16 bits 1110xxxx 10xxxxxx 10xxxxxx
+// 17 - 21 bits 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+
+// The maximum code-point a one-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint1 = (static_cast<UInt32>(1) << 7) - 1;
+
+// The maximum code-point a two-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint2 = (static_cast<UInt32>(1) << (5 + 6)) - 1;
+
+// The maximum code-point a three-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint3 = (static_cast<UInt32>(1) << (4 + 2*6)) - 1;
+
+// The maximum code-point a four-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint4 = (static_cast<UInt32>(1) << (3 + 3*6)) - 1;
+
+// Chops off the n lowest bits from a bit pattern. Returns the n
+// lowest bits. As a side effect, the original bit pattern will be
+// shifted to the right by n bits.
+inline UInt32 ChopLowBits(UInt32* bits, int n) {
+ const UInt32 low_bits = *bits & ((static_cast<UInt32>(1) << n) - 1);
+ *bits >>= n;
+ return low_bits;
+}
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be converted
+// to "(Invalid Unicode 0xXXXXXXXX)".
+std::string CodePointToUtf8(UInt32 code_point) {
+ if (code_point > kMaxCodePoint4) {
+ return "(Invalid Unicode 0x" + String::FormatHexInt(code_point) + ")";
+ }
+
+ char str[5]; // Big enough for the largest valid code point.
+ if (code_point <= kMaxCodePoint1) {
+ str[1] = '\0';
+ str[0] = static_cast<char>(code_point); // 0xxxxxxx
+ } else if (code_point <= kMaxCodePoint2) {
+ str[2] = '\0';
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xC0 | code_point); // 110xxxxx
+ } else if (code_point <= kMaxCodePoint3) {
+ str[3] = '\0';
+ str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xE0 | code_point); // 1110xxxx
+ } else { // code_point <= kMaxCodePoint4
+ str[4] = '\0';
+ str[3] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xF0 | code_point); // 11110xxx
+ }
+ return str;
+}
+
+// The following two functions only make sense if the the system
+// uses UTF-16 for wide string encoding. All supported systems
+// with 16 bit wchar_t (Windows, Cygwin, Symbian OS) do use UTF-16.
+
+// Determines if the arguments constitute UTF-16 surrogate pair
+// and thus should be combined into a single Unicode code point
+// using CreateCodePointFromUtf16SurrogatePair.
+inline bool IsUtf16SurrogatePair(wchar_t first, wchar_t second) {
+ return sizeof(wchar_t) == 2 &&
+ (first & 0xFC00) == 0xD800 && (second & 0xFC00) == 0xDC00;
+}
+
+// Creates a Unicode code point from UTF16 surrogate pair.
+inline UInt32 CreateCodePointFromUtf16SurrogatePair(wchar_t first,
+ wchar_t second) {
+ const UInt32 mask = (1 << 10) - 1;
+ return (sizeof(wchar_t) == 2) ?
+ (((first & mask) << 10) | (second & mask)) + 0x10000 :
+ // This function should not be called when the condition is
+ // false, but we provide a sensible default in case it is.
+ static_cast<UInt32>(first);
+}
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+std::string WideStringToUtf8(const wchar_t* str, int num_chars) {
+ if (num_chars == -1)
+ num_chars = static_cast<int>(wcslen(str));
+
+ ::std::stringstream stream;
+ for (int i = 0; i < num_chars; ++i) {
+ UInt32 unicode_code_point;
+
+ if (str[i] == L'\0') {
+ break;
+ } else if (i + 1 < num_chars && IsUtf16SurrogatePair(str[i], str[i + 1])) {
+ unicode_code_point = CreateCodePointFromUtf16SurrogatePair(str[i],
+ str[i + 1]);
+ i++;
+ } else {
+ unicode_code_point = static_cast<UInt32>(str[i]);
+ }
+
+ stream << CodePointToUtf8(unicode_code_point);
+ }
+ return StringStreamToString(&stream);
+}
+
+// Converts a wide C string to an std::string using the UTF-8 encoding.
+// NULL will be converted to "(null)".
+std::string String::ShowWideCString(const wchar_t * wide_c_str) {
+ if (wide_c_str == NULL) return "(null)";
+
+ return internal::WideStringToUtf8(wide_c_str, -1);
+}
+
+// Compares two wide C strings. Returns true iff they have the same
+// content.
+//
+// Unlike wcscmp(), this function can handle NULL argument(s). A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::WideCStringEquals(const wchar_t * lhs, const wchar_t * rhs) {
+ if (lhs == NULL) return rhs == NULL;
+
+ if (rhs == NULL) return false;
+
+ return wcscmp(lhs, rhs) == 0;
+}
+
+// Helper function for *_STREQ on wide strings.
+AssertionResult CmpHelperSTREQ(const char* lhs_expression,
+ const char* rhs_expression,
+ const wchar_t* lhs,
+ const wchar_t* rhs) {
+ if (String::WideCStringEquals(lhs, rhs)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ PrintToString(lhs),
+ PrintToString(rhs),
+ false);
+}
+
+// Helper function for *_STRNE on wide strings.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const wchar_t* s1,
+ const wchar_t* s2) {
+ if (!String::WideCStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ }
+
+ return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << "), actual: "
+ << PrintToString(s1)
+ << " vs " << PrintToString(s2);
+}
+
+// Compares two C strings, ignoring case. Returns true iff they have
+// the same content.
+//
+// Unlike strcasecmp(), this function can handle NULL argument(s). A
+// NULL C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CaseInsensitiveCStringEquals(const char * lhs, const char * rhs) {
+ if (lhs == NULL)
+ return rhs == NULL;
+ if (rhs == NULL)
+ return false;
+ return posix::StrCaseCmp(lhs, rhs) == 0;
+}
+
+ // Compares two wide C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike wcscasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL wide C string,
+ // including the empty string.
+ // NB: The implementations on different platforms slightly differ.
+ // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+ // environment variable. On GNU platform this method uses wcscasecmp
+ // which compares according to LC_CTYPE category of the current locale.
+ // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+ // current locale.
+bool String::CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs) {
+ if (lhs == NULL) return rhs == NULL;
+
+ if (rhs == NULL) return false;
+
+#if GTEST_OS_WINDOWS
+ return _wcsicmp(lhs, rhs) == 0;
+#elif GTEST_OS_LINUX && !GTEST_OS_LINUX_ANDROID
+ return wcscasecmp(lhs, rhs) == 0;
+#else
+ // Android, Mac OS X and Cygwin don't define wcscasecmp.
+ // Other unknown OSes may not define it either.
+ wint_t left, right;
+ do {
+ left = towlower(*lhs++);
+ right = towlower(*rhs++);
+ } while (left && left == right);
+ return left == right;
+#endif // OS selector
+}
+
+// Returns true iff str ends with the given suffix, ignoring case.
+// Any string is considered to end with an empty suffix.
+bool String::EndsWithCaseInsensitive(
+ const std::string& str, const std::string& suffix) {
+ const size_t str_len = str.length();
+ const size_t suffix_len = suffix.length();
+ return (str_len >= suffix_len) &&
+ CaseInsensitiveCStringEquals(str.c_str() + str_len - suffix_len,
+ suffix.c_str());
+}
+
+// Formats an int value as "%02d".
+std::string String::FormatIntWidth2(int value) {
+ std::stringstream ss;
+ ss << std::setfill('0') << std::setw(2) << value;
+ return ss.str();
+}
+
+// Formats an int value as "%X".
+std::string String::FormatHexInt(int value) {
+ std::stringstream ss;
+ ss << std::hex << std::uppercase << value;
+ return ss.str();
+}
+
+// Formats a byte as "%02X".
+std::string String::FormatByte(unsigned char value) {
+ std::stringstream ss;
+ ss << std::setfill('0') << std::setw(2) << std::hex << std::uppercase
+ << static_cast<unsigned int>(value);
+ return ss.str();
+}
+
+// Converts the buffer in a stringstream to an std::string, converting NUL
+// bytes to "\\0" along the way.
+std::string StringStreamToString(::std::stringstream* ss) {
+ const ::std::string& str = ss->str();
+ const char* const start = str.c_str();
+ const char* const end = start + str.length();
+
+ std::string result;
+ result.reserve(2 * (end - start));
+ for (const char* ch = start; ch != end; ++ch) {
+ if (*ch == '\0') {
+ result += "\\0"; // Replaces NUL with "\\0";
+ } else {
+ result += *ch;
+ }
+ }
+
+ return result;
+}
+
+// Appends the user-supplied message to the Google-Test-generated message.
+std::string AppendUserMessage(const std::string& gtest_msg,
+ const Message& user_msg) {
+ // Appends the user message if it's non-empty.
+ const std::string user_msg_string = user_msg.GetString();
+ if (user_msg_string.empty()) {
+ return gtest_msg;
+ }
+
+ return gtest_msg + "\n" + user_msg_string;
+}
+
+} // namespace internal
+
+// class TestResult
+
+// Creates an empty TestResult.
+TestResult::TestResult()
+ : death_test_count_(0),
+ elapsed_time_(0) {
+}
+
+// D'tor.
+TestResult::~TestResult() {
+}
+
+// Returns the i-th test part result among all the results. i can
+// range from 0 to total_part_count() - 1. If i is not in that range,
+// aborts the program.
+const TestPartResult& TestResult::GetTestPartResult(int i) const {
+ if (i < 0 || i >= total_part_count())
+ internal::posix::Abort();
+ return test_part_results_.at(i);
+}
+
+// Returns the i-th test property. i can range from 0 to
+// test_property_count() - 1. If i is not in that range, aborts the
+// program.
+const TestProperty& TestResult::GetTestProperty(int i) const {
+ if (i < 0 || i >= test_property_count())
+ internal::posix::Abort();
+ return test_properties_.at(i);
+}
+
+// Clears the test part results.
+void TestResult::ClearTestPartResults() {
+ test_part_results_.clear();
+}
+
+// Adds a test part result to the list.
+void TestResult::AddTestPartResult(const TestPartResult& test_part_result) {
+ test_part_results_.push_back(test_part_result);
+}
+
+// Adds a test property to the list. If a property with the same key as the
+// supplied property is already represented, the value of this test_property
+// replaces the old value for that key.
+void TestResult::RecordProperty(const std::string& xml_element,
+ const TestProperty& test_property) {
+ if (!ValidateTestProperty(xml_element, test_property)) {
+ return;
+ }
+ internal::MutexLock lock(&test_properites_mutex_);
+ const std::vector<TestProperty>::iterator property_with_matching_key =
+ std::find_if(test_properties_.begin(), test_properties_.end(),
+ internal::TestPropertyKeyIs(test_property.key()));
+ if (property_with_matching_key == test_properties_.end()) {
+ test_properties_.push_back(test_property);
+ return;
+ }
+ property_with_matching_key->SetValue(test_property.value());
+}
+
+// The list of reserved attributes used in the <testsuites> element of XML
+// output.
+static const char* const kReservedTestSuitesAttributes[] = {
+ "disabled",
+ "errors",
+ "failures",
+ "name",
+ "random_seed",
+ "tests",
+ "time",
+ "timestamp"
+};
+
+// The list of reserved attributes used in the <testsuite> element of XML
+// output.
+static const char* const kReservedTestSuiteAttributes[] = {
+ "disabled",
+ "errors",
+ "failures",
+ "name",
+ "tests",
+ "time"
+};
+
+// The list of reserved attributes used in the <testcase> element of XML output.
+static const char* const kReservedTestCaseAttributes[] = {
+ "classname",
+ "name",
+ "status",
+ "time",
+ "type_param",
+ "value_param"
+};
+
+template <int kSize>
+std::vector<std::string> ArrayAsVector(const char* const (&array)[kSize]) {
+ return std::vector<std::string>(array, array + kSize);
+}
+
+static std::vector<std::string> GetReservedAttributesForElement(
+ const std::string& xml_element) {
+ if (xml_element == "testsuites") {
+ return ArrayAsVector(kReservedTestSuitesAttributes);
+ } else if (xml_element == "testsuite") {
+ return ArrayAsVector(kReservedTestSuiteAttributes);
+ } else if (xml_element == "testcase") {
+ return ArrayAsVector(kReservedTestCaseAttributes);
+ } else {
+ GTEST_CHECK_(false) << "Unrecognized xml_element provided: " << xml_element;
+ }
+ // This code is unreachable but some compilers may not realizes that.
+ return std::vector<std::string>();
+}
+
+static std::string FormatWordList(const std::vector<std::string>& words) {
+ Message word_list;
+ for (size_t i = 0; i < words.size(); ++i) {
+ if (i > 0 && words.size() > 2) {
+ word_list << ", ";
+ }
+ if (i == words.size() - 1) {
+ word_list << "and ";
+ }
+ word_list << "'" << words[i] << "'";
+ }
+ return word_list.GetString();
+}
+
+bool ValidateTestPropertyName(const std::string& property_name,
+ const std::vector<std::string>& reserved_names) {
+ if (std::find(reserved_names.begin(), reserved_names.end(), property_name) !=
+ reserved_names.end()) {
+ ADD_FAILURE() << "Reserved key used in RecordProperty(): " << property_name
+ << " (" << FormatWordList(reserved_names)
+ << " are reserved by " << GTEST_NAME_ << ")";
+ return false;
+ }
+ return true;
+}
+
+// Adds a failure if the key is a reserved attribute of the element named
+// xml_element. Returns true if the property is valid.
+bool TestResult::ValidateTestProperty(const std::string& xml_element,
+ const TestProperty& test_property) {
+ return ValidateTestPropertyName(test_property.key(),
+ GetReservedAttributesForElement(xml_element));
+}
+
+// Clears the object.
+void TestResult::Clear() {
+ test_part_results_.clear();
+ test_properties_.clear();
+ death_test_count_ = 0;
+ elapsed_time_ = 0;
+}
+
+// Returns true iff the test failed.
+bool TestResult::Failed() const {
+ for (int i = 0; i < total_part_count(); ++i) {
+ if (GetTestPartResult(i).failed())
+ return true;
+ }
+ return false;
+}
+
+// Returns true iff the test part fatally failed.
+static bool TestPartFatallyFailed(const TestPartResult& result) {
+ return result.fatally_failed();
+}
+
+// Returns true iff the test fatally failed.
+bool TestResult::HasFatalFailure() const {
+ return CountIf(test_part_results_, TestPartFatallyFailed) > 0;
+}
+
+// Returns true iff the test part non-fatally failed.
+static bool TestPartNonfatallyFailed(const TestPartResult& result) {
+ return result.nonfatally_failed();
+}
+
+// Returns true iff the test has a non-fatal failure.
+bool TestResult::HasNonfatalFailure() const {
+ return CountIf(test_part_results_, TestPartNonfatallyFailed) > 0;
+}
+
+// Gets the number of all test parts. This is the sum of the number
+// of successful test parts and the number of failed test parts.
+int TestResult::total_part_count() const {
+ return static_cast<int>(test_part_results_.size());
+}
+
+// Returns the number of the test properties.
+int TestResult::test_property_count() const {
+ return static_cast<int>(test_properties_.size());
+}
+
+// class Test
+
+// Creates a Test object.
+
+// The c'tor saves the states of all flags.
+Test::Test()
+ : gtest_flag_saver_(new GTEST_FLAG_SAVER_) {
+}
+
+// The d'tor restores the states of all flags. The actual work is
+// done by the d'tor of the gtest_flag_saver_ field, and thus not
+// visible here.
+Test::~Test() {
+}
+
+// Sets up the test fixture.
+//
+// A sub-class may override this.
+void Test::SetUp() {
+}
+
+// Tears down the test fixture.
+//
+// A sub-class may override this.
+void Test::TearDown() {
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const std::string& key, const std::string& value) {
+ UnitTest::GetInstance()->RecordProperty(key, value);
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const std::string& key, int value) {
+ Message value_message;
+ value_message << value;
+ RecordProperty(key, value_message.GetString().c_str());
+}
+
+namespace internal {
+
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+ const std::string& message) {
+ // This function is a friend of UnitTest and as such has access to
+ // AddTestPartResult.
+ UnitTest::GetInstance()->AddTestPartResult(
+ result_type,
+ NULL, // No info about the source file where the exception occurred.
+ -1, // We have no info on which line caused the exception.
+ message,
+ ""); // No stack trace, either.
+}
+
+} // namespace internal
+
+// Google Test requires all tests in the same test case to use the same test
+// fixture class. This function checks if the current test has the
+// same fixture class as the first test in the current test case. If
+// yes, it returns true; otherwise it generates a Google Test failure and
+// returns false.
+bool Test::HasSameFixtureClass() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ const TestCase* const test_case = impl->current_test_case();
+
+ // Info about the first test in the current test case.
+ const TestInfo* const first_test_info = test_case->test_info_list()[0];
+ const internal::TypeId first_fixture_id = first_test_info->fixture_class_id_;
+ const char* const first_test_name = first_test_info->name();
+
+ // Info about the current test.
+ const TestInfo* const this_test_info = impl->current_test_info();
+ const internal::TypeId this_fixture_id = this_test_info->fixture_class_id_;
+ const char* const this_test_name = this_test_info->name();
+
+ if (this_fixture_id != first_fixture_id) {
+ // Is the first test defined using TEST?
+ const bool first_is_TEST = first_fixture_id == internal::GetTestTypeId();
+ // Is this test defined using TEST?
+ const bool this_is_TEST = this_fixture_id == internal::GetTestTypeId();
+
+ if (first_is_TEST || this_is_TEST) {
+ // Both TEST and TEST_F appear in same test case, which is incorrect.
+ // Tell the user how to fix this.
+
+ // Gets the name of the TEST and the name of the TEST_F. Note
+ // that first_is_TEST and this_is_TEST cannot both be true, as
+ // the fixture IDs are different for the two tests.
+ const char* const TEST_name =
+ first_is_TEST ? first_test_name : this_test_name;
+ const char* const TEST_F_name =
+ first_is_TEST ? this_test_name : first_test_name;
+
+ ADD_FAILURE()
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class, so mixing TEST_F and TEST in the same test case is\n"
+ << "illegal. In test case " << this_test_info->test_case_name()
+ << ",\n"
+ << "test " << TEST_F_name << " is defined using TEST_F but\n"
+ << "test " << TEST_name << " is defined using TEST. You probably\n"
+ << "want to change the TEST to TEST_F or move it to another test\n"
+ << "case.";
+ } else {
+ // Two fixture classes with the same name appear in two different
+ // namespaces, which is not allowed. Tell the user how to fix this.
+ ADD_FAILURE()
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class. However, in test case "
+ << this_test_info->test_case_name() << ",\n"
+ << "you defined test " << first_test_name
+ << " and test " << this_test_name << "\n"
+ << "using two different test fixture classes. This can happen if\n"
+ << "the two classes are from different namespaces or translation\n"
+ << "units and have the same name. You should probably rename one\n"
+ << "of the classes to put the tests into different test cases.";
+ }
+ return false;
+ }
+
+ return true;
+}
+
+#if GTEST_HAS_SEH
+
+// Adds an "exception thrown" fatal failure to the current test. This
+// function returns its result via an output parameter pointer because VC++
+// prohibits creation of objects with destructors on stack in functions
+// using __try (see error C2712).
+static std::string* FormatSehExceptionMessage(DWORD exception_code,
+ const char* location) {
+ Message message;
+ message << "SEH exception with code 0x" << std::setbase(16) <<
+ exception_code << std::setbase(10) << " thrown in " << location << ".";
+
+ return new std::string(message.GetString());
+}
+
+#endif // GTEST_HAS_SEH
+
+namespace internal {
+
+#if GTEST_HAS_EXCEPTIONS
+
+// Adds an "exception thrown" fatal failure to the current test.
+static std::string FormatCxxExceptionMessage(const char* description,
+ const char* location) {
+ Message message;
+ if (description != NULL) {
+ message << "C++ exception with description \"" << description << "\"";
+ } else {
+ message << "Unknown C++ exception";
+ }
+ message << " thrown in " << location << ".";
+
+ return message.GetString();
+}
+
+static std::string PrintTestPartResultToString(
+ const TestPartResult& test_part_result);
+
+GoogleTestFailureException::GoogleTestFailureException(
+ const TestPartResult& failure)
+ : ::std::runtime_error(PrintTestPartResultToString(failure).c_str()) {}
+
+#endif // GTEST_HAS_EXCEPTIONS
+
+// We put these helper functions in the internal namespace as IBM's xlC
+// compiler rejects the code if they were declared static.
+
+// Runs the given method and handles SEH exceptions it throws, when
+// SEH is supported; returns the 0-value for type Result in case of an
+// SEH exception. (Microsoft compilers cannot handle SEH and C++
+// exceptions in the same function. Therefore, we provide a separate
+// wrapper function for handling SEH exceptions.)
+template <class T, typename Result>
+Result HandleSehExceptionsInMethodIfSupported(
+ T* object, Result (T::*method)(), const char* location) {
+#if GTEST_HAS_SEH
+ __try {
+ return (object->*method)();
+ } __except (internal::UnitTestOptions::GTestShouldProcessSEH( // NOLINT
+ GetExceptionCode())) {
+ // We create the exception message on the heap because VC++ prohibits
+ // creation of objects with destructors on stack in functions using __try
+ // (see error C2712).
+ std::string* exception_message = FormatSehExceptionMessage(
+ GetExceptionCode(), location);
+ internal::ReportFailureInUnknownLocation(TestPartResult::kFatalFailure,
+ *exception_message);
+ delete exception_message;
+ return static_cast<Result>(0);
+ }
+#else
+ (void)location;
+ return (object->*method)();
+#endif // GTEST_HAS_SEH
+}
+
+// Runs the given method and catches and reports C++ and/or SEH-style
+// exceptions, if they are supported; returns the 0-value for type
+// Result in case of an SEH exception.
+template <class T, typename Result>
+Result HandleExceptionsInMethodIfSupported(
+ T* object, Result (T::*method)(), const char* location) {
+ // NOTE: The user code can affect the way in which Google Test handles
+ // exceptions by setting GTEST_FLAG(catch_exceptions), but only before
+ // RUN_ALL_TESTS() starts. It is technically possible to check the flag
+ // after the exception is caught and either report or re-throw the
+ // exception based on the flag's value:
+ //
+ // try {
+ // // Perform the test method.
+ // } catch (...) {
+ // if (GTEST_FLAG(catch_exceptions))
+ // // Report the exception as failure.
+ // else
+ // throw; // Re-throws the original exception.
+ // }
+ //
+ // However, the purpose of this flag is to allow the program to drop into
+ // the debugger when the exception is thrown. On most platforms, once the
+ // control enters the catch block, the exception origin information is
+ // lost and the debugger will stop the program at the point of the
+ // re-throw in this function -- instead of at the point of the original
+ // throw statement in the code under test. For this reason, we perform
+ // the check early, sacrificing the ability to affect Google Test's
+ // exception handling in the method where the exception is thrown.
+ if (internal::GetUnitTestImpl()->catch_exceptions()) {
+#if GTEST_HAS_EXCEPTIONS
+ try {
+ return HandleSehExceptionsInMethodIfSupported(object, method, location);
+ } catch (const internal::GoogleTestFailureException&) { // NOLINT
+ // This exception type can only be thrown by a failed Google
+ // Test assertion with the intention of letting another testing
+ // framework catch it. Therefore we just re-throw it.
+ throw;
+ } catch (const std::exception& e) { // NOLINT
+ internal::ReportFailureInUnknownLocation(
+ TestPartResult::kFatalFailure,
+ FormatCxxExceptionMessage(e.what(), location));
+ } catch (...) { // NOLINT
+ internal::ReportFailureInUnknownLocation(
+ TestPartResult::kFatalFailure,
+ FormatCxxExceptionMessage(NULL, location));
+ }
+ return static_cast<Result>(0);
+#else
+ return HandleSehExceptionsInMethodIfSupported(object, method, location);
+#endif // GTEST_HAS_EXCEPTIONS
+ } else {
+ return (object->*method)();
+ }
+}
+
+} // namespace internal
+
+// Runs the test and updates the test result.
+void Test::Run() {
+ if (!HasSameFixtureClass()) return;
+
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(this, &Test::SetUp, "SetUp()");
+ // We will run the test only if SetUp() was successful.
+ if (!HasFatalFailure()) {
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &Test::TestBody, "the test body");
+ }
+
+ // However, we want to clean up as much as possible. Hence we will
+ // always call TearDown(), even if SetUp() or the test body has
+ // failed.
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &Test::TearDown, "TearDown()");
+}
+
+// Returns true iff the current test has a fatal failure.
+bool Test::HasFatalFailure() {
+ return internal::GetUnitTestImpl()->current_test_result()->HasFatalFailure();
+}
+
+// Returns true iff the current test has a non-fatal failure.
+bool Test::HasNonfatalFailure() {
+ return internal::GetUnitTestImpl()->current_test_result()->
+ HasNonfatalFailure();
+}
+
+// class TestInfo
+
+// Constructs a TestInfo object. It assumes ownership of the test factory
+// object.
+TestInfo::TestInfo(const std::string& a_test_case_name,
+ const std::string& a_name,
+ const char* a_type_param,
+ const char* a_value_param,
+ internal::CodeLocation a_code_location,
+ internal::TypeId fixture_class_id,
+ internal::TestFactoryBase* factory)
+ : test_case_name_(a_test_case_name),
+ name_(a_name),
+ type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+ value_param_(a_value_param ? new std::string(a_value_param) : NULL),
+ location_(a_code_location),
+ fixture_class_id_(fixture_class_id),
+ should_run_(false),
+ is_disabled_(false),
+ matches_filter_(false),
+ factory_(factory),
+ result_() {}
+
+// Destructs a TestInfo object.
+TestInfo::~TestInfo() { delete factory_; }
+
+namespace internal {
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// name: name of the test
+// type_param: the name of the test's type parameter, or NULL if
+// this is not a typed or a type-parameterized test.
+// value_param: text representation of the test's value parameter,
+// or NULL if this is not a value-parameterized test.
+// code_location: code location where the test is defined
+// fixture_class_id: ID of the test fixture class
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+// factory: pointer to the factory that creates a test object.
+// The newly created TestInfo instance will assume
+// ownership of the factory object.
+TestInfo* MakeAndRegisterTestInfo(
+ const char* test_case_name,
+ const char* name,
+ const char* type_param,
+ const char* value_param,
+ CodeLocation code_location,
+ TypeId fixture_class_id,
+ SetUpTestCaseFunc set_up_tc,
+ TearDownTestCaseFunc tear_down_tc,
+ TestFactoryBase* factory) {
+ TestInfo* const test_info =
+ new TestInfo(test_case_name, name, type_param, value_param,
+ code_location, fixture_class_id, factory);
+ GetUnitTestImpl()->AddTestInfo(set_up_tc, tear_down_tc, test_info);
+ return test_info;
+}
+
+#if GTEST_HAS_PARAM_TEST
+void ReportInvalidTestCaseType(const char* test_case_name,
+ CodeLocation code_location) {
+ Message errors;
+ errors
+ << "Attempted redefinition of test case " << test_case_name << ".\n"
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class. However, in test case " << test_case_name << ", you tried\n"
+ << "to define a test using a fixture class different from the one\n"
+ << "used earlier. This can happen if the two fixture classes are\n"
+ << "from different namespaces and have the same name. You should\n"
+ << "probably rename one of the classes to put the tests into different\n"
+ << "test cases.";
+
+ fprintf(stderr, "%s %s",
+ FormatFileLocation(code_location.file.c_str(),
+ code_location.line).c_str(),
+ errors.GetString().c_str());
+}
+#endif // GTEST_HAS_PARAM_TEST
+
+} // namespace internal
+
+namespace {
+
+// A predicate that checks the test name of a TestInfo against a known
+// value.
+//
+// This is used for implementation of the TestCase class only. We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestNameIs is copyable.
+class TestNameIs {
+ public:
+ // Constructor.
+ //
+ // TestNameIs has NO default constructor.
+ explicit TestNameIs(const char* name)
+ : name_(name) {}
+
+ // Returns true iff the test name of test_info matches name_.
+ bool operator()(const TestInfo * test_info) const {
+ return test_info && test_info->name() == name_;
+ }
+
+ private:
+ std::string name_;
+};
+
+} // namespace
+
+namespace internal {
+
+// This method expands all parameterized tests registered with macros TEST_P
+// and INSTANTIATE_TEST_CASE_P into regular tests and registers those.
+// This will be done just once during the program runtime.
+void UnitTestImpl::RegisterParameterizedTests() {
+#if GTEST_HAS_PARAM_TEST
+ if (!parameterized_tests_registered_) {
+ parameterized_test_registry_.RegisterTests();
+ parameterized_tests_registered_ = true;
+ }
+#endif
+}
+
+} // namespace internal
+
+// Creates the test object, runs it, records its result, and then
+// deletes it.
+void TestInfo::Run() {
+ if (!should_run_) return;
+
+ // Tells UnitTest where to store test result.
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->set_current_test_info(this);
+
+ TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+ // Notifies the unit test event listeners that a test is about to start.
+ repeater->OnTestStart(*this);
+
+ const TimeInMillis start = internal::GetTimeInMillis();
+
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+
+ // Creates the test object.
+ Test* const test = internal::HandleExceptionsInMethodIfSupported(
+ factory_, &internal::TestFactoryBase::CreateTest,
+ "the test fixture's constructor");
+
+ // Runs the test only if the test object was created and its
+ // constructor didn't generate a fatal failure.
+ if ((test != NULL) && !Test::HasFatalFailure()) {
+ // This doesn't throw as all user code that can throw are wrapped into
+ // exception handling code.
+ test->Run();
+ }
+
+ // Deletes the test object.
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ test, &Test::DeleteSelf_, "the test fixture's destructor");
+
+ result_.set_elapsed_time(internal::GetTimeInMillis() - start);
+
+ // Notifies the unit test event listener that a test has just finished.
+ repeater->OnTestEnd(*this);
+
+ // Tells UnitTest to stop associating assertion results to this
+ // test.
+ impl->set_current_test_info(NULL);
+}
+
+// class TestCase
+
+// Gets the number of successful tests in this test case.
+int TestCase::successful_test_count() const {
+ return CountIf(test_info_list_, TestPassed);
+}
+
+// Gets the number of failed tests in this test case.
+int TestCase::failed_test_count() const {
+ return CountIf(test_info_list_, TestFailed);
+}
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int TestCase::reportable_disabled_test_count() const {
+ return CountIf(test_info_list_, TestReportableDisabled);
+}
+
+// Gets the number of disabled tests in this test case.
+int TestCase::disabled_test_count() const {
+ return CountIf(test_info_list_, TestDisabled);
+}
+
+// Gets the number of tests to be printed in the XML report.
+int TestCase::reportable_test_count() const {
+ return CountIf(test_info_list_, TestReportable);
+}
+
+// Get the number of tests in this test case that should run.
+int TestCase::test_to_run_count() const {
+ return CountIf(test_info_list_, ShouldRunTest);
+}
+
+// Gets the number of all tests.
+int TestCase::total_test_count() const {
+ return static_cast<int>(test_info_list_.size());
+}
+
+// Creates a TestCase with the given name.
+//
+// Arguments:
+//
+// name: name of the test case
+// a_type_param: the name of the test case's type parameter, or NULL if
+// this is not a typed or a type-parameterized test case.
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+TestCase::TestCase(const char* a_name, const char* a_type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc)
+ : name_(a_name),
+ type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+ set_up_tc_(set_up_tc),
+ tear_down_tc_(tear_down_tc),
+ should_run_(false),
+ elapsed_time_(0) {
+}
+
+// Destructor of TestCase.
+TestCase::~TestCase() {
+ // Deletes every Test in the collection.
+ ForEach(test_info_list_, internal::Delete<TestInfo>);
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+const TestInfo* TestCase::GetTestInfo(int i) const {
+ const int index = GetElementOr(test_indices_, i, -1);
+ return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+TestInfo* TestCase::GetMutableTestInfo(int i) {
+ const int index = GetElementOr(test_indices_, i, -1);
+ return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Adds a test to this test case. Will delete the test upon
+// destruction of the TestCase object.
+void TestCase::AddTestInfo(TestInfo * test_info) {
+ test_info_list_.push_back(test_info);
+ test_indices_.push_back(static_cast<int>(test_indices_.size()));
+}
+
+// Runs every test in this TestCase.
+void TestCase::Run() {
+ if (!should_run_) return;
+
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->set_current_test_case(this);
+
+ TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+ repeater->OnTestCaseStart(*this);
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &TestCase::RunSetUpTestCase, "SetUpTestCase()");
+
+ const internal::TimeInMillis start = internal::GetTimeInMillis();
+ for (int i = 0; i < total_test_count(); i++) {
+ GetMutableTestInfo(i)->Run();
+ }
+ elapsed_time_ = internal::GetTimeInMillis() - start;
+
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &TestCase::RunTearDownTestCase, "TearDownTestCase()");
+
+ repeater->OnTestCaseEnd(*this);
+ impl->set_current_test_case(NULL);
+}
+
+// Clears the results of all tests in this test case.
+void TestCase::ClearResult() {
+ ad_hoc_test_result_.Clear();
+ ForEach(test_info_list_, TestInfo::ClearTestResult);
+}
+
+// Shuffles the tests in this test case.
+void TestCase::ShuffleTests(internal::Random* random) {
+ Shuffle(random, &test_indices_);
+}
+
+// Restores the test order to before the first shuffle.
+void TestCase::UnshuffleTests() {
+ for (size_t i = 0; i < test_indices_.size(); i++) {
+ test_indices_[i] = static_cast<int>(i);
+ }
+}
+
+// Formats a countable noun. Depending on its quantity, either the
+// singular form or the plural form is used. e.g.
+//
+// FormatCountableNoun(1, "formula", "formuli") returns "1 formula".
+// FormatCountableNoun(5, "book", "books") returns "5 books".
+static std::string FormatCountableNoun(int count,
+ const char * singular_form,
+ const char * plural_form) {
+ return internal::StreamableToString(count) + " " +
+ (count == 1 ? singular_form : plural_form);
+}
+
+// Formats the count of tests.
+static std::string FormatTestCount(int test_count) {
+ return FormatCountableNoun(test_count, "test", "tests");
+}
+
+// Formats the count of test cases.
+static std::string FormatTestCaseCount(int test_case_count) {
+ return FormatCountableNoun(test_case_count, "test case", "test cases");
+}
+
+// Converts a TestPartResult::Type enum to human-friendly string
+// representation. Both kNonFatalFailure and kFatalFailure are translated
+// to "Failure", as the user usually doesn't care about the difference
+// between the two when viewing the test result.
+static const char * TestPartResultTypeToString(TestPartResult::Type type) {
+ switch (type) {
+ case TestPartResult::kSuccess:
+ return "Success";
+
+ case TestPartResult::kNonFatalFailure:
+ case TestPartResult::kFatalFailure:
+#ifdef _MSC_VER
+ return "error: ";
+#else
+ return "Failure\n";
+#endif
+ default:
+ return "Unknown result type";
+ }
+}
+
+namespace internal {
+
+// Prints a TestPartResult to an std::string.
+static std::string PrintTestPartResultToString(
+ const TestPartResult& test_part_result) {
+ return (Message()
+ << internal::FormatFileLocation(test_part_result.file_name(),
+ test_part_result.line_number())
+ << " " << TestPartResultTypeToString(test_part_result.type())
+ << test_part_result.message()).GetString();
+}
+
+// Prints a TestPartResult.
+static void PrintTestPartResult(const TestPartResult& test_part_result) {
+ const std::string& result =
+ PrintTestPartResultToString(test_part_result);
+ printf("%s\n", result.c_str());
+ fflush(stdout);
+ // If the test program runs in Visual Studio or a debugger, the
+ // following statements add the test part result message to the Output
+ // window such that the user can double-click on it to jump to the
+ // corresponding source code location; otherwise they do nothing.
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+ // We don't call OutputDebugString*() on Windows Mobile, as printing
+ // to stdout is done by OutputDebugString() there already - we don't
+ // want the same message printed twice.
+ ::OutputDebugStringA(result.c_str());
+ ::OutputDebugStringA("\n");
+#endif
+}
+
+// class PrettyUnitTestResultPrinter
+
+enum GTestColor {
+ COLOR_DEFAULT,
+ COLOR_RED,
+ COLOR_GREEN,
+ COLOR_YELLOW
+};
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE && \
+ !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+// Returns the character attribute for the given color.
+WORD GetColorAttribute(GTestColor color) {
+ switch (color) {
+ case COLOR_RED: return FOREGROUND_RED;
+ case COLOR_GREEN: return FOREGROUND_GREEN;
+ case COLOR_YELLOW: return FOREGROUND_RED | FOREGROUND_GREEN;
+ default: return 0;
+ }
+}
+
+#else
+
+// Returns the ANSI color code for the given color. COLOR_DEFAULT is
+// an invalid input.
+const char* GetAnsiColorCode(GTestColor color) {
+ switch (color) {
+ case COLOR_RED: return "1";
+ case COLOR_GREEN: return "2";
+ case COLOR_YELLOW: return "3";
+ default: return NULL;
+ };
+}
+
+#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+
+// Returns true iff Google Test should use colors in the output.
+bool ShouldUseColor(bool stdout_is_tty) {
+ const char* const gtest_color = GTEST_FLAG(color).c_str();
+
+ if (String::CaseInsensitiveCStringEquals(gtest_color, "auto")) {
+#if GTEST_OS_WINDOWS
+ // On Windows the TERM variable is usually not set, but the
+ // console there does support colors.
+ return stdout_is_tty;
+#else
+ // On non-Windows platforms, we rely on the TERM variable.
+ const char* const term = posix::GetEnv("TERM");
+ const bool term_supports_color =
+ String::CStringEquals(term, "xterm") ||
+ String::CStringEquals(term, "xterm-color") ||
+ String::CStringEquals(term, "xterm-256color") ||
+ String::CStringEquals(term, "screen") ||
+ String::CStringEquals(term, "screen-256color") ||
+ String::CStringEquals(term, "tmux") ||
+ String::CStringEquals(term, "tmux-256color") ||
+ String::CStringEquals(term, "rxvt-unicode") ||
+ String::CStringEquals(term, "rxvt-unicode-256color") ||
+ String::CStringEquals(term, "linux") ||
+ String::CStringEquals(term, "cygwin");
+ return stdout_is_tty && term_supports_color;
+#endif // GTEST_OS_WINDOWS
+ }
+
+ return String::CaseInsensitiveCStringEquals(gtest_color, "yes") ||
+ String::CaseInsensitiveCStringEquals(gtest_color, "true") ||
+ String::CaseInsensitiveCStringEquals(gtest_color, "t") ||
+ String::CStringEquals(gtest_color, "1");
+ // We take "yes", "true", "t", and "1" as meaning "yes". If the
+ // value is neither one of these nor "auto", we treat it as "no" to
+ // be conservative.
+}
+
+// Helpers for printing colored strings to stdout. Note that on Windows, we
+// cannot simply emit special characters and have the terminal change colors.
+// This routine must actually emit the characters rather than return a string
+// that would be colored when printed, as can be done on Linux.
+void ColoredPrintf(GTestColor color, const char* fmt, ...) {
+ va_list args;
+ va_start(args, fmt);
+
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS || \
+ GTEST_OS_IOS || GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+ const bool use_color = AlwaysFalse();
+#else
+ static const bool in_color_mode =
+ ShouldUseColor(posix::IsATTY(posix::FileNo(stdout)) != 0);
+ const bool use_color = in_color_mode && (color != COLOR_DEFAULT);
+#endif // GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
+ // The '!= 0' comparison is necessary to satisfy MSVC 7.1.
+
+ if (!use_color) {
+ vprintf(fmt, args);
+ va_end(args);
+ return;
+ }
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE && \
+ !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+ const HANDLE stdout_handle = GetStdHandle(STD_OUTPUT_HANDLE);
+
+ // Gets the current text color.
+ CONSOLE_SCREEN_BUFFER_INFO buffer_info;
+ GetConsoleScreenBufferInfo(stdout_handle, &buffer_info);
+ const WORD old_color_attrs = buffer_info.wAttributes;
+
+ // We need to flush the stream buffers into the console before each
+ // SetConsoleTextAttribute call lest it affect the text that is already
+ // printed but has not yet reached the console.
+ fflush(stdout);
+ SetConsoleTextAttribute(stdout_handle,
+ GetColorAttribute(color) | FOREGROUND_INTENSITY);
+ vprintf(fmt, args);
+
+ fflush(stdout);
+ // Restores the text color.
+ SetConsoleTextAttribute(stdout_handle, old_color_attrs);
+#else
+ printf("\033[0;3%sm", GetAnsiColorCode(color));
+ vprintf(fmt, args);
+ printf("\033[m"); // Resets the terminal to default.
+#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+ va_end(args);
+}
+
+// Text printed in Google Test's text output and --gunit_list_tests
+// output to label the type parameter and value parameter for a test.
+static const char kTypeParamLabel[] = "TypeParam";
+static const char kValueParamLabel[] = "GetParam()";
+
+void PrintFullTestCommentIfPresent(const TestInfo& test_info) {
+ const char* const type_param = test_info.type_param();
+ const char* const value_param = test_info.value_param();
+
+ if (type_param != NULL || value_param != NULL) {
+ printf(", where ");
+ if (type_param != NULL) {
+ printf("%s = %s", kTypeParamLabel, type_param);
+ if (value_param != NULL)
+ printf(" and ");
+ }
+ if (value_param != NULL) {
+ printf("%s = %s", kValueParamLabel, value_param);
+ }
+ }
+}
+
+// This class implements the TestEventListener interface.
+//
+// Class PrettyUnitTestResultPrinter is copyable.
+class PrettyUnitTestResultPrinter : public TestEventListener {
+ public:
+ PrettyUnitTestResultPrinter() {}
+ static void PrintTestName(const char * test_case, const char * test) {
+ printf("%s.%s", test_case, test);
+ }
+
+ // The following methods override what's in the TestEventListener class.
+ virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestCaseStart(const TestCase& test_case);
+ virtual void OnTestStart(const TestInfo& test_info);
+ virtual void OnTestPartResult(const TestPartResult& result);
+ virtual void OnTestEnd(const TestInfo& test_info);
+ virtual void OnTestCaseEnd(const TestCase& test_case);
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+ virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+
+ private:
+ static void PrintFailedTests(const UnitTest& unit_test);
+};
+
+ // Fired before each iteration of tests starts.
+void PrettyUnitTestResultPrinter::OnTestIterationStart(
+ const UnitTest& unit_test, int iteration) {
+ if (GTEST_FLAG(repeat) != 1)
+ printf("\nRepeating all tests (iteration %d) . . .\n\n", iteration + 1);
+
+ const char* const filter = GTEST_FLAG(filter).c_str();
+
+ // Prints the filter if it's not *. This reminds the user that some
+ // tests may be skipped.
+ if (!String::CStringEquals(filter, kUniversalFilter)) {
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: %s filter = %s\n", GTEST_NAME_, filter);
+ }
+
+ if (internal::ShouldShard(kTestTotalShards, kTestShardIndex, false)) {
+ const Int32 shard_index = Int32FromEnvOrDie(kTestShardIndex, -1);
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: This is test shard %d of %s.\n",
+ static_cast<int>(shard_index) + 1,
+ internal::posix::GetEnv(kTestTotalShards));
+ }
+
+ if (GTEST_FLAG(shuffle)) {
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: Randomizing tests' orders with a seed of %d .\n",
+ unit_test.random_seed());
+ }
+
+ ColoredPrintf(COLOR_GREEN, "[==========] ");
+ printf("Running %s from %s.\n",
+ FormatTestCount(unit_test.test_to_run_count()).c_str(),
+ FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsSetUpStart(
+ const UnitTest& /*unit_test*/) {
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("Global test environment set-up.\n");
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseStart(const TestCase& test_case) {
+ const std::string counts =
+ FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("%s from %s", counts.c_str(), test_case.name());
+ if (test_case.type_param() == NULL) {
+ printf("\n");
+ } else {
+ printf(", where %s = %s\n", kTypeParamLabel, test_case.type_param());
+ }
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestStart(const TestInfo& test_info) {
+ ColoredPrintf(COLOR_GREEN, "[ RUN ] ");
+ PrintTestName(test_info.test_case_name(), test_info.name());
+ printf("\n");
+ fflush(stdout);
+}
+
+// Called after an assertion failure.
+void PrettyUnitTestResultPrinter::OnTestPartResult(
+ const TestPartResult& result) {
+ // If the test part succeeded, we don't need to do anything.
+ if (result.type() == TestPartResult::kSuccess)
+ return;
+
+ // Print failure message from the assertion (e.g. expected this and got that).
+ PrintTestPartResult(result);
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestEnd(const TestInfo& test_info) {
+ if (test_info.result()->Passed()) {
+ ColoredPrintf(COLOR_GREEN, "[ OK ] ");
+ } else {
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ }
+ PrintTestName(test_info.test_case_name(), test_info.name());
+ if (test_info.result()->Failed())
+ PrintFullTestCommentIfPresent(test_info);
+
+ if (GTEST_FLAG(print_time)) {
+ printf(" (%s ms)\n", internal::StreamableToString(
+ test_info.result()->elapsed_time()).c_str());
+ } else {
+ printf("\n");
+ }
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseEnd(const TestCase& test_case) {
+ if (!GTEST_FLAG(print_time)) return;
+
+ const std::string counts =
+ FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("%s from %s (%s ms total)\n\n",
+ counts.c_str(), test_case.name(),
+ internal::StreamableToString(test_case.elapsed_time()).c_str());
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsTearDownStart(
+ const UnitTest& /*unit_test*/) {
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("Global test environment tear-down\n");
+ fflush(stdout);
+}
+
+// Internal helper for printing the list of failed tests.
+void PrettyUnitTestResultPrinter::PrintFailedTests(const UnitTest& unit_test) {
+ const int failed_test_count = unit_test.failed_test_count();
+ if (failed_test_count == 0) {
+ return;
+ }
+
+ for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
+ const TestCase& test_case = *unit_test.GetTestCase(i);
+ if (!test_case.should_run() || (test_case.failed_test_count() == 0)) {
+ continue;
+ }
+ for (int j = 0; j < test_case.total_test_count(); ++j) {
+ const TestInfo& test_info = *test_case.GetTestInfo(j);
+ if (!test_info.should_run() || test_info.result()->Passed()) {
+ continue;
+ }
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ printf("%s.%s", test_case.name(), test_info.name());
+ PrintFullTestCommentIfPresent(test_info);
+ printf("\n");
+ }
+ }
+}
+
+void PrettyUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+ int /*iteration*/) {
+ ColoredPrintf(COLOR_GREEN, "[==========] ");
+ printf("%s from %s ran.",
+ FormatTestCount(unit_test.test_to_run_count()).c_str(),
+ FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+ if (GTEST_FLAG(print_time)) {
+ printf(" (%s ms total)",
+ internal::StreamableToString(unit_test.elapsed_time()).c_str());
+ }
+ printf("\n");
+ ColoredPrintf(COLOR_GREEN, "[ PASSED ] ");
+ printf("%s.\n", FormatTestCount(unit_test.successful_test_count()).c_str());
+
+ int num_failures = unit_test.failed_test_count();
+ if (!unit_test.Passed()) {
+ const int failed_test_count = unit_test.failed_test_count();
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ printf("%s, listed below:\n", FormatTestCount(failed_test_count).c_str());
+ PrintFailedTests(unit_test);
+ printf("\n%2d FAILED %s\n", num_failures,
+ num_failures == 1 ? "TEST" : "TESTS");
+ }
+
+ int num_disabled = unit_test.reportable_disabled_test_count();
+ if (num_disabled && !GTEST_FLAG(also_run_disabled_tests)) {
+ if (!num_failures) {
+ printf("\n"); // Add a spacer if no FAILURE banner is displayed.
+ }
+ ColoredPrintf(COLOR_YELLOW,
+ " YOU HAVE %d DISABLED %s\n\n",
+ num_disabled,
+ num_disabled == 1 ? "TEST" : "TESTS");
+ }
+ // Ensure that Google Test output is printed before, e.g., heapchecker output.
+ fflush(stdout);
+}
+
+// End PrettyUnitTestResultPrinter
+
+// class TestEventRepeater
+//
+// This class forwards events to other event listeners.
+class TestEventRepeater : public TestEventListener {
+ public:
+ TestEventRepeater() : forwarding_enabled_(true) {}
+ virtual ~TestEventRepeater();
+ void Append(TestEventListener *listener);
+ TestEventListener* Release(TestEventListener* listener);
+
+ // Controls whether events will be forwarded to listeners_. Set to false
+ // in death test child processes.
+ bool forwarding_enabled() const { return forwarding_enabled_; }
+ void set_forwarding_enabled(bool enable) { forwarding_enabled_ = enable; }
+
+ virtual void OnTestProgramStart(const UnitTest& unit_test);
+ virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test);
+ virtual void OnTestCaseStart(const TestCase& test_case);
+ virtual void OnTestStart(const TestInfo& test_info);
+ virtual void OnTestPartResult(const TestPartResult& result);
+ virtual void OnTestEnd(const TestInfo& test_info);
+ virtual void OnTestCaseEnd(const TestCase& test_case);
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test);
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+ virtual void OnTestProgramEnd(const UnitTest& unit_test);
+
+ private:
+ // Controls whether events will be forwarded to listeners_. Set to false
+ // in death test child processes.
+ bool forwarding_enabled_;
+ // The list of listeners that receive events.
+ std::vector<TestEventListener*> listeners_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventRepeater);
+};
+
+TestEventRepeater::~TestEventRepeater() {
+ ForEach(listeners_, Delete<TestEventListener>);
+}
+
+void TestEventRepeater::Append(TestEventListener *listener) {
+ listeners_.push_back(listener);
+}
+
+// TODO(vladl@google.com): Factor the search functionality into Vector::Find.
+TestEventListener* TestEventRepeater::Release(TestEventListener *listener) {
+ for (size_t i = 0; i < listeners_.size(); ++i) {
+ if (listeners_[i] == listener) {
+ listeners_.erase(listeners_.begin() + i);
+ return listener;
+ }
+ }
+
+ return NULL;
+}
+
+// Since most methods are very similar, use macros to reduce boilerplate.
+// This defines a member that forwards the call to all listeners.
+#define GTEST_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+ if (forwarding_enabled_) { \
+ for (size_t i = 0; i < listeners_.size(); i++) { \
+ listeners_[i]->Name(parameter); \
+ } \
+ } \
+}
+// This defines a member that forwards the call to all listeners in reverse
+// order.
+#define GTEST_REVERSE_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+ if (forwarding_enabled_) { \
+ for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) { \
+ listeners_[i]->Name(parameter); \
+ } \
+ } \
+}
+
+GTEST_REPEATER_METHOD_(OnTestProgramStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnEnvironmentsSetUpStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnTestCaseStart, TestCase)
+GTEST_REPEATER_METHOD_(OnTestStart, TestInfo)
+GTEST_REPEATER_METHOD_(OnTestPartResult, TestPartResult)
+GTEST_REPEATER_METHOD_(OnEnvironmentsTearDownStart, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsSetUpEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsTearDownEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestEnd, TestInfo)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestCaseEnd, TestCase)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestProgramEnd, UnitTest)
+
+#undef GTEST_REPEATER_METHOD_
+#undef GTEST_REVERSE_REPEATER_METHOD_
+
+void TestEventRepeater::OnTestIterationStart(const UnitTest& unit_test,
+ int iteration) {
+ if (forwarding_enabled_) {
+ for (size_t i = 0; i < listeners_.size(); i++) {
+ listeners_[i]->OnTestIterationStart(unit_test, iteration);
+ }
+ }
+}
+
+void TestEventRepeater::OnTestIterationEnd(const UnitTest& unit_test,
+ int iteration) {
+ if (forwarding_enabled_) {
+ for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) {
+ listeners_[i]->OnTestIterationEnd(unit_test, iteration);
+ }
+ }
+}
+
+// End TestEventRepeater
+
+// This class generates an XML output file.
+class XmlUnitTestResultPrinter : public EmptyTestEventListener {
+ public:
+ explicit XmlUnitTestResultPrinter(const char* output_file);
+
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+
+ private:
+ // Is c a whitespace character that is normalized to a space character
+ // when it appears in an XML attribute value?
+ static bool IsNormalizableWhitespace(char c) {
+ return c == 0x9 || c == 0xA || c == 0xD;
+ }
+
+ // May c appear in a well-formed XML document?
+ static bool IsValidXmlCharacter(char c) {
+ return IsNormalizableWhitespace(c) || c >= 0x20;
+ }
+
+ // Returns an XML-escaped copy of the input string str. If
+ // is_attribute is true, the text is meant to appear as an attribute
+ // value, and normalizable whitespace is preserved by replacing it
+ // with character references.
+ static std::string EscapeXml(const std::string& str, bool is_attribute);
+
+ // Returns the given string with all characters invalid in XML removed.
+ static std::string RemoveInvalidXmlCharacters(const std::string& str);
+
+ // Convenience wrapper around EscapeXml when str is an attribute value.
+ static std::string EscapeXmlAttribute(const std::string& str) {
+ return EscapeXml(str, true);
+ }
+
+ // Convenience wrapper around EscapeXml when str is not an attribute value.
+ static std::string EscapeXmlText(const char* str) {
+ return EscapeXml(str, false);
+ }
+
+ // Verifies that the given attribute belongs to the given element and
+ // streams the attribute as XML.
+ static void OutputXmlAttribute(std::ostream* stream,
+ const std::string& element_name,
+ const std::string& name,
+ const std::string& value);
+
+ // Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+ static void OutputXmlCDataSection(::std::ostream* stream, const char* data);
+
+ // Streams an XML representation of a TestInfo object.
+ static void OutputXmlTestInfo(::std::ostream* stream,
+ const char* test_case_name,
+ const TestInfo& test_info);
+
+ // Prints an XML representation of a TestCase object
+ static void PrintXmlTestCase(::std::ostream* stream,
+ const TestCase& test_case);
+
+ // Prints an XML summary of unit_test to output stream out.
+ static void PrintXmlUnitTest(::std::ostream* stream,
+ const UnitTest& unit_test);
+
+ // Produces a string representing the test properties in a result as space
+ // delimited XML attributes based on the property key="value" pairs.
+ // When the std::string is not empty, it includes a space at the beginning,
+ // to delimit this attribute from prior attributes.
+ static std::string TestPropertiesAsXmlAttributes(const TestResult& result);
+
+ // The output file.
+ const std::string output_file_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(XmlUnitTestResultPrinter);
+};
+
+// Creates a new XmlUnitTestResultPrinter.
+XmlUnitTestResultPrinter::XmlUnitTestResultPrinter(const char* output_file)
+ : output_file_(output_file) {
+ if (output_file_.c_str() == NULL || output_file_.empty()) {
+ fprintf(stderr, "XML output file may not be null\n");
+ fflush(stderr);
+ exit(EXIT_FAILURE);
+ }
+}
+
+// Called after the unit test ends.
+void XmlUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+ int /*iteration*/) {
+ FILE* xmlout = NULL;
+ FilePath output_file(output_file_);
+ FilePath output_dir(output_file.RemoveFileName());
+
+ if (output_dir.CreateDirectoriesRecursively()) {
+ xmlout = posix::FOpen(output_file_.c_str(), "w");
+ }
+ if (xmlout == NULL) {
+ // TODO(wan): report the reason of the failure.
+ //
+ // We don't do it for now as:
+ //
+ // 1. There is no urgent need for it.
+ // 2. It's a bit involved to make the errno variable thread-safe on
+ // all three operating systems (Linux, Windows, and Mac OS).
+ // 3. To interpret the meaning of errno in a thread-safe way,
+ // we need the strerror_r() function, which is not available on
+ // Windows.
+ fprintf(stderr,
+ "Unable to open file \"%s\"\n",
+ output_file_.c_str());
+ fflush(stderr);
+ exit(EXIT_FAILURE);
+ }
+ std::stringstream stream;
+ PrintXmlUnitTest(&stream, unit_test);
+ fprintf(xmlout, "%s", StringStreamToString(&stream).c_str());
+ fclose(xmlout);
+}
+
+// Returns an XML-escaped copy of the input string str. If is_attribute
+// is true, the text is meant to appear as an attribute value, and
+// normalizable whitespace is preserved by replacing it with character
+// references.
+//
+// Invalid XML characters in str, if any, are stripped from the output.
+// It is expected that most, if not all, of the text processed by this
+// module will consist of ordinary English text.
+// If this module is ever modified to produce version 1.1 XML output,
+// most invalid characters can be retained using character references.
+// TODO(wan): It might be nice to have a minimally invasive, human-readable
+// escaping scheme for invalid characters, rather than dropping them.
+std::string XmlUnitTestResultPrinter::EscapeXml(
+ const std::string& str, bool is_attribute) {
+ Message m;
+
+ for (size_t i = 0; i < str.size(); ++i) {
+ const char ch = str[i];
+ switch (ch) {
+ case '<':
+ m << "<";
+ break;
+ case '>':
+ m << ">";
+ break;
+ case '&':
+ m << "&";
+ break;
+ case '\'':
+ if (is_attribute)
+ m << "'";
+ else
+ m << '\'';
+ break;
+ case '"':
+ if (is_attribute)
+ m << """;
+ else
+ m << '"';
+ break;
+ default:
+ if (IsValidXmlCharacter(ch)) {
+ if (is_attribute && IsNormalizableWhitespace(ch))
+ m << "&#x" << String::FormatByte(static_cast<unsigned char>(ch))
+ << ";";
+ else
+ m << ch;
+ }
+ break;
+ }
+ }
+
+ return m.GetString();
+}
+
+// Returns the given string with all characters invalid in XML removed.
+// Currently invalid characters are dropped from the string. An
+// alternative is to replace them with certain characters such as . or ?.
+std::string XmlUnitTestResultPrinter::RemoveInvalidXmlCharacters(
+ const std::string& str) {
+ std::string output;
+ output.reserve(str.size());
+ for (std::string::const_iterator it = str.begin(); it != str.end(); ++it)
+ if (IsValidXmlCharacter(*it))
+ output.push_back(*it);
+
+ return output;
+}
+
+// The following routines generate an XML representation of a UnitTest
+// object.
+//
+// This is how Google Test concepts map to the DTD:
+//
+// <testsuites name="AllTests"> <-- corresponds to a UnitTest object
+// <testsuite name="testcase-name"> <-- corresponds to a TestCase object
+// <testcase name="test-name"> <-- corresponds to a TestInfo object
+// <failure message="...">...</failure>
+// <failure message="...">...</failure>
+// <failure message="...">...</failure>
+// <-- individual assertion failures
+// </testcase>
+// </testsuite>
+// </testsuites>
+
+// Formats the given time in milliseconds as seconds.
+std::string FormatTimeInMillisAsSeconds(TimeInMillis ms) {
+ ::std::stringstream ss;
+ ss << (static_cast<double>(ms) * 1e-3);
+ return ss.str();
+}
+
+static bool PortableLocaltime(time_t seconds, struct tm* out) {
+#if defined(_MSC_VER)
+ return localtime_s(out, &seconds) == 0;
+#elif defined(__MINGW32__) || defined(__MINGW64__)
+ // MINGW <time.h> provides neither localtime_r nor localtime_s, but uses
+ // Windows' localtime(), which has a thread-local tm buffer.
+ struct tm* tm_ptr = localtime(&seconds); // NOLINT
+ if (tm_ptr == NULL)
+ return false;
+ *out = *tm_ptr;
+ return true;
+#else
+ return localtime_r(&seconds, out) != NULL;
+#endif
+}
+
+// Converts the given epoch time in milliseconds to a date string in the ISO
+// 8601 format, without the timezone information.
+std::string FormatEpochTimeInMillisAsIso8601(TimeInMillis ms) {
+ struct tm time_struct;
+ if (!PortableLocaltime(static_cast<time_t>(ms / 1000), &time_struct))
+ return "";
+ // YYYY-MM-DDThh:mm:ss
+ return StreamableToString(time_struct.tm_year + 1900) + "-" +
+ String::FormatIntWidth2(time_struct.tm_mon + 1) + "-" +
+ String::FormatIntWidth2(time_struct.tm_mday) + "T" +
+ String::FormatIntWidth2(time_struct.tm_hour) + ":" +
+ String::FormatIntWidth2(time_struct.tm_min) + ":" +
+ String::FormatIntWidth2(time_struct.tm_sec);
+}
+
+// Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+void XmlUnitTestResultPrinter::OutputXmlCDataSection(::std::ostream* stream,
+ const char* data) {
+ const char* segment = data;
+ *stream << "<![CDATA[";
+ for (;;) {
+ const char* const next_segment = strstr(segment, "]]>");
+ if (next_segment != NULL) {
+ stream->write(
+ segment, static_cast<std::streamsize>(next_segment - segment));
+ *stream << "]]>]]><![CDATA[";
+ segment = next_segment + strlen("]]>");
+ } else {
+ *stream << segment;
+ break;
+ }
+ }
+ *stream << "]]>";
+}
+
+void XmlUnitTestResultPrinter::OutputXmlAttribute(
+ std::ostream* stream,
+ const std::string& element_name,
+ const std::string& name,
+ const std::string& value) {
+ const std::vector<std::string>& allowed_names =
+ GetReservedAttributesForElement(element_name);
+
+ GTEST_CHECK_(std::find(allowed_names.begin(), allowed_names.end(), name) !=
+ allowed_names.end())
+ << "Attribute " << name << " is not allowed for element <" << element_name
+ << ">.";
+
+ *stream << " " << name << "=\"" << EscapeXmlAttribute(value) << "\"";
+}
+
+// Prints an XML representation of a TestInfo object.
+// TODO(wan): There is also value in printing properties with the plain printer.
+void XmlUnitTestResultPrinter::OutputXmlTestInfo(::std::ostream* stream,
+ const char* test_case_name,
+ const TestInfo& test_info) {
+ const TestResult& result = *test_info.result();
+ const std::string kTestcase = "testcase";
+
+ *stream << " <testcase";
+ OutputXmlAttribute(stream, kTestcase, "name", test_info.name());
+
+ if (test_info.value_param() != NULL) {
+ OutputXmlAttribute(stream, kTestcase, "value_param",
+ test_info.value_param());
+ }
+ if (test_info.type_param() != NULL) {
+ OutputXmlAttribute(stream, kTestcase, "type_param", test_info.type_param());
+ }
+
+ OutputXmlAttribute(stream, kTestcase, "status",
+ test_info.should_run() ? "run" : "notrun");
+ OutputXmlAttribute(stream, kTestcase, "time",
+ FormatTimeInMillisAsSeconds(result.elapsed_time()));
+ OutputXmlAttribute(stream, kTestcase, "classname", test_case_name);
+ *stream << TestPropertiesAsXmlAttributes(result);
+
+ int failures = 0;
+ for (int i = 0; i < result.total_part_count(); ++i) {
+ const TestPartResult& part = result.GetTestPartResult(i);
+ if (part.failed()) {
+ if (++failures == 1) {
+ *stream << ">\n";
+ }
+ const string location = internal::FormatCompilerIndependentFileLocation(
+ part.file_name(), part.line_number());
+ const string summary = location + "\n" + part.summary();
+ *stream << " <failure message=\""
+ << EscapeXmlAttribute(summary.c_str())
+ << "\" type=\"\">";
+ const string detail = location + "\n" + part.message();
+ OutputXmlCDataSection(stream, RemoveInvalidXmlCharacters(detail).c_str());
+ *stream << "</failure>\n";
+ }
+ }
+
+ if (failures == 0)
+ *stream << " />\n";
+ else
+ *stream << " </testcase>\n";
+}
+
+// Prints an XML representation of a TestCase object
+void XmlUnitTestResultPrinter::PrintXmlTestCase(std::ostream* stream,
+ const TestCase& test_case) {
+ const std::string kTestsuite = "testsuite";
+ *stream << " <" << kTestsuite;
+ OutputXmlAttribute(stream, kTestsuite, "name", test_case.name());
+ OutputXmlAttribute(stream, kTestsuite, "tests",
+ StreamableToString(test_case.reportable_test_count()));
+ OutputXmlAttribute(stream, kTestsuite, "failures",
+ StreamableToString(test_case.failed_test_count()));
+ OutputXmlAttribute(
+ stream, kTestsuite, "disabled",
+ StreamableToString(test_case.reportable_disabled_test_count()));
+ OutputXmlAttribute(stream, kTestsuite, "errors", "0");
+ OutputXmlAttribute(stream, kTestsuite, "time",
+ FormatTimeInMillisAsSeconds(test_case.elapsed_time()));
+ *stream << TestPropertiesAsXmlAttributes(test_case.ad_hoc_test_result())
+ << ">\n";
+
+ for (int i = 0; i < test_case.total_test_count(); ++i) {
+ if (test_case.GetTestInfo(i)->is_reportable())
+ OutputXmlTestInfo(stream, test_case.name(), *test_case.GetTestInfo(i));
+ }
+ *stream << " </" << kTestsuite << ">\n";
+}
+
+// Prints an XML summary of unit_test to output stream out.
+void XmlUnitTestResultPrinter::PrintXmlUnitTest(std::ostream* stream,
+ const UnitTest& unit_test) {
+ const std::string kTestsuites = "testsuites";
+
+ *stream << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
+ *stream << "<" << kTestsuites;
+
+ OutputXmlAttribute(stream, kTestsuites, "tests",
+ StreamableToString(unit_test.reportable_test_count()));
+ OutputXmlAttribute(stream, kTestsuites, "failures",
+ StreamableToString(unit_test.failed_test_count()));
+ OutputXmlAttribute(
+ stream, kTestsuites, "disabled",
+ StreamableToString(unit_test.reportable_disabled_test_count()));
+ OutputXmlAttribute(stream, kTestsuites, "errors", "0");
+ OutputXmlAttribute(
+ stream, kTestsuites, "timestamp",
+ FormatEpochTimeInMillisAsIso8601(unit_test.start_timestamp()));
+ OutputXmlAttribute(stream, kTestsuites, "time",
+ FormatTimeInMillisAsSeconds(unit_test.elapsed_time()));
+
+ if (GTEST_FLAG(shuffle)) {
+ OutputXmlAttribute(stream, kTestsuites, "random_seed",
+ StreamableToString(unit_test.random_seed()));
+ }
+
+ *stream << TestPropertiesAsXmlAttributes(unit_test.ad_hoc_test_result());
+
+ OutputXmlAttribute(stream, kTestsuites, "name", "AllTests");
+ *stream << ">\n";
+
+ for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
+ if (unit_test.GetTestCase(i)->reportable_test_count() > 0)
+ PrintXmlTestCase(stream, *unit_test.GetTestCase(i));
+ }
+ *stream << "</" << kTestsuites << ">\n";
+}
+
+// Produces a string representing the test properties in a result as space
+// delimited XML attributes based on the property key="value" pairs.
+std::string XmlUnitTestResultPrinter::TestPropertiesAsXmlAttributes(
+ const TestResult& result) {
+ Message attributes;
+ for (int i = 0; i < result.test_property_count(); ++i) {
+ const TestProperty& property = result.GetTestProperty(i);
+ attributes << " " << property.key() << "="
+ << "\"" << EscapeXmlAttribute(property.value()) << "\"";
+ }
+ return attributes.GetString();
+}
+
+// End XmlUnitTestResultPrinter
+
+#if GTEST_CAN_STREAM_RESULTS_
+
+// Checks if str contains '=', '&', '%' or '\n' characters. If yes,
+// replaces them by "%xx" where xx is their hexadecimal value. For
+// example, replaces "=" with "%3D". This algorithm is O(strlen(str))
+// in both time and space -- important as the input str may contain an
+// arbitrarily long test failure message and stack trace.
+string StreamingListener::UrlEncode(const char* str) {
+ string result;
+ result.reserve(strlen(str) + 1);
+ for (char ch = *str; ch != '\0'; ch = *++str) {
+ switch (ch) {
+ case '%':
+ case '=':
+ case '&':
+ case '\n':
+ result.append("%" + String::FormatByte(static_cast<unsigned char>(ch)));
+ break;
+ default:
+ result.push_back(ch);
+ break;
+ }
+ }
+ return result;
+}
+
+void StreamingListener::SocketWriter::MakeConnection() {
+ GTEST_CHECK_(sockfd_ == -1)
+ << "MakeConnection() can't be called when there is already a connection.";
+
+ addrinfo hints;
+ memset(&hints, 0, sizeof(hints));
+ hints.ai_family = AF_UNSPEC; // To allow both IPv4 and IPv6 addresses.
+ hints.ai_socktype = SOCK_STREAM;
+ addrinfo* servinfo = NULL;
+
+ // Use the getaddrinfo() to get a linked list of IP addresses for
+ // the given host name.
+ const int error_num = getaddrinfo(
+ host_name_.c_str(), port_num_.c_str(), &hints, &servinfo);
+ if (error_num != 0) {
+ GTEST_LOG_(WARNING) << "stream_result_to: getaddrinfo() failed: "
+ << gai_strerror(error_num);
+ }
+
+ // Loop through all the results and connect to the first we can.
+ for (addrinfo* cur_addr = servinfo; sockfd_ == -1 && cur_addr != NULL;
+ cur_addr = cur_addr->ai_next) {
+ sockfd_ = socket(
+ cur_addr->ai_family, cur_addr->ai_socktype, cur_addr->ai_protocol);
+ if (sockfd_ != -1) {
+ // Connect the client socket to the server socket.
+ if (connect(sockfd_, cur_addr->ai_addr, cur_addr->ai_addrlen) == -1) {
+ close(sockfd_);
+ sockfd_ = -1;
+ }
+ }
+ }
+
+ freeaddrinfo(servinfo); // all done with this structure
+
+ if (sockfd_ == -1) {
+ GTEST_LOG_(WARNING) << "stream_result_to: failed to connect to "
+ << host_name_ << ":" << port_num_;
+ }
+}
+
+// End of class Streaming Listener
+#endif // GTEST_CAN_STREAM_RESULTS__
+
+// Class ScopedTrace
+
+// Pushes the given source file location and message onto a per-thread
+// trace stack maintained by Google Test.
+ScopedTrace::ScopedTrace(const char* file, int line, const Message& message)
+ GTEST_LOCK_EXCLUDED_(&UnitTest::mutex_) {
+ TraceInfo trace;
+ trace.file = file;
+ trace.line = line;
+ trace.message = message.GetString();
+
+ UnitTest::GetInstance()->PushGTestTrace(trace);
+}
+
+// Pops the info pushed by the c'tor.
+ScopedTrace::~ScopedTrace()
+ GTEST_LOCK_EXCLUDED_(&UnitTest::mutex_) {
+ UnitTest::GetInstance()->PopGTestTrace();
+}
+
+
+// class OsStackTraceGetter
+
+const char* const OsStackTraceGetterInterface::kElidedFramesMarker =
+ "... " GTEST_NAME_ " internal frames ...";
+
+string OsStackTraceGetter::CurrentStackTrace(int /*max_depth*/,
+ int /*skip_count*/) {
+ return "";
+}
+
+void OsStackTraceGetter::UponLeavingGTest() {}
+
+// A helper class that creates the premature-exit file in its
+// constructor and deletes the file in its destructor.
+class ScopedPrematureExitFile {
+ public:
+ explicit ScopedPrematureExitFile(const char* premature_exit_filepath)
+ : premature_exit_filepath_(premature_exit_filepath) {
+ // If a path to the premature-exit file is specified...
+ if (premature_exit_filepath != NULL && *premature_exit_filepath != '\0') {
+ // create the file with a single "0" character in it. I/O
+ // errors are ignored as there's nothing better we can do and we
+ // don't want to fail the test because of this.
+ FILE* pfile = posix::FOpen(premature_exit_filepath, "w");
+ fwrite("0", 1, 1, pfile);
+ fclose(pfile);
+ }
+ }
+
+ ~ScopedPrematureExitFile() {
+ if (premature_exit_filepath_ != NULL && *premature_exit_filepath_ != '\0') {
+ remove(premature_exit_filepath_);
+ }
+ }
+
+ private:
+ const char* const premature_exit_filepath_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedPrematureExitFile);
+};
+
+} // namespace internal
+
+// class TestEventListeners
+
+TestEventListeners::TestEventListeners()
+ : repeater_(new internal::TestEventRepeater()),
+ default_result_printer_(NULL),
+ default_xml_generator_(NULL) {
+}
+
+TestEventListeners::~TestEventListeners() { delete repeater_; }
+
+// Returns the standard listener responsible for the default console
+// output. Can be removed from the listeners list to shut down default
+// console output. Note that removing this object from the listener list
+// with Release transfers its ownership to the user.
+void TestEventListeners::Append(TestEventListener* listener) {
+ repeater_->Append(listener);
+}
+
+// Removes the given event listener from the list and returns it. It then
+// becomes the caller's responsibility to delete the listener. Returns
+// NULL if the listener is not found in the list.
+TestEventListener* TestEventListeners::Release(TestEventListener* listener) {
+ if (listener == default_result_printer_)
+ default_result_printer_ = NULL;
+ else if (listener == default_xml_generator_)
+ default_xml_generator_ = NULL;
+ return repeater_->Release(listener);
+}
+
+// Returns repeater that broadcasts the TestEventListener events to all
+// subscribers.
+TestEventListener* TestEventListeners::repeater() { return repeater_; }
+
+// Sets the default_result_printer attribute to the provided listener.
+// The listener is also added to the listener list and previous
+// default_result_printer is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultResultPrinter(TestEventListener* listener) {
+ if (default_result_printer_ != listener) {
+ // It is an error to pass this method a listener that is already in the
+ // list.
+ delete Release(default_result_printer_);
+ default_result_printer_ = listener;
+ if (listener != NULL)
+ Append(listener);
+ }
+}
+
+// Sets the default_xml_generator attribute to the provided listener. The
+// listener is also added to the listener list and previous
+// default_xml_generator is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultXmlGenerator(TestEventListener* listener) {
+ if (default_xml_generator_ != listener) {
+ // It is an error to pass this method a listener that is already in the
+ // list.
+ delete Release(default_xml_generator_);
+ default_xml_generator_ = listener;
+ if (listener != NULL)
+ Append(listener);
+ }
+}
+
+// Controls whether events will be forwarded by the repeater to the
+// listeners in the list.
+bool TestEventListeners::EventForwardingEnabled() const {
+ return repeater_->forwarding_enabled();
+}
+
+void TestEventListeners::SuppressEventForwarding() {
+ repeater_->set_forwarding_enabled(false);
+}
+
+// class UnitTest
+
+// Gets the singleton UnitTest object. The first time this method is
+// called, a UnitTest object is constructed and returned. Consecutive
+// calls will return the same object.
+//
+// We don't protect this under mutex_ as a user is not supposed to
+// call this before main() starts, from which point on the return
+// value will never change.
+UnitTest* UnitTest::GetInstance() {
+ // When compiled with MSVC 7.1 in optimized mode, destroying the
+ // UnitTest object upon exiting the program messes up the exit code,
+ // causing successful tests to appear failed. We have to use a
+ // different implementation in this case to bypass the compiler bug.
+ // This implementation makes the compiler happy, at the cost of
+ // leaking the UnitTest object.
+
+ // CodeGear C++Builder insists on a public destructor for the
+ // default implementation. Use this implementation to keep good OO
+ // design with private destructor.
+
+#if (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+ static UnitTest* const instance = new UnitTest;
+ return instance;
+#else
+ static UnitTest instance;
+ return &instance;
+#endif // (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+}
+
+// Gets the number of successful test cases.
+int UnitTest::successful_test_case_count() const {
+ return impl()->successful_test_case_count();
+}
+
+// Gets the number of failed test cases.
+int UnitTest::failed_test_case_count() const {
+ return impl()->failed_test_case_count();
+}
+
+// Gets the number of all test cases.
+int UnitTest::total_test_case_count() const {
+ return impl()->total_test_case_count();
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTest::test_case_to_run_count() const {
+ return impl()->test_case_to_run_count();
+}
+
+// Gets the number of successful tests.
+int UnitTest::successful_test_count() const {
+ return impl()->successful_test_count();
+}
+
+// Gets the number of failed tests.
+int UnitTest::failed_test_count() const { return impl()->failed_test_count(); }
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int UnitTest::reportable_disabled_test_count() const {
+ return impl()->reportable_disabled_test_count();
+}
+
+// Gets the number of disabled tests.
+int UnitTest::disabled_test_count() const {
+ return impl()->disabled_test_count();
+}
+
+// Gets the number of tests to be printed in the XML report.
+int UnitTest::reportable_test_count() const {
+ return impl()->reportable_test_count();
+}
+
+// Gets the number of all tests.
+int UnitTest::total_test_count() const { return impl()->total_test_count(); }
+
+// Gets the number of tests that should run.
+int UnitTest::test_to_run_count() const { return impl()->test_to_run_count(); }
+
+// Gets the time of the test program start, in ms from the start of the
+// UNIX epoch.
+internal::TimeInMillis UnitTest::start_timestamp() const {
+ return impl()->start_timestamp();
+}
+
+// Gets the elapsed time, in milliseconds.
+internal::TimeInMillis UnitTest::elapsed_time() const {
+ return impl()->elapsed_time();
+}
+
+// Returns true iff the unit test passed (i.e. all test cases passed).
+bool UnitTest::Passed() const { return impl()->Passed(); }
+
+// Returns true iff the unit test failed (i.e. some test case failed
+// or something outside of all tests failed).
+bool UnitTest::Failed() const { return impl()->Failed(); }
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+const TestCase* UnitTest::GetTestCase(int i) const {
+ return impl()->GetTestCase(i);
+}
+
+// Returns the TestResult containing information on test failures and
+// properties logged outside of individual test cases.
+const TestResult& UnitTest::ad_hoc_test_result() const {
+ return *impl()->ad_hoc_test_result();
+}
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+TestCase* UnitTest::GetMutableTestCase(int i) {
+ return impl()->GetMutableTestCase(i);
+}
+
+// Returns the list of event listeners that can be used to track events
+// inside Google Test.
+TestEventListeners& UnitTest::listeners() {
+ return *impl()->listeners();
+}
+
+// Registers and returns a global test environment. When a test
+// program is run, all global test environments will be set-up in the
+// order they were registered. After all tests in the program have
+// finished, all global test environments will be torn-down in the
+// *reverse* order they were registered.
+//
+// The UnitTest object takes ownership of the given environment.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+Environment* UnitTest::AddEnvironment(Environment* env) {
+ if (env == NULL) {
+ return NULL;
+ }
+
+ impl_->environments().push_back(env);
+ return env;
+}
+
+// Adds a TestPartResult to the current TestResult object. All Google Test
+// assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc) eventually call
+// this to report their results. The user code should use the
+// assertion macros instead of calling this directly.
+void UnitTest::AddTestPartResult(
+ TestPartResult::Type result_type,
+ const char* file_name,
+ int line_number,
+ const std::string& message,
+ const std::string& os_stack_trace) GTEST_LOCK_EXCLUDED_(mutex_) {
+ Message msg;
+ msg << message;
+
+ internal::MutexLock lock(&mutex_);
+ if (impl_->gtest_trace_stack().size() > 0) {
+ msg << "\n" << GTEST_NAME_ << " trace:";
+
+ for (int i = static_cast<int>(impl_->gtest_trace_stack().size());
+ i > 0; --i) {
+ const internal::TraceInfo& trace = impl_->gtest_trace_stack()[i - 1];
+ msg << "\n" << internal::FormatFileLocation(trace.file, trace.line)
+ << " " << trace.message;
+ }
+ }
+
+ if (os_stack_trace.c_str() != NULL && !os_stack_trace.empty()) {
+ msg << internal::kStackTraceMarker << os_stack_trace;
+ }
+
+ const TestPartResult result =
+ TestPartResult(result_type, file_name, line_number,
+ msg.GetString().c_str());
+ impl_->GetTestPartResultReporterForCurrentThread()->
+ ReportTestPartResult(result);
+
+ if (result_type != TestPartResult::kSuccess) {
+ // gtest_break_on_failure takes precedence over
+ // gtest_throw_on_failure. This allows a user to set the latter
+ // in the code (perhaps in order to use Google Test assertions
+ // with another testing framework) and specify the former on the
+ // command line for debugging.
+ if (GTEST_FLAG(break_on_failure)) {
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+ // Using DebugBreak on Windows allows gtest to still break into a debugger
+ // when a failure happens and both the --gtest_break_on_failure and
+ // the --gtest_catch_exceptions flags are specified.
+ DebugBreak();
+#else
+ // Dereference NULL through a volatile pointer to prevent the compiler
+ // from removing. We use this rather than abort() or __builtin_trap() for
+ // portability: Symbian doesn't implement abort() well, and some debuggers
+ // don't correctly trap abort().
+ *static_cast<volatile int*>(NULL) = 1;
+#endif // GTEST_OS_WINDOWS
+ } else if (GTEST_FLAG(throw_on_failure)) {
+#if GTEST_HAS_EXCEPTIONS
+ throw internal::GoogleTestFailureException(result);
+#else
+ // We cannot call abort() as it generates a pop-up in debug mode
+ // that cannot be suppressed in VC 7.1 or below.
+ exit(1);
+#endif
+ }
+ }
+}
+
+// Adds a TestProperty to the current TestResult object when invoked from
+// inside a test, to current TestCase's ad_hoc_test_result_ when invoked
+// from SetUpTestCase or TearDownTestCase, or to the global property set
+// when invoked elsewhere. If the result already contains a property with
+// the same key, the value will be updated.
+void UnitTest::RecordProperty(const std::string& key,
+ const std::string& value) {
+ impl_->RecordProperty(TestProperty(key, value));
+}
+
+// Runs all tests in this UnitTest object and prints the result.
+// Returns 0 if successful, or 1 otherwise.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+int UnitTest::Run() {
+ const bool in_death_test_child_process =
+ internal::GTEST_FLAG(internal_run_death_test).length() > 0;
+
+ // Google Test implements this protocol for catching that a test
+ // program exits before returning control to Google Test:
+ //
+ // 1. Upon start, Google Test creates a file whose absolute path
+ // is specified by the environment variable
+ // TEST_PREMATURE_EXIT_FILE.
+ // 2. When Google Test has finished its work, it deletes the file.
+ //
+ // This allows a test runner to set TEST_PREMATURE_EXIT_FILE before
+ // running a Google-Test-based test program and check the existence
+ // of the file at the end of the test execution to see if it has
+ // exited prematurely.
+
+ // If we are in the child process of a death test, don't
+ // create/delete the premature exit file, as doing so is unnecessary
+ // and will confuse the parent process. Otherwise, create/delete
+ // the file upon entering/leaving this function. If the program
+ // somehow exits before this function has a chance to return, the
+ // premature-exit file will be left undeleted, causing a test runner
+ // that understands the premature-exit-file protocol to report the
+ // test as having failed.
+ const internal::ScopedPrematureExitFile premature_exit_file(
+ in_death_test_child_process ?
+ NULL : internal::posix::GetEnv("TEST_PREMATURE_EXIT_FILE"));
+
+ // Captures the value of GTEST_FLAG(catch_exceptions). This value will be
+ // used for the duration of the program.
+ impl()->set_catch_exceptions(GTEST_FLAG(catch_exceptions));
+
+#if GTEST_HAS_SEH
+ // Either the user wants Google Test to catch exceptions thrown by the
+ // tests or this is executing in the context of death test child
+ // process. In either case the user does not want to see pop-up dialogs
+ // about crashes - they are expected.
+ if (impl()->catch_exceptions() || in_death_test_child_process) {
+# if !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+ // SetErrorMode doesn't exist on CE.
+ SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOALIGNMENTFAULTEXCEPT |
+ SEM_NOGPFAULTERRORBOX | SEM_NOOPENFILEERRORBOX);
+# endif // !GTEST_OS_WINDOWS_MOBILE
+
+# if (defined(_MSC_VER) || GTEST_OS_WINDOWS_MINGW) && !GTEST_OS_WINDOWS_MOBILE
+ // Death test children can be terminated with _abort(). On Windows,
+ // _abort() can show a dialog with a warning message. This forces the
+ // abort message to go to stderr instead.
+ _set_error_mode(_OUT_TO_STDERR);
+# endif
+
+# if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
+ // In the debug version, Visual Studio pops up a separate dialog
+ // offering a choice to debug the aborted program. We need to suppress
+ // this dialog or it will pop up for every EXPECT/ASSERT_DEATH statement
+ // executed. Google Test will notify the user of any unexpected
+ // failure via stderr.
+ //
+ // VC++ doesn't define _set_abort_behavior() prior to the version 8.0.
+ // Users of prior VC versions shall suffer the agony and pain of
+ // clicking through the countless debug dialogs.
+ // TODO(vladl@google.com): find a way to suppress the abort dialog() in the
+ // debug mode when compiled with VC 7.1 or lower.
+ if (!GTEST_FLAG(break_on_failure))
+ _set_abort_behavior(
+ 0x0, // Clear the following flags:
+ _WRITE_ABORT_MSG | _CALL_REPORTFAULT); // pop-up window, core dump.
+# endif
+ }
+#endif // GTEST_HAS_SEH
+
+ return internal::HandleExceptionsInMethodIfSupported(
+ impl(),
+ &internal::UnitTestImpl::RunAllTests,
+ "auxiliary test code (environments or event listeners)") ? 0 : 1;
+}
+
+// Returns the working directory when the first TEST() or TEST_F() was
+// executed.
+const char* UnitTest::original_working_dir() const {
+ return impl_->original_working_dir_.c_str();
+}
+
+// Returns the TestCase object for the test that's currently running,
+// or NULL if no test is running.
+const TestCase* UnitTest::current_test_case() const
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ internal::MutexLock lock(&mutex_);
+ return impl_->current_test_case();
+}
+
+// Returns the TestInfo object for the test that's currently running,
+// or NULL if no test is running.
+const TestInfo* UnitTest::current_test_info() const
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ internal::MutexLock lock(&mutex_);
+ return impl_->current_test_info();
+}
+
+// Returns the random seed used at the start of the current test run.
+int UnitTest::random_seed() const { return impl_->random_seed(); }
+
+#if GTEST_HAS_PARAM_TEST
+// Returns ParameterizedTestCaseRegistry object used to keep track of
+// value-parameterized tests and instantiate and register them.
+internal::ParameterizedTestCaseRegistry&
+ UnitTest::parameterized_test_registry()
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ return impl_->parameterized_test_registry();
+}
+#endif // GTEST_HAS_PARAM_TEST
+
+// Creates an empty UnitTest.
+UnitTest::UnitTest() {
+ impl_ = new internal::UnitTestImpl(this);
+}
+
+// Destructor of UnitTest.
+UnitTest::~UnitTest() {
+ delete impl_;
+}
+
+// Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+// Google Test trace stack.
+void UnitTest::PushGTestTrace(const internal::TraceInfo& trace)
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ internal::MutexLock lock(&mutex_);
+ impl_->gtest_trace_stack().push_back(trace);
+}
+
+// Pops a trace from the per-thread Google Test trace stack.
+void UnitTest::PopGTestTrace()
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ internal::MutexLock lock(&mutex_);
+ impl_->gtest_trace_stack().pop_back();
+}
+
+namespace internal {
+
+UnitTestImpl::UnitTestImpl(UnitTest* parent)
+ : parent_(parent),
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4355 /* using this in initializer */)
+ default_global_test_part_result_reporter_(this),
+ default_per_thread_test_part_result_reporter_(this),
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+ global_test_part_result_repoter_(
+ &default_global_test_part_result_reporter_),
+ per_thread_test_part_result_reporter_(
+ &default_per_thread_test_part_result_reporter_),
+#if GTEST_HAS_PARAM_TEST
+ parameterized_test_registry_(),
+ parameterized_tests_registered_(false),
+#endif // GTEST_HAS_PARAM_TEST
+ last_death_test_case_(-1),
+ current_test_case_(NULL),
+ current_test_info_(NULL),
+ ad_hoc_test_result_(),
+ os_stack_trace_getter_(NULL),
+ post_flag_parse_init_performed_(false),
+ random_seed_(0), // Will be overridden by the flag before first use.
+ random_(0), // Will be reseeded before first use.
+ start_timestamp_(0),
+ elapsed_time_(0),
+#if GTEST_HAS_DEATH_TEST
+ death_test_factory_(new DefaultDeathTestFactory),
+#endif
+ // Will be overridden by the flag before first use.
+ catch_exceptions_(false) {
+ listeners()->SetDefaultResultPrinter(new PrettyUnitTestResultPrinter);
+}
+
+UnitTestImpl::~UnitTestImpl() {
+ // Deletes every TestCase.
+ ForEach(test_cases_, internal::Delete<TestCase>);
+
+ // Deletes every Environment.
+ ForEach(environments_, internal::Delete<Environment>);
+
+ delete os_stack_trace_getter_;
+}
+
+// Adds a TestProperty to the current TestResult object when invoked in a
+// context of a test, to current test case's ad_hoc_test_result when invoke
+// from SetUpTestCase/TearDownTestCase, or to the global property set
+// otherwise. If the result already contains a property with the same key,
+// the value will be updated.
+void UnitTestImpl::RecordProperty(const TestProperty& test_property) {
+ std::string xml_element;
+ TestResult* test_result; // TestResult appropriate for property recording.
+
+ if (current_test_info_ != NULL) {
+ xml_element = "testcase";
+ test_result = &(current_test_info_->result_);
+ } else if (current_test_case_ != NULL) {
+ xml_element = "testsuite";
+ test_result = &(current_test_case_->ad_hoc_test_result_);
+ } else {
+ xml_element = "testsuites";
+ test_result = &ad_hoc_test_result_;
+ }
+ test_result->RecordProperty(xml_element, test_property);
+}
+
+#if GTEST_HAS_DEATH_TEST
+// Disables event forwarding if the control is currently in a death test
+// subprocess. Must not be called before InitGoogleTest.
+void UnitTestImpl::SuppressTestEventsIfInSubprocess() {
+ if (internal_run_death_test_flag_.get() != NULL)
+ listeners()->SuppressEventForwarding();
+}
+#endif // GTEST_HAS_DEATH_TEST
+
+// Initializes event listeners performing XML output as specified by
+// UnitTestOptions. Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureXmlOutput() {
+ const std::string& output_format = UnitTestOptions::GetOutputFormat();
+ if (output_format == "xml") {
+ listeners()->SetDefaultXmlGenerator(new XmlUnitTestResultPrinter(
+ UnitTestOptions::GetAbsolutePathToOutputFile().c_str()));
+ } else if (output_format != "") {
+ printf("WARNING: unrecognized output format \"%s\" ignored.\n",
+ output_format.c_str());
+ fflush(stdout);
+ }
+}
+
+#if GTEST_CAN_STREAM_RESULTS_
+// Initializes event listeners for streaming test results in string form.
+// Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureStreamingOutput() {
+ const std::string& target = GTEST_FLAG(stream_result_to);
+ if (!target.empty()) {
+ const size_t pos = target.find(':');
+ if (pos != std::string::npos) {
+ listeners()->Append(new StreamingListener(target.substr(0, pos),
+ target.substr(pos+1)));
+ } else {
+ printf("WARNING: unrecognized streaming target \"%s\" ignored.\n",
+ target.c_str());
+ fflush(stdout);
+ }
+ }
+}
+#endif // GTEST_CAN_STREAM_RESULTS_
+
+// Performs initialization dependent upon flag values obtained in
+// ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
+// ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
+// this function is also called from RunAllTests. Since this function can be
+// called more than once, it has to be idempotent.
+void UnitTestImpl::PostFlagParsingInit() {
+ // Ensures that this function does not execute more than once.
+ if (!post_flag_parse_init_performed_) {
+ post_flag_parse_init_performed_ = true;
+
+#if defined(GTEST_CUSTOM_TEST_EVENT_LISTENER_)
+ // Register to send notifications about key process state changes.
+ listeners()->Append(new GTEST_CUSTOM_TEST_EVENT_LISTENER_());
+#endif // defined(GTEST_CUSTOM_TEST_EVENT_LISTENER_)
+
+#if GTEST_HAS_DEATH_TEST
+ InitDeathTestSubprocessControlInfo();
+ SuppressTestEventsIfInSubprocess();
+#endif // GTEST_HAS_DEATH_TEST
+
+ // Registers parameterized tests. This makes parameterized tests
+ // available to the UnitTest reflection API without running
+ // RUN_ALL_TESTS.
+ RegisterParameterizedTests();
+
+ // Configures listeners for XML output. This makes it possible for users
+ // to shut down the default XML output before invoking RUN_ALL_TESTS.
+ ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+ // Configures listeners for streaming test results to the specified server.
+ ConfigureStreamingOutput();
+#endif // GTEST_CAN_STREAM_RESULTS_
+ }
+}
+
+// A predicate that checks the name of a TestCase against a known
+// value.
+//
+// This is used for implementation of the UnitTest class only. We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestCaseNameIs is copyable.
+class TestCaseNameIs {
+ public:
+ // Constructor.
+ explicit TestCaseNameIs(const std::string& name)
+ : name_(name) {}
+
+ // Returns true iff the name of test_case matches name_.
+ bool operator()(const TestCase* test_case) const {
+ return test_case != NULL && strcmp(test_case->name(), name_.c_str()) == 0;
+ }
+
+ private:
+ std::string name_;
+};
+
+// Finds and returns a TestCase with the given name. If one doesn't
+// exist, creates one and returns it. It's the CALLER'S
+// RESPONSIBILITY to ensure that this function is only called WHEN THE
+// TESTS ARE NOT SHUFFLED.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// type_param: the name of the test case's type parameter, or NULL if
+// this is not a typed or a type-parameterized test case.
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+TestCase* UnitTestImpl::GetTestCase(const char* test_case_name,
+ const char* type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc) {
+ // Can we find a TestCase with the given name?
+ const std::vector<TestCase*>::const_iterator test_case =
+ std::find_if(test_cases_.begin(), test_cases_.end(),
+ TestCaseNameIs(test_case_name));
+
+ if (test_case != test_cases_.end())
+ return *test_case;
+
+ // No. Let's create one.
+ TestCase* const new_test_case =
+ new TestCase(test_case_name, type_param, set_up_tc, tear_down_tc);
+
+ // Is this a death test case?
+ if (internal::UnitTestOptions::MatchesFilter(test_case_name,
+ kDeathTestCaseFilter)) {
+ // Yes. Inserts the test case after the last death test case
+ // defined so far. This only works when the test cases haven't
+ // been shuffled. Otherwise we may end up running a death test
+ // after a non-death test.
+ ++last_death_test_case_;
+ test_cases_.insert(test_cases_.begin() + last_death_test_case_,
+ new_test_case);
+ } else {
+ // No. Appends to the end of the list.
+ test_cases_.push_back(new_test_case);
+ }
+
+ test_case_indices_.push_back(static_cast<int>(test_case_indices_.size()));
+ return new_test_case;
+}
+
+// Helpers for setting up / tearing down the given environment. They
+// are for use in the ForEach() function.
+static void SetUpEnvironment(Environment* env) { env->SetUp(); }
+static void TearDownEnvironment(Environment* env) { env->TearDown(); }
+
+// Runs all tests in this UnitTest object, prints the result, and
+// returns true if all tests are successful. If any exception is
+// thrown during a test, the test is considered to be failed, but the
+// rest of the tests will still be run.
+//
+// When parameterized tests are enabled, it expands and registers
+// parameterized tests first in RegisterParameterizedTests().
+// All other functions called from RunAllTests() may safely assume that
+// parameterized tests are ready to be counted and run.
+bool UnitTestImpl::RunAllTests() {
+ // Makes sure InitGoogleTest() was called.
+ if (!GTestIsInitialized()) {
+ printf("%s",
+ "\nThis test program did NOT call ::testing::InitGoogleTest "
+ "before calling RUN_ALL_TESTS(). Please fix it.\n");
+ return false;
+ }
+
+ // Do not run any test if the --help flag was specified.
+ if (g_help_flag)
+ return true;
+
+ // Repeats the call to the post-flag parsing initialization in case the
+ // user didn't call InitGoogleTest.
+ PostFlagParsingInit();
+
+ // Even if sharding is not on, test runners may want to use the
+ // GTEST_SHARD_STATUS_FILE to query whether the test supports the sharding
+ // protocol.
+ internal::WriteToShardStatusFileIfNeeded();
+
+ // True iff we are in a subprocess for running a thread-safe-style
+ // death test.
+ bool in_subprocess_for_death_test = false;
+
+#if GTEST_HAS_DEATH_TEST
+ in_subprocess_for_death_test = (internal_run_death_test_flag_.get() != NULL);
+# if defined(GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_)
+ if (in_subprocess_for_death_test) {
+ GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_();
+ }
+# endif // defined(GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_)
+#endif // GTEST_HAS_DEATH_TEST
+
+ const bool should_shard = ShouldShard(kTestTotalShards, kTestShardIndex,
+ in_subprocess_for_death_test);
+
+ // Compares the full test names with the filter to decide which
+ // tests to run.
+ const bool has_tests_to_run = FilterTests(should_shard
+ ? HONOR_SHARDING_PROTOCOL
+ : IGNORE_SHARDING_PROTOCOL) > 0;
+
+ // Lists the tests and exits if the --gtest_list_tests flag was specified.
+ if (GTEST_FLAG(list_tests)) {
+ // This must be called *after* FilterTests() has been called.
+ ListTestsMatchingFilter();
+ return true;
+ }
+
+ random_seed_ = GTEST_FLAG(shuffle) ?
+ GetRandomSeedFromFlag(GTEST_FLAG(random_seed)) : 0;
+
+ // True iff at least one test has failed.
+ bool failed = false;
+
+ TestEventListener* repeater = listeners()->repeater();
+
+ start_timestamp_ = GetTimeInMillis();
+ repeater->OnTestProgramStart(*parent_);
+
+ // How many times to repeat the tests? We don't want to repeat them
+ // when we are inside the subprocess of a death test.
+ const int repeat = in_subprocess_for_death_test ? 1 : GTEST_FLAG(repeat);
+ // Repeats forever if the repeat count is negative.
+ const bool forever = repeat < 0;
+ for (int i = 0; forever || i != repeat; i++) {
+ // We want to preserve failures generated by ad-hoc test
+ // assertions executed before RUN_ALL_TESTS().
+ ClearNonAdHocTestResult();
+
+ const TimeInMillis start = GetTimeInMillis();
+
+ // Shuffles test cases and tests if requested.
+ if (has_tests_to_run && GTEST_FLAG(shuffle)) {
+ random()->Reseed(random_seed_);
+ // This should be done before calling OnTestIterationStart(),
+ // such that a test event listener can see the actual test order
+ // in the event.
+ ShuffleTests();
+ }
+
+ // Tells the unit test event listeners that the tests are about to start.
+ repeater->OnTestIterationStart(*parent_, i);
+
+ // Runs each test case if there is at least one test to run.
+ if (has_tests_to_run) {
+ // Sets up all environments beforehand.
+ repeater->OnEnvironmentsSetUpStart(*parent_);
+ ForEach(environments_, SetUpEnvironment);
+ repeater->OnEnvironmentsSetUpEnd(*parent_);
+
+ // Runs the tests only if there was no fatal failure during global
+ // set-up.
+ if (!Test::HasFatalFailure()) {
+ for (int test_index = 0; test_index < total_test_case_count();
+ test_index++) {
+ GetMutableTestCase(test_index)->Run();
+ }
+ }
+
+ // Tears down all environments in reverse order afterwards.
+ repeater->OnEnvironmentsTearDownStart(*parent_);
+ std::for_each(environments_.rbegin(), environments_.rend(),
+ TearDownEnvironment);
+ repeater->OnEnvironmentsTearDownEnd(*parent_);
+ }
+
+ elapsed_time_ = GetTimeInMillis() - start;
+
+ // Tells the unit test event listener that the tests have just finished.
+ repeater->OnTestIterationEnd(*parent_, i);
+
+ // Gets the result and clears it.
+ if (!Passed()) {
+ failed = true;
+ }
+
+ // Restores the original test order after the iteration. This
+ // allows the user to quickly repro a failure that happens in the
+ // N-th iteration without repeating the first (N - 1) iterations.
+ // This is not enclosed in "if (GTEST_FLAG(shuffle)) { ... }", in
+ // case the user somehow changes the value of the flag somewhere
+ // (it's always safe to unshuffle the tests).
+ UnshuffleTests();
+
+ if (GTEST_FLAG(shuffle)) {
+ // Picks a new random seed for each iteration.
+ random_seed_ = GetNextRandomSeed(random_seed_);
+ }
+ }
+
+ repeater->OnTestProgramEnd(*parent_);
+
+ return !failed;
+}
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded() {
+ const char* const test_shard_file = posix::GetEnv(kTestShardStatusFile);
+ if (test_shard_file != NULL) {
+ FILE* const file = posix::FOpen(test_shard_file, "w");
+ if (file == NULL) {
+ ColoredPrintf(COLOR_RED,
+ "Could not write to the test shard status file \"%s\" "
+ "specified by the %s environment variable.\n",
+ test_shard_file, kTestShardStatusFile);
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ }
+ fclose(file);
+ }
+}
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (i.e., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+bool ShouldShard(const char* total_shards_env,
+ const char* shard_index_env,
+ bool in_subprocess_for_death_test) {
+ if (in_subprocess_for_death_test) {
+ return false;
+ }
+
+ const Int32 total_shards = Int32FromEnvOrDie(total_shards_env, -1);
+ const Int32 shard_index = Int32FromEnvOrDie(shard_index_env, -1);
+
+ if (total_shards == -1 && shard_index == -1) {
+ return false;
+ } else if (total_shards == -1 && shard_index != -1) {
+ const Message msg = Message()
+ << "Invalid environment variables: you have "
+ << kTestShardIndex << " = " << shard_index
+ << ", but have left " << kTestTotalShards << " unset.\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ } else if (total_shards != -1 && shard_index == -1) {
+ const Message msg = Message()
+ << "Invalid environment variables: you have "
+ << kTestTotalShards << " = " << total_shards
+ << ", but have left " << kTestShardIndex << " unset.\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ } else if (shard_index < 0 || shard_index >= total_shards) {
+ const Message msg = Message()
+ << "Invalid environment variables: we require 0 <= "
+ << kTestShardIndex << " < " << kTestTotalShards
+ << ", but you have " << kTestShardIndex << "=" << shard_index
+ << ", " << kTestTotalShards << "=" << total_shards << ".\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ }
+
+ return total_shards > 1;
+}
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error
+// and aborts.
+Int32 Int32FromEnvOrDie(const char* var, Int32 default_val) {
+ const char* str_val = posix::GetEnv(var);
+ if (str_val == NULL) {
+ return default_val;
+ }
+
+ Int32 result;
+ if (!ParseInt32(Message() << "The value of environment variable " << var,
+ str_val, &result)) {
+ exit(EXIT_FAILURE);
+ }
+ return result;
+}
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+bool ShouldRunTestOnShard(int total_shards, int shard_index, int test_id) {
+ return (test_id % total_shards) == shard_index;
+}
+
+// Compares the name of each test with the user-specified filter to
+// decide whether the test should be run, then records the result in
+// each TestCase and TestInfo object.
+// If shard_tests == true, further filters tests based on sharding
+// variables in the environment - see
+// http://code.google.com/p/googletest/wiki/GoogleTestAdvancedGuide.
+// Returns the number of tests that should run.
+int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
+ const Int32 total_shards = shard_tests == HONOR_SHARDING_PROTOCOL ?
+ Int32FromEnvOrDie(kTestTotalShards, -1) : -1;
+ const Int32 shard_index = shard_tests == HONOR_SHARDING_PROTOCOL ?
+ Int32FromEnvOrDie(kTestShardIndex, -1) : -1;
+
+ // num_runnable_tests are the number of tests that will
+ // run across all shards (i.e., match filter and are not disabled).
+ // num_selected_tests are the number of tests to be run on
+ // this shard.
+ int num_runnable_tests = 0;
+ int num_selected_tests = 0;
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ TestCase* const test_case = test_cases_[i];
+ const std::string &test_case_name = test_case->name();
+ test_case->set_should_run(false);
+
+ for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+ TestInfo* const test_info = test_case->test_info_list()[j];
+ const std::string test_name(test_info->name());
+ // A test is disabled if test case name or test name matches
+ // kDisableTestFilter.
+ const bool is_disabled =
+ internal::UnitTestOptions::MatchesFilter(test_case_name,
+ kDisableTestFilter) ||
+ internal::UnitTestOptions::MatchesFilter(test_name,
+ kDisableTestFilter);
+ test_info->is_disabled_ = is_disabled;
+
+ const bool matches_filter =
+ internal::UnitTestOptions::FilterMatchesTest(test_case_name,
+ test_name);
+ test_info->matches_filter_ = matches_filter;
+
+ const bool is_runnable =
+ (GTEST_FLAG(also_run_disabled_tests) || !is_disabled) &&
+ matches_filter;
+
+ const bool is_selected = is_runnable &&
+ (shard_tests == IGNORE_SHARDING_PROTOCOL ||
+ ShouldRunTestOnShard(total_shards, shard_index,
+ num_runnable_tests));
+
+ num_runnable_tests += is_runnable;
+ num_selected_tests += is_selected;
+
+ test_info->should_run_ = is_selected;
+ test_case->set_should_run(test_case->should_run() || is_selected);
+ }
+ }
+ return num_selected_tests;
+}
+
+// Prints the given C-string on a single line by replacing all '\n'
+// characters with string "\\n". If the output takes more than
+// max_length characters, only prints the first max_length characters
+// and "...".
+static void PrintOnOneLine(const char* str, int max_length) {
+ if (str != NULL) {
+ for (int i = 0; *str != '\0'; ++str) {
+ if (i >= max_length) {
+ printf("...");
+ break;
+ }
+ if (*str == '\n') {
+ printf("\\n");
+ i += 2;
+ } else {
+ printf("%c", *str);
+ ++i;
+ }
+ }
+ }
+}
+
+// Prints the names of the tests matching the user-specified filter flag.
+void UnitTestImpl::ListTestsMatchingFilter() {
+ // Print at most this many characters for each type/value parameter.
+ const int kMaxParamLength = 250;
+
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ const TestCase* const test_case = test_cases_[i];
+ bool printed_test_case_name = false;
+
+ for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+ const TestInfo* const test_info =
+ test_case->test_info_list()[j];
+ if (test_info->matches_filter_) {
+ if (!printed_test_case_name) {
+ printed_test_case_name = true;
+ printf("%s.", test_case->name());
+ if (test_case->type_param() != NULL) {
+ printf(" # %s = ", kTypeParamLabel);
+ // We print the type parameter on a single line to make
+ // the output easy to parse by a program.
+ PrintOnOneLine(test_case->type_param(), kMaxParamLength);
+ }
+ printf("\n");
+ }
+ printf(" %s", test_info->name());
+ if (test_info->value_param() != NULL) {
+ printf(" # %s = ", kValueParamLabel);
+ // We print the value parameter on a single line to make the
+ // output easy to parse by a program.
+ PrintOnOneLine(test_info->value_param(), kMaxParamLength);
+ }
+ printf("\n");
+ }
+ }
+ }
+ fflush(stdout);
+}
+
+// Sets the OS stack trace getter.
+//
+// Does nothing if the input and the current OS stack trace getter are
+// the same; otherwise, deletes the old getter and makes the input the
+// current getter.
+void UnitTestImpl::set_os_stack_trace_getter(
+ OsStackTraceGetterInterface* getter) {
+ if (os_stack_trace_getter_ != getter) {
+ delete os_stack_trace_getter_;
+ os_stack_trace_getter_ = getter;
+ }
+}
+
+// Returns the current OS stack trace getter if it is not NULL;
+// otherwise, creates an OsStackTraceGetter, makes it the current
+// getter, and returns it.
+OsStackTraceGetterInterface* UnitTestImpl::os_stack_trace_getter() {
+ if (os_stack_trace_getter_ == NULL) {
+#ifdef GTEST_OS_STACK_TRACE_GETTER_
+ os_stack_trace_getter_ = new GTEST_OS_STACK_TRACE_GETTER_;
+#else
+ os_stack_trace_getter_ = new OsStackTraceGetter;
+#endif // GTEST_OS_STACK_TRACE_GETTER_
+ }
+
+ return os_stack_trace_getter_;
+}
+
+// Returns the TestResult for the test that's currently running, or
+// the TestResult for the ad hoc test if no test is running.
+TestResult* UnitTestImpl::current_test_result() {
+ return current_test_info_ ?
+ &(current_test_info_->result_) : &ad_hoc_test_result_;
+}
+
+// Shuffles all test cases, and the tests within each test case,
+// making sure that death tests are still run first.
+void UnitTestImpl::ShuffleTests() {
+ // Shuffles the death test cases.
+ ShuffleRange(random(), 0, last_death_test_case_ + 1, &test_case_indices_);
+
+ // Shuffles the non-death test cases.
+ ShuffleRange(random(), last_death_test_case_ + 1,
+ static_cast<int>(test_cases_.size()), &test_case_indices_);
+
+ // Shuffles the tests inside each test case.
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ test_cases_[i]->ShuffleTests(random());
+ }
+}
+
+// Restores the test cases and tests to their order before the first shuffle.
+void UnitTestImpl::UnshuffleTests() {
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ // Unshuffles the tests in each test case.
+ test_cases_[i]->UnshuffleTests();
+ // Resets the index of each test case.
+ test_case_indices_[i] = static_cast<int>(i);
+ }
+}
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+std::string GetCurrentOsStackTraceExceptTop(UnitTest* /*unit_test*/,
+ int skip_count) {
+ // We pass skip_count + 1 to skip this wrapper function in addition
+ // to what the user really wants to skip.
+ return GetUnitTestImpl()->CurrentOsStackTraceExceptTop(skip_count + 1);
+}
+
+// Used by the GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_ macro to
+// suppress unreachable code warnings.
+namespace {
+class ClassUniqueToAlwaysTrue {};
+}
+
+bool IsTrue(bool condition) { return condition; }
+
+bool AlwaysTrue() {
+#if GTEST_HAS_EXCEPTIONS
+ // This condition is always false so AlwaysTrue() never actually throws,
+ // but it makes the compiler think that it may throw.
+ if (IsTrue(false))
+ throw ClassUniqueToAlwaysTrue();
+#endif // GTEST_HAS_EXCEPTIONS
+ return true;
+}
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false. None of pstr, *pstr, and prefix can be NULL.
+bool SkipPrefix(const char* prefix, const char** pstr) {
+ const size_t prefix_len = strlen(prefix);
+ if (strncmp(*pstr, prefix, prefix_len) == 0) {
+ *pstr += prefix_len;
+ return true;
+ }
+ return false;
+}
+
+// Parses a string as a command line flag. The string should have
+// the format "--flag=value". When def_optional is true, the "=value"
+// part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+const char* ParseFlagValue(const char* str,
+ const char* flag,
+ bool def_optional) {
+ // str and flag must not be NULL.
+ if (str == NULL || flag == NULL) return NULL;
+
+ // The flag must start with "--" followed by GTEST_FLAG_PREFIX_.
+ const std::string flag_str = std::string("--") + GTEST_FLAG_PREFIX_ + flag;
+ const size_t flag_len = flag_str.length();
+ if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+ // Skips the flag name.
+ const char* flag_end = str + flag_len;
+
+ // When def_optional is true, it's OK to not have a "=value" part.
+ if (def_optional && (flag_end[0] == '\0')) {
+ return flag_end;
+ }
+
+ // If def_optional is true and there are more characters after the
+ // flag name, or if def_optional is false, there must be a '=' after
+ // the flag name.
+ if (flag_end[0] != '=') return NULL;
+
+ // Returns the string after "=".
+ return flag_end + 1;
+}
+
+// Parses a string for a bool flag, in the form of either
+// "--flag=value" or "--flag".
+//
+// In the former case, the value is taken as true as long as it does
+// not start with '0', 'f', or 'F'.
+//
+// In the latter case, the value is taken as true.
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseBoolFlag(const char* str, const char* flag, bool* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, true);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Converts the string value to a bool.
+ *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+ return true;
+}
+
+// Parses a string for an Int32 flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseInt32Flag(const char* str, const char* flag, Int32* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ return ParseInt32(Message() << "The value of flag --" << flag,
+ value_str, value);
+}
+
+// Parses a string for a string flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseStringFlag(const char* str, const char* flag, std::string* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ *value = value_str;
+ return true;
+}
+
+// Determines whether a string has a prefix that Google Test uses for its
+// flags, i.e., starts with GTEST_FLAG_PREFIX_ or GTEST_FLAG_PREFIX_DASH_.
+// If Google Test detects that a command line flag has its prefix but is not
+// recognized, it will print its help message. Flags starting with
+// GTEST_INTERNAL_PREFIX_ followed by "internal_" are considered Google Test
+// internal flags and do not trigger the help message.
+static bool HasGoogleTestFlagPrefix(const char* str) {
+ return (SkipPrefix("--", &str) ||
+ SkipPrefix("-", &str) ||
+ SkipPrefix("/", &str)) &&
+ !SkipPrefix(GTEST_FLAG_PREFIX_ "internal_", &str) &&
+ (SkipPrefix(GTEST_FLAG_PREFIX_, &str) ||
+ SkipPrefix(GTEST_FLAG_PREFIX_DASH_, &str));
+}
+
+// Prints a string containing code-encoded text. The following escape
+// sequences can be used in the string to control the text color:
+//
+// @@ prints a single '@' character.
+// @R changes the color to red.
+// @G changes the color to green.
+// @Y changes the color to yellow.
+// @D changes to the default terminal text color.
+//
+// TODO(wan@google.com): Write tests for this once we add stdout
+// capturing to Google Test.
+static void PrintColorEncoded(const char* str) {
+ GTestColor color = COLOR_DEFAULT; // The current color.
+
+ // Conceptually, we split the string into segments divided by escape
+ // sequences. Then we print one segment at a time. At the end of
+ // each iteration, the str pointer advances to the beginning of the
+ // next segment.
+ for (;;) {
+ const char* p = strchr(str, '@');
+ if (p == NULL) {
+ ColoredPrintf(color, "%s", str);
+ return;
+ }
+
+ ColoredPrintf(color, "%s", std::string(str, p).c_str());
+
+ const char ch = p[1];
+ str = p + 2;
+ if (ch == '@') {
+ ColoredPrintf(color, "@");
+ } else if (ch == 'D') {
+ color = COLOR_DEFAULT;
+ } else if (ch == 'R') {
+ color = COLOR_RED;
+ } else if (ch == 'G') {
+ color = COLOR_GREEN;
+ } else if (ch == 'Y') {
+ color = COLOR_YELLOW;
+ } else {
+ --str;
+ }
+ }
+}
+
+static const char kColorEncodedHelpMessage[] =
+"This program contains tests written using " GTEST_NAME_ ". You can use the\n"
+"following command line flags to control its behavior:\n"
+"\n"
+"Test Selection:\n"
+" @G--" GTEST_FLAG_PREFIX_ "list_tests@D\n"
+" List the names of all tests instead of running them. The name of\n"
+" TEST(Foo, Bar) is \"Foo.Bar\".\n"
+" @G--" GTEST_FLAG_PREFIX_ "filter=@YPOSTIVE_PATTERNS"
+ "[@G-@YNEGATIVE_PATTERNS]@D\n"
+" Run only the tests whose name matches one of the positive patterns but\n"
+" none of the negative patterns. '?' matches any single character; '*'\n"
+" matches any substring; ':' separates two patterns.\n"
+" @G--" GTEST_FLAG_PREFIX_ "also_run_disabled_tests@D\n"
+" Run all disabled tests too.\n"
+"\n"
+"Test Execution:\n"
+" @G--" GTEST_FLAG_PREFIX_ "repeat=@Y[COUNT]@D\n"
+" Run the tests repeatedly; use a negative count to repeat forever.\n"
+" @G--" GTEST_FLAG_PREFIX_ "shuffle@D\n"
+" Randomize tests' orders on every iteration.\n"
+" @G--" GTEST_FLAG_PREFIX_ "random_seed=@Y[NUMBER]@D\n"
+" Random number seed to use for shuffling test orders (between 1 and\n"
+" 99999, or 0 to use a seed based on the current time).\n"
+"\n"
+"Test Output:\n"
+" @G--" GTEST_FLAG_PREFIX_ "color=@Y(@Gyes@Y|@Gno@Y|@Gauto@Y)@D\n"
+" Enable/disable colored output. The default is @Gauto@D.\n"
+" -@G-" GTEST_FLAG_PREFIX_ "print_time=0@D\n"
+" Don't print the elapsed time of each test.\n"
+" @G--" GTEST_FLAG_PREFIX_ "output=xml@Y[@G:@YDIRECTORY_PATH@G"
+ GTEST_PATH_SEP_ "@Y|@G:@YFILE_PATH]@D\n"
+" Generate an XML report in the given directory or with the given file\n"
+" name. @YFILE_PATH@D defaults to @Gtest_details.xml@D.\n"
+#if GTEST_CAN_STREAM_RESULTS_
+" @G--" GTEST_FLAG_PREFIX_ "stream_result_to=@YHOST@G:@YPORT@D\n"
+" Stream test results to the given server.\n"
+#endif // GTEST_CAN_STREAM_RESULTS_
+"\n"
+"Assertion Behavior:\n"
+#if GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+" @G--" GTEST_FLAG_PREFIX_ "death_test_style=@Y(@Gfast@Y|@Gthreadsafe@Y)@D\n"
+" Set the default death test style.\n"
+#endif // GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+" @G--" GTEST_FLAG_PREFIX_ "break_on_failure@D\n"
+" Turn assertion failures into debugger break-points.\n"
+" @G--" GTEST_FLAG_PREFIX_ "throw_on_failure@D\n"
+" Turn assertion failures into C++ exceptions.\n"
+" @G--" GTEST_FLAG_PREFIX_ "catch_exceptions=0@D\n"
+" Do not report exceptions as test failures. Instead, allow them\n"
+" to crash the program or throw a pop-up (on Windows).\n"
+"\n"
+"Except for @G--" GTEST_FLAG_PREFIX_ "list_tests@D, you can alternatively set "
+ "the corresponding\n"
+"environment variable of a flag (all letters in upper-case). For example, to\n"
+"disable colored text output, you can either specify @G--" GTEST_FLAG_PREFIX_
+ "color=no@D or set\n"
+"the @G" GTEST_FLAG_PREFIX_UPPER_ "COLOR@D environment variable to @Gno@D.\n"
+"\n"
+"For more information, please read the " GTEST_NAME_ " documentation at\n"
+"@G" GTEST_PROJECT_URL_ "@D. If you find a bug in " GTEST_NAME_ "\n"
+"(not one in your own code or tests), please report it to\n"
+"@G<" GTEST_DEV_EMAIL_ ">@D.\n";
+
+bool ParseGoogleTestFlag(const char* const arg) {
+ return ParseBoolFlag(arg, kAlsoRunDisabledTestsFlag,
+ >EST_FLAG(also_run_disabled_tests)) ||
+ ParseBoolFlag(arg, kBreakOnFailureFlag,
+ >EST_FLAG(break_on_failure)) ||
+ ParseBoolFlag(arg, kCatchExceptionsFlag,
+ >EST_FLAG(catch_exceptions)) ||
+ ParseStringFlag(arg, kColorFlag, >EST_FLAG(color)) ||
+ ParseStringFlag(arg, kDeathTestStyleFlag,
+ >EST_FLAG(death_test_style)) ||
+ ParseBoolFlag(arg, kDeathTestUseFork,
+ >EST_FLAG(death_test_use_fork)) ||
+ ParseStringFlag(arg, kFilterFlag, >EST_FLAG(filter)) ||
+ ParseStringFlag(arg, kInternalRunDeathTestFlag,
+ >EST_FLAG(internal_run_death_test)) ||
+ ParseBoolFlag(arg, kListTestsFlag, >EST_FLAG(list_tests)) ||
+ ParseStringFlag(arg, kOutputFlag, >EST_FLAG(output)) ||
+ ParseBoolFlag(arg, kPrintTimeFlag, >EST_FLAG(print_time)) ||
+ ParseInt32Flag(arg, kRandomSeedFlag, >EST_FLAG(random_seed)) ||
+ ParseInt32Flag(arg, kRepeatFlag, >EST_FLAG(repeat)) ||
+ ParseBoolFlag(arg, kShuffleFlag, >EST_FLAG(shuffle)) ||
+ ParseInt32Flag(arg, kStackTraceDepthFlag,
+ >EST_FLAG(stack_trace_depth)) ||
+ ParseStringFlag(arg, kStreamResultToFlag,
+ >EST_FLAG(stream_result_to)) ||
+ ParseBoolFlag(arg, kThrowOnFailureFlag,
+ >EST_FLAG(throw_on_failure));
+}
+
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+void LoadFlagsFromFile(const std::string& path) {
+ FILE* flagfile = posix::FOpen(path.c_str(), "r");
+ if (!flagfile) {
+ fprintf(stderr,
+ "Unable to open file \"%s\"\n",
+ GTEST_FLAG(flagfile).c_str());
+ fflush(stderr);
+ exit(EXIT_FAILURE);
+ }
+ std::string contents(ReadEntireFile(flagfile));
+ posix::FClose(flagfile);
+ std::vector<std::string> lines;
+ SplitString(contents, '\n', &lines);
+ for (size_t i = 0; i < lines.size(); ++i) {
+ if (lines[i].empty())
+ continue;
+ if (!ParseGoogleTestFlag(lines[i].c_str()))
+ g_help_flag = true;
+ }
+}
+#endif // GTEST_USE_OWN_FLAGFILE_FLAG_
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test. The type parameter CharType can be
+// instantiated to either char or wchar_t.
+template <typename CharType>
+void ParseGoogleTestFlagsOnlyImpl(int* argc, CharType** argv) {
+ for (int i = 1; i < *argc; i++) {
+ const std::string arg_string = StreamableToString(argv[i]);
+ const char* const arg = arg_string.c_str();
+
+ using internal::ParseBoolFlag;
+ using internal::ParseInt32Flag;
+ using internal::ParseStringFlag;
+
+ bool remove_flag = false;
+ if (ParseGoogleTestFlag(arg)) {
+ remove_flag = true;
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+ } else if (ParseStringFlag(arg, kFlagfileFlag, >EST_FLAG(flagfile))) {
+ LoadFlagsFromFile(GTEST_FLAG(flagfile));
+ remove_flag = true;
+#endif // GTEST_USE_OWN_FLAGFILE_FLAG_
+ } else if (arg_string == "--help" || arg_string == "-h" ||
+ arg_string == "-?" || arg_string == "/?" ||
+ HasGoogleTestFlagPrefix(arg)) {
+ // Both help flag and unrecognized Google Test flags (excluding
+ // internal ones) trigger help display.
+ g_help_flag = true;
+ }
+
+ if (remove_flag) {
+ // Shift the remainder of the argv list left by one. Note
+ // that argv has (*argc + 1) elements, the last one always being
+ // NULL. The following loop moves the trailing NULL element as
+ // well.
+ for (int j = i; j != *argc; j++) {
+ argv[j] = argv[j + 1];
+ }
+
+ // Decrements the argument count.
+ (*argc)--;
+
+ // We also need to decrement the iterator as we just removed
+ // an element.
+ i--;
+ }
+ }
+
+ if (g_help_flag) {
+ // We print the help here instead of in RUN_ALL_TESTS(), as the
+ // latter may not be called at all if the user is using Google
+ // Test with another testing framework.
+ PrintColorEncoded(kColorEncodedHelpMessage);
+ }
+}
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+void ParseGoogleTestFlagsOnly(int* argc, char** argv) {
+ ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv) {
+ ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+
+// The internal implementation of InitGoogleTest().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleTestImpl(int* argc, CharType** argv) {
+ // We don't want to run the initialization code twice.
+ if (GTestIsInitialized()) return;
+
+ if (*argc <= 0) return;
+
+ g_argvs.clear();
+ for (int i = 0; i != *argc; i++) {
+ g_argvs.push_back(StreamableToString(argv[i]));
+ }
+
+ ParseGoogleTestFlagsOnly(argc, argv);
+ GetUnitTestImpl()->PostFlagParsingInit();
+}
+
+} // namespace internal
+
+// Initializes Google Test. This must be called before calling
+// RUN_ALL_TESTS(). In particular, it parses a command line for the
+// flags that Google Test recognizes. Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+void InitGoogleTest(int* argc, char** argv) {
+#if defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+ GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_(argc, argv);
+#else // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+ internal::InitGoogleTestImpl(argc, argv);
+#endif // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+void InitGoogleTest(int* argc, wchar_t** argv) {
+#if defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+ GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_(argc, argv);
+#else // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+ internal::InitGoogleTestImpl(argc, argv);
+#endif // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+}
+
+} // namespace testing
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan), vladl@google.com (Vlad Losev)
+//
+// This file implements death tests.
+
+
+#if GTEST_HAS_DEATH_TEST
+
+# if GTEST_OS_MAC
+# include <crt_externs.h>
+# endif // GTEST_OS_MAC
+
+# include <errno.h>
+# include <fcntl.h>
+# include <limits.h>
+
+# if GTEST_OS_LINUX
+# include <signal.h>
+# endif // GTEST_OS_LINUX
+
+# include <stdarg.h>
+
+# if GTEST_OS_WINDOWS
+# include <windows.h>
+# else
+# include <sys/mman.h>
+# include <sys/wait.h>
+# endif // GTEST_OS_WINDOWS
+
+# if GTEST_OS_QNX
+# include <spawn.h>
+# endif // GTEST_OS_QNX
+
+#endif // GTEST_HAS_DEATH_TEST
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+// Constants.
+
+// The default death test style.
+static const char kDefaultDeathTestStyle[] = "fast";
+
+GTEST_DEFINE_string_(
+ death_test_style,
+ internal::StringFromGTestEnv("death_test_style", kDefaultDeathTestStyle),
+ "Indicates how to run a death test in a forked child process: "
+ "\"threadsafe\" (child process re-executes the test binary "
+ "from the beginning, running only the specific death test) or "
+ "\"fast\" (child process runs the death test immediately "
+ "after forking).");
+
+GTEST_DEFINE_bool_(
+ death_test_use_fork,
+ internal::BoolFromGTestEnv("death_test_use_fork", false),
+ "Instructs to use fork()/_exit() instead of clone() in death tests. "
+ "Ignored and always uses fork() on POSIX systems where clone() is not "
+ "implemented. Useful when running under valgrind or similar tools if "
+ "those do not support clone(). Valgrind 3.3.1 will just fail if "
+ "it sees an unsupported combination of clone() flags. "
+ "It is not recommended to use this flag w/o valgrind though it will "
+ "work in 99% of the cases. Once valgrind is fixed, this flag will "
+ "most likely be removed.");
+
+namespace internal {
+GTEST_DEFINE_string_(
+ internal_run_death_test, "",
+ "Indicates the file, line number, temporal index of "
+ "the single death test to run, and a file descriptor to "
+ "which a success code may be sent, all separated by "
+ "the '|' characters. This flag is specified if and only if the current "
+ "process is a sub-process launched for running a thread-safe "
+ "death test. FOR INTERNAL USE ONLY.");
+} // namespace internal
+
+#if GTEST_HAS_DEATH_TEST
+
+namespace internal {
+
+// Valid only for fast death tests. Indicates the code is running in the
+// child process of a fast style death test.
+# if !GTEST_OS_WINDOWS
+static bool g_in_fast_death_test_child = false;
+# endif
+
+// Returns a Boolean value indicating whether the caller is currently
+// executing in the context of the death test child process. Tools such as
+// Valgrind heap checkers may need this to modify their behavior in death
+// tests. IMPORTANT: This is an internal utility. Using it may break the
+// implementation of death tests. User code MUST NOT use it.
+bool InDeathTestChild() {
+# if GTEST_OS_WINDOWS
+
+ // On Windows, death tests are thread-safe regardless of the value of the
+ // death_test_style flag.
+ return !GTEST_FLAG(internal_run_death_test).empty();
+
+# else
+
+ if (GTEST_FLAG(death_test_style) == "threadsafe")
+ return !GTEST_FLAG(internal_run_death_test).empty();
+ else
+ return g_in_fast_death_test_child;
+#endif
+}
+
+} // namespace internal
+
+// ExitedWithCode constructor.
+ExitedWithCode::ExitedWithCode(int exit_code) : exit_code_(exit_code) {
+}
+
+// ExitedWithCode function-call operator.
+bool ExitedWithCode::operator()(int exit_status) const {
+# if GTEST_OS_WINDOWS
+
+ return exit_status == exit_code_;
+
+# else
+
+ return WIFEXITED(exit_status) && WEXITSTATUS(exit_status) == exit_code_;
+
+# endif // GTEST_OS_WINDOWS
+}
+
+# if !GTEST_OS_WINDOWS
+// KilledBySignal constructor.
+KilledBySignal::KilledBySignal(int signum) : signum_(signum) {
+}
+
+// KilledBySignal function-call operator.
+bool KilledBySignal::operator()(int exit_status) const {
+# if defined(GTEST_KILLED_BY_SIGNAL_OVERRIDE_)
+ {
+ bool result;
+ if (GTEST_KILLED_BY_SIGNAL_OVERRIDE_(signum_, exit_status, &result)) {
+ return result;
+ }
+ }
+# endif // defined(GTEST_KILLED_BY_SIGNAL_OVERRIDE_)
+ return WIFSIGNALED(exit_status) && WTERMSIG(exit_status) == signum_;
+}
+# endif // !GTEST_OS_WINDOWS
+
+namespace internal {
+
+// Utilities needed for death tests.
+
+// Generates a textual description of a given exit code, in the format
+// specified by wait(2).
+static std::string ExitSummary(int exit_code) {
+ Message m;
+
+# if GTEST_OS_WINDOWS
+
+ m << "Exited with exit status " << exit_code;
+
+# else
+
+ if (WIFEXITED(exit_code)) {
+ m << "Exited with exit status " << WEXITSTATUS(exit_code);
+ } else if (WIFSIGNALED(exit_code)) {
+ m << "Terminated by signal " << WTERMSIG(exit_code);
+ }
+# ifdef WCOREDUMP
+ if (WCOREDUMP(exit_code)) {
+ m << " (core dumped)";
+ }
+# endif
+# endif // GTEST_OS_WINDOWS
+
+ return m.GetString();
+}
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+bool ExitedUnsuccessfully(int exit_status) {
+ return !ExitedWithCode(0)(exit_status);
+}
+
+# if !GTEST_OS_WINDOWS
+// Generates a textual failure message when a death test finds more than
+// one thread running, or cannot determine the number of threads, prior
+// to executing the given statement. It is the responsibility of the
+// caller not to pass a thread_count of 1.
+static std::string DeathTestThreadWarning(size_t thread_count) {
+ Message msg;
+ msg << "Death tests use fork(), which is unsafe particularly"
+ << " in a threaded context. For this test, " << GTEST_NAME_ << " ";
+ if (thread_count == 0)
+ msg << "couldn't detect the number of threads.";
+ else
+ msg << "detected " << thread_count << " threads.";
+ return msg.GetString();
+}
+# endif // !GTEST_OS_WINDOWS
+
+// Flag characters for reporting a death test that did not die.
+static const char kDeathTestLived = 'L';
+static const char kDeathTestReturned = 'R';
+static const char kDeathTestThrew = 'T';
+static const char kDeathTestInternalError = 'I';
+
+// An enumeration describing all of the possible ways that a death test can
+// conclude. DIED means that the process died while executing the test
+// code; LIVED means that process lived beyond the end of the test code;
+// RETURNED means that the test statement attempted to execute a return
+// statement, which is not allowed; THREW means that the test statement
+// returned control by throwing an exception. IN_PROGRESS means the test
+// has not yet concluded.
+// TODO(vladl@google.com): Unify names and possibly values for
+// AbortReason, DeathTestOutcome, and flag characters above.
+enum DeathTestOutcome { IN_PROGRESS, DIED, LIVED, RETURNED, THREW };
+
+// Routine for aborting the program which is safe to call from an
+// exec-style death test child process, in which case the error
+// message is propagated back to the parent process. Otherwise, the
+// message is simply printed to stderr. In either case, the program
+// then exits with status 1.
+void DeathTestAbort(const std::string& message) {
+ // On a POSIX system, this function may be called from a threadsafe-style
+ // death test child process, which operates on a very small stack. Use
+ // the heap for any additional non-minuscule memory requirements.
+ const InternalRunDeathTestFlag* const flag =
+ GetUnitTestImpl()->internal_run_death_test_flag();
+ if (flag != NULL) {
+ FILE* parent = posix::FDOpen(flag->write_fd(), "w");
+ fputc(kDeathTestInternalError, parent);
+ fprintf(parent, "%s", message.c_str());
+ fflush(parent);
+ _exit(1);
+ } else {
+ fprintf(stderr, "%s", message.c_str());
+ fflush(stderr);
+ posix::Abort();
+ }
+}
+
+// A replacement for CHECK that calls DeathTestAbort if the assertion
+// fails.
+# define GTEST_DEATH_TEST_CHECK_(expression) \
+ do { \
+ if (!::testing::internal::IsTrue(expression)) { \
+ DeathTestAbort( \
+ ::std::string("CHECK failed: File ") + __FILE__ + ", line " \
+ + ::testing::internal::StreamableToString(__LINE__) + ": " \
+ + #expression); \
+ } \
+ } while (::testing::internal::AlwaysFalse())
+
+// This macro is similar to GTEST_DEATH_TEST_CHECK_, but it is meant for
+// evaluating any system call that fulfills two conditions: it must return
+// -1 on failure, and set errno to EINTR when it is interrupted and
+// should be tried again. The macro expands to a loop that repeatedly
+// evaluates the expression as long as it evaluates to -1 and sets
+// errno to EINTR. If the expression evaluates to -1 but errno is
+// something other than EINTR, DeathTestAbort is called.
+# define GTEST_DEATH_TEST_CHECK_SYSCALL_(expression) \
+ do { \
+ int gtest_retval; \
+ do { \
+ gtest_retval = (expression); \
+ } while (gtest_retval == -1 && errno == EINTR); \
+ if (gtest_retval == -1) { \
+ DeathTestAbort( \
+ ::std::string("CHECK failed: File ") + __FILE__ + ", line " \
+ + ::testing::internal::StreamableToString(__LINE__) + ": " \
+ + #expression + " != -1"); \
+ } \
+ } while (::testing::internal::AlwaysFalse())
+
+// Returns the message describing the last system error in errno.
+std::string GetLastErrnoDescription() {
+ return errno == 0 ? "" : posix::StrError(errno);
+}
+
+// This is called from a death test parent process to read a failure
+// message from the death test child process and log it with the FATAL
+// severity. On Windows, the message is read from a pipe handle. On other
+// platforms, it is read from a file descriptor.
+static void FailFromInternalError(int fd) {
+ Message error;
+ char buffer[256];
+ int num_read;
+
+ do {
+ while ((num_read = posix::Read(fd, buffer, 255)) > 0) {
+ buffer[num_read] = '\0';
+ error << buffer;
+ }
+ } while (num_read == -1 && errno == EINTR);
+
+ if (num_read == 0) {
+ GTEST_LOG_(FATAL) << error.GetString();
+ } else {
+ const int last_error = errno;
+ GTEST_LOG_(FATAL) << "Error while reading death test internal: "
+ << GetLastErrnoDescription() << " [" << last_error << "]";
+ }
+}
+
+// Death test constructor. Increments the running death test count
+// for the current test.
+DeathTest::DeathTest() {
+ TestInfo* const info = GetUnitTestImpl()->current_test_info();
+ if (info == NULL) {
+ DeathTestAbort("Cannot run a death test outside of a TEST or "
+ "TEST_F construct");
+ }
+}
+
+// Creates and returns a death test by dispatching to the current
+// death test factory.
+bool DeathTest::Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test) {
+ return GetUnitTestImpl()->death_test_factory()->Create(
+ statement, regex, file, line, test);
+}
+
+const char* DeathTest::LastMessage() {
+ return last_death_test_message_.c_str();
+}
+
+void DeathTest::set_last_death_test_message(const std::string& message) {
+ last_death_test_message_ = message;
+}
+
+std::string DeathTest::last_death_test_message_;
+
+// Provides cross platform implementation for some death functionality.
+class DeathTestImpl : public DeathTest {
+ protected:
+ DeathTestImpl(const char* a_statement, const RE* a_regex)
+ : statement_(a_statement),
+ regex_(a_regex),
+ spawned_(false),
+ status_(-1),
+ outcome_(IN_PROGRESS),
+ read_fd_(-1),
+ write_fd_(-1) {}
+
+ // read_fd_ is expected to be closed and cleared by a derived class.
+ ~DeathTestImpl() { GTEST_DEATH_TEST_CHECK_(read_fd_ == -1); }
+
+ void Abort(AbortReason reason);
+ virtual bool Passed(bool status_ok);
+
+ const char* statement() const { return statement_; }
+ const RE* regex() const { return regex_; }
+ bool spawned() const { return spawned_; }
+ void set_spawned(bool is_spawned) { spawned_ = is_spawned; }
+ int status() const { return status_; }
+ void set_status(int a_status) { status_ = a_status; }
+ DeathTestOutcome outcome() const { return outcome_; }
+ void set_outcome(DeathTestOutcome an_outcome) { outcome_ = an_outcome; }
+ int read_fd() const { return read_fd_; }
+ void set_read_fd(int fd) { read_fd_ = fd; }
+ int write_fd() const { return write_fd_; }
+ void set_write_fd(int fd) { write_fd_ = fd; }
+
+ // Called in the parent process only. Reads the result code of the death
+ // test child process via a pipe, interprets it to set the outcome_
+ // member, and closes read_fd_. Outputs diagnostics and terminates in
+ // case of unexpected codes.
+ void ReadAndInterpretStatusByte();
+
+ private:
+ // The textual content of the code this object is testing. This class
+ // doesn't own this string and should not attempt to delete it.
+ const char* const statement_;
+ // The regular expression which test output must match. DeathTestImpl
+ // doesn't own this object and should not attempt to delete it.
+ const RE* const regex_;
+ // True if the death test child process has been successfully spawned.
+ bool spawned_;
+ // The exit status of the child process.
+ int status_;
+ // How the death test concluded.
+ DeathTestOutcome outcome_;
+ // Descriptor to the read end of the pipe to the child process. It is
+ // always -1 in the child process. The child keeps its write end of the
+ // pipe in write_fd_.
+ int read_fd_;
+ // Descriptor to the child's write end of the pipe to the parent process.
+ // It is always -1 in the parent process. The parent keeps its end of the
+ // pipe in read_fd_.
+ int write_fd_;
+};
+
+// Called in the parent process only. Reads the result code of the death
+// test child process via a pipe, interprets it to set the outcome_
+// member, and closes read_fd_. Outputs diagnostics and terminates in
+// case of unexpected codes.
+void DeathTestImpl::ReadAndInterpretStatusByte() {
+ char flag;
+ int bytes_read;
+
+ // The read() here blocks until data is available (signifying the
+ // failure of the death test) or until the pipe is closed (signifying
+ // its success), so it's okay to call this in the parent before
+ // the child process has exited.
+ do {
+ bytes_read = posix::Read(read_fd(), &flag, 1);
+ } while (bytes_read == -1 && errno == EINTR);
+
+ if (bytes_read == 0) {
+ set_outcome(DIED);
+ } else if (bytes_read == 1) {
+ switch (flag) {
+ case kDeathTestReturned:
+ set_outcome(RETURNED);
+ break;
+ case kDeathTestThrew:
+ set_outcome(THREW);
+ break;
+ case kDeathTestLived:
+ set_outcome(LIVED);
+ break;
+ case kDeathTestInternalError:
+ FailFromInternalError(read_fd()); // Does not return.
+ break;
+ default:
+ GTEST_LOG_(FATAL) << "Death test child process reported "
+ << "unexpected status byte ("
+ << static_cast<unsigned int>(flag) << ")";
+ }
+ } else {
+ GTEST_LOG_(FATAL) << "Read from death test child process failed: "
+ << GetLastErrnoDescription();
+ }
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Close(read_fd()));
+ set_read_fd(-1);
+}
+
+// Signals that the death test code which should have exited, didn't.
+// Should be called only in a death test child process.
+// Writes a status byte to the child's status file descriptor, then
+// calls _exit(1).
+void DeathTestImpl::Abort(AbortReason reason) {
+ // The parent process considers the death test to be a failure if
+ // it finds any data in our pipe. So, here we write a single flag byte
+ // to the pipe, then exit.
+ const char status_ch =
+ reason == TEST_DID_NOT_DIE ? kDeathTestLived :
+ reason == TEST_THREW_EXCEPTION ? kDeathTestThrew : kDeathTestReturned;
+
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Write(write_fd(), &status_ch, 1));
+ // We are leaking the descriptor here because on some platforms (i.e.,
+ // when built as Windows DLL), destructors of global objects will still
+ // run after calling _exit(). On such systems, write_fd_ will be
+ // indirectly closed from the destructor of UnitTestImpl, causing double
+ // close if it is also closed here. On debug configurations, double close
+ // may assert. As there are no in-process buffers to flush here, we are
+ // relying on the OS to close the descriptor after the process terminates
+ // when the destructors are not run.
+ _exit(1); // Exits w/o any normal exit hooks (we were supposed to crash)
+}
+
+// Returns an indented copy of stderr output for a death test.
+// This makes distinguishing death test output lines from regular log lines
+// much easier.
+static ::std::string FormatDeathTestOutput(const ::std::string& output) {
+ ::std::string ret;
+ for (size_t at = 0; ; ) {
+ const size_t line_end = output.find('\n', at);
+ ret += "[ DEATH ] ";
+ if (line_end == ::std::string::npos) {
+ ret += output.substr(at);
+ break;
+ }
+ ret += output.substr(at, line_end + 1 - at);
+ at = line_end + 1;
+ }
+ return ret;
+}
+
+// Assesses the success or failure of a death test, using both private
+// members which have previously been set, and one argument:
+//
+// Private data members:
+// outcome: An enumeration describing how the death test
+// concluded: DIED, LIVED, THREW, or RETURNED. The death test
+// fails in the latter three cases.
+// status: The exit status of the child process. On *nix, it is in the
+// in the format specified by wait(2). On Windows, this is the
+// value supplied to the ExitProcess() API or a numeric code
+// of the exception that terminated the program.
+// regex: A regular expression object to be applied to
+// the test's captured standard error output; the death test
+// fails if it does not match.
+//
+// Argument:
+// status_ok: true if exit_status is acceptable in the context of
+// this particular death test, which fails if it is false
+//
+// Returns true iff all of the above conditions are met. Otherwise, the
+// first failing condition, in the order given above, is the one that is
+// reported. Also sets the last death test message string.
+bool DeathTestImpl::Passed(bool status_ok) {
+ if (!spawned())
+ return false;
+
+ const std::string error_message = GetCapturedStderr();
+
+ bool success = false;
+ Message buffer;
+
+ buffer << "Death test: " << statement() << "\n";
+ switch (outcome()) {
+ case LIVED:
+ buffer << " Result: failed to die.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case THREW:
+ buffer << " Result: threw an exception.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case RETURNED:
+ buffer << " Result: illegal return in test statement.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case DIED:
+ if (status_ok) {
+ const bool matched = RE::PartialMatch(error_message.c_str(), *regex());
+ if (matched) {
+ success = true;
+ } else {
+ buffer << " Result: died but not with expected error.\n"
+ << " Expected: " << regex()->pattern() << "\n"
+ << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+ }
+ } else {
+ buffer << " Result: died but not with expected exit code:\n"
+ << " " << ExitSummary(status()) << "\n"
+ << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+ }
+ break;
+ case IN_PROGRESS:
+ default:
+ GTEST_LOG_(FATAL)
+ << "DeathTest::Passed somehow called before conclusion of test";
+ }
+
+ DeathTest::set_last_death_test_message(buffer.GetString());
+ return success;
+}
+
+# if GTEST_OS_WINDOWS
+// WindowsDeathTest implements death tests on Windows. Due to the
+// specifics of starting new processes on Windows, death tests there are
+// always threadsafe, and Google Test considers the
+// --gtest_death_test_style=fast setting to be equivalent to
+// --gtest_death_test_style=threadsafe there.
+//
+// A few implementation notes: Like the Linux version, the Windows
+// implementation uses pipes for child-to-parent communication. But due to
+// the specifics of pipes on Windows, some extra steps are required:
+//
+// 1. The parent creates a communication pipe and stores handles to both
+// ends of it.
+// 2. The parent starts the child and provides it with the information
+// necessary to acquire the handle to the write end of the pipe.
+// 3. The child acquires the write end of the pipe and signals the parent
+// using a Windows event.
+// 4. Now the parent can release the write end of the pipe on its side. If
+// this is done before step 3, the object's reference count goes down to
+// 0 and it is destroyed, preventing the child from acquiring it. The
+// parent now has to release it, or read operations on the read end of
+// the pipe will not return when the child terminates.
+// 5. The parent reads child's output through the pipe (outcome code and
+// any possible error messages) from the pipe, and its stderr and then
+// determines whether to fail the test.
+//
+// Note: to distinguish Win32 API calls from the local method and function
+// calls, the former are explicitly resolved in the global namespace.
+//
+class WindowsDeathTest : public DeathTestImpl {
+ public:
+ WindowsDeathTest(const char* a_statement,
+ const RE* a_regex,
+ const char* file,
+ int line)
+ : DeathTestImpl(a_statement, a_regex), file_(file), line_(line) {}
+
+ // All of these virtual functions are inherited from DeathTest.
+ virtual int Wait();
+ virtual TestRole AssumeRole();
+
+ private:
+ // The name of the file in which the death test is located.
+ const char* const file_;
+ // The line number on which the death test is located.
+ const int line_;
+ // Handle to the write end of the pipe to the child process.
+ AutoHandle write_handle_;
+ // Child process handle.
+ AutoHandle child_handle_;
+ // Event the child process uses to signal the parent that it has
+ // acquired the handle to the write end of the pipe. After seeing this
+ // event the parent can release its own handles to make sure its
+ // ReadFile() calls return when the child terminates.
+ AutoHandle event_handle_;
+};
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists. As a side effect, sets the
+// outcome data member.
+int WindowsDeathTest::Wait() {
+ if (!spawned())
+ return 0;
+
+ // Wait until the child either signals that it has acquired the write end
+ // of the pipe or it dies.
+ const HANDLE wait_handles[2] = { child_handle_.Get(), event_handle_.Get() };
+ switch (::WaitForMultipleObjects(2,
+ wait_handles,
+ FALSE, // Waits for any of the handles.
+ INFINITE)) {
+ case WAIT_OBJECT_0:
+ case WAIT_OBJECT_0 + 1:
+ break;
+ default:
+ GTEST_DEATH_TEST_CHECK_(false); // Should not get here.
+ }
+
+ // The child has acquired the write end of the pipe or exited.
+ // We release the handle on our side and continue.
+ write_handle_.Reset();
+ event_handle_.Reset();
+
+ ReadAndInterpretStatusByte();
+
+ // Waits for the child process to exit if it haven't already. This
+ // returns immediately if the child has already exited, regardless of
+ // whether previous calls to WaitForMultipleObjects synchronized on this
+ // handle or not.
+ GTEST_DEATH_TEST_CHECK_(
+ WAIT_OBJECT_0 == ::WaitForSingleObject(child_handle_.Get(),
+ INFINITE));
+ DWORD status_code;
+ GTEST_DEATH_TEST_CHECK_(
+ ::GetExitCodeProcess(child_handle_.Get(), &status_code) != FALSE);
+ child_handle_.Reset();
+ set_status(static_cast<int>(status_code));
+ return status();
+}
+
+// The AssumeRole process for a Windows death test. It creates a child
+// process with the same executable as the current process to run the
+// death test. The child process is given the --gtest_filter and
+// --gtest_internal_run_death_test flags such that it knows to run the
+// current death test only.
+DeathTest::TestRole WindowsDeathTest::AssumeRole() {
+ const UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const TestInfo* const info = impl->current_test_info();
+ const int death_test_index = info->result()->death_test_count();
+
+ if (flag != NULL) {
+ // ParseInternalRunDeathTestFlag() has performed all the necessary
+ // processing.
+ set_write_fd(flag->write_fd());
+ return EXECUTE_TEST;
+ }
+
+ // WindowsDeathTest uses an anonymous pipe to communicate results of
+ // a death test.
+ SECURITY_ATTRIBUTES handles_are_inheritable = {
+ sizeof(SECURITY_ATTRIBUTES), NULL, TRUE };
+ HANDLE read_handle, write_handle;
+ GTEST_DEATH_TEST_CHECK_(
+ ::CreatePipe(&read_handle, &write_handle, &handles_are_inheritable,
+ 0) // Default buffer size.
+ != FALSE);
+ set_read_fd(::_open_osfhandle(reinterpret_cast<intptr_t>(read_handle),
+ O_RDONLY));
+ write_handle_.Reset(write_handle);
+ event_handle_.Reset(::CreateEvent(
+ &handles_are_inheritable,
+ TRUE, // The event will automatically reset to non-signaled state.
+ FALSE, // The initial state is non-signalled.
+ NULL)); // The even is unnamed.
+ GTEST_DEATH_TEST_CHECK_(event_handle_.Get() != NULL);
+ const std::string filter_flag =
+ std::string("--") + GTEST_FLAG_PREFIX_ + kFilterFlag + "=" +
+ info->test_case_name() + "." + info->name();
+ const std::string internal_flag =
+ std::string("--") + GTEST_FLAG_PREFIX_ + kInternalRunDeathTestFlag +
+ "=" + file_ + "|" + StreamableToString(line_) + "|" +
+ StreamableToString(death_test_index) + "|" +
+ StreamableToString(static_cast<unsigned int>(::GetCurrentProcessId())) +
+ // size_t has the same width as pointers on both 32-bit and 64-bit
+ // Windows platforms.
+ // See http://msdn.microsoft.com/en-us/library/tcxf1dw6.aspx.
+ "|" + StreamableToString(reinterpret_cast<size_t>(write_handle)) +
+ "|" + StreamableToString(reinterpret_cast<size_t>(event_handle_.Get()));
+
+ char executable_path[_MAX_PATH + 1]; // NOLINT
+ GTEST_DEATH_TEST_CHECK_(
+ _MAX_PATH + 1 != ::GetModuleFileNameA(NULL,
+ executable_path,
+ _MAX_PATH));
+
+ std::string command_line =
+ std::string(::GetCommandLineA()) + " " + filter_flag + " \"" +
+ internal_flag + "\"";
+
+ DeathTest::set_last_death_test_message("");
+
+ CaptureStderr();
+ // Flush the log buffers since the log streams are shared with the child.
+ FlushInfoLog();
+
+ // The child process will share the standard handles with the parent.
+ STARTUPINFOA startup_info;
+ memset(&startup_info, 0, sizeof(STARTUPINFO));
+ startup_info.dwFlags = STARTF_USESTDHANDLES;
+ startup_info.hStdInput = ::GetStdHandle(STD_INPUT_HANDLE);
+ startup_info.hStdOutput = ::GetStdHandle(STD_OUTPUT_HANDLE);
+ startup_info.hStdError = ::GetStdHandle(STD_ERROR_HANDLE);
+
+ PROCESS_INFORMATION process_info;
+ GTEST_DEATH_TEST_CHECK_(::CreateProcessA(
+ executable_path,
+ const_cast<char*>(command_line.c_str()),
+ NULL, // Retuned process handle is not inheritable.
+ NULL, // Retuned thread handle is not inheritable.
+ TRUE, // Child inherits all inheritable handles (for write_handle_).
+ 0x0, // Default creation flags.
+ NULL, // Inherit the parent's environment.
+ UnitTest::GetInstance()->original_working_dir(),
+ &startup_info,
+ &process_info) != FALSE);
+ child_handle_.Reset(process_info.hProcess);
+ ::CloseHandle(process_info.hThread);
+ set_spawned(true);
+ return OVERSEE_TEST;
+}
+# else // We are not on Windows.
+
+// ForkingDeathTest provides implementations for most of the abstract
+// methods of the DeathTest interface. Only the AssumeRole method is
+// left undefined.
+class ForkingDeathTest : public DeathTestImpl {
+ public:
+ ForkingDeathTest(const char* statement, const RE* regex);
+
+ // All of these virtual functions are inherited from DeathTest.
+ virtual int Wait();
+
+ protected:
+ void set_child_pid(pid_t child_pid) { child_pid_ = child_pid; }
+
+ private:
+ // PID of child process during death test; 0 in the child process itself.
+ pid_t child_pid_;
+};
+
+// Constructs a ForkingDeathTest.
+ForkingDeathTest::ForkingDeathTest(const char* a_statement, const RE* a_regex)
+ : DeathTestImpl(a_statement, a_regex),
+ child_pid_(-1) {}
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists. As a side effect, sets the
+// outcome data member.
+int ForkingDeathTest::Wait() {
+ if (!spawned())
+ return 0;
+
+ ReadAndInterpretStatusByte();
+
+ int status_value;
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(waitpid(child_pid_, &status_value, 0));
+ set_status(status_value);
+ return status_value;
+}
+
+// A concrete death test class that forks, then immediately runs the test
+// in the child process.
+class NoExecDeathTest : public ForkingDeathTest {
+ public:
+ NoExecDeathTest(const char* a_statement, const RE* a_regex) :
+ ForkingDeathTest(a_statement, a_regex) { }
+ virtual TestRole AssumeRole();
+};
+
+// The AssumeRole process for a fork-and-run death test. It implements a
+// straightforward fork, with a simple pipe to transmit the status byte.
+DeathTest::TestRole NoExecDeathTest::AssumeRole() {
+ const size_t thread_count = GetThreadCount();
+ if (thread_count != 1) {
+ GTEST_LOG_(WARNING) << DeathTestThreadWarning(thread_count);
+ }
+
+ int pipe_fd[2];
+ GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+
+ DeathTest::set_last_death_test_message("");
+ CaptureStderr();
+ // When we fork the process below, the log file buffers are copied, but the
+ // file descriptors are shared. We flush all log files here so that closing
+ // the file descriptors in the child process doesn't throw off the
+ // synchronization between descriptors and buffers in the parent process.
+ // This is as close to the fork as possible to avoid a race condition in case
+ // there are multiple threads running before the death test, and another
+ // thread writes to the log file.
+ FlushInfoLog();
+
+ const pid_t child_pid = fork();
+ GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+ set_child_pid(child_pid);
+ if (child_pid == 0) {
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[0]));
+ set_write_fd(pipe_fd[1]);
+ // Redirects all logging to stderr in the child process to prevent
+ // concurrent writes to the log files. We capture stderr in the parent
+ // process and append the child process' output to a log.
+ LogToStderr();
+ // Event forwarding to the listeners of event listener API mush be shut
+ // down in death test subprocesses.
+ GetUnitTestImpl()->listeners()->SuppressEventForwarding();
+ g_in_fast_death_test_child = true;
+ return EXECUTE_TEST;
+ } else {
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+ set_read_fd(pipe_fd[0]);
+ set_spawned(true);
+ return OVERSEE_TEST;
+ }
+}
+
+// A concrete death test class that forks and re-executes the main
+// program from the beginning, with command-line flags set that cause
+// only this specific death test to be run.
+class ExecDeathTest : public ForkingDeathTest {
+ public:
+ ExecDeathTest(const char* a_statement, const RE* a_regex,
+ const char* file, int line) :
+ ForkingDeathTest(a_statement, a_regex), file_(file), line_(line) { }
+ virtual TestRole AssumeRole();
+ private:
+ static ::std::vector<testing::internal::string>
+ GetArgvsForDeathTestChildProcess() {
+ ::std::vector<testing::internal::string> args = GetInjectableArgvs();
+# if defined(GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_)
+ ::std::vector<testing::internal::string> extra_args =
+ GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_();
+ args.insert(args.end(), extra_args.begin(), extra_args.end());
+# endif // defined(GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_)
+ return args;
+ }
+ // The name of the file in which the death test is located.
+ const char* const file_;
+ // The line number on which the death test is located.
+ const int line_;
+};
+
+// Utility class for accumulating command-line arguments.
+class Arguments {
+ public:
+ Arguments() {
+ args_.push_back(NULL);
+ }
+
+ ~Arguments() {
+ for (std::vector<char*>::iterator i = args_.begin(); i != args_.end();
+ ++i) {
+ free(*i);
+ }
+ }
+ void AddArgument(const char* argument) {
+ args_.insert(args_.end() - 1, posix::StrDup(argument));
+ }
+
+ template <typename Str>
+ void AddArguments(const ::std::vector<Str>& arguments) {
+ for (typename ::std::vector<Str>::const_iterator i = arguments.begin();
+ i != arguments.end();
+ ++i) {
+ args_.insert(args_.end() - 1, posix::StrDup(i->c_str()));
+ }
+ }
+ char* const* Argv() {
+ return &args_[0];
+ }
+
+ private:
+ std::vector<char*> args_;
+};
+
+// A struct that encompasses the arguments to the child process of a
+// threadsafe-style death test process.
+struct ExecDeathTestArgs {
+ char* const* argv; // Command-line arguments for the child's call to exec
+ int close_fd; // File descriptor to close; the read end of a pipe
+};
+
+# if GTEST_OS_MAC
+inline char** GetEnviron() {
+ // When Google Test is built as a framework on MacOS X, the environ variable
+ // is unavailable. Apple's documentation (man environ) recommends using
+ // _NSGetEnviron() instead.
+ return *_NSGetEnviron();
+}
+# else
+// Some POSIX platforms expect you to declare environ. extern "C" makes
+// it reside in the global namespace.
+extern "C" char** environ;
+inline char** GetEnviron() { return environ; }
+# endif // GTEST_OS_MAC
+
+# if !GTEST_OS_QNX
+// The main function for a threadsafe-style death test child process.
+// This function is called in a clone()-ed process and thus must avoid
+// any potentially unsafe operations like malloc or libc functions.
+static int ExecDeathTestChildMain(void* child_arg) {
+ ExecDeathTestArgs* const args = static_cast<ExecDeathTestArgs*>(child_arg);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(args->close_fd));
+
+ // We need to execute the test program in the same environment where
+ // it was originally invoked. Therefore we change to the original
+ // working directory first.
+ const char* const original_dir =
+ UnitTest::GetInstance()->original_working_dir();
+ // We can safely call chdir() as it's a direct system call.
+ if (chdir(original_dir) != 0) {
+ DeathTestAbort(std::string("chdir(\"") + original_dir + "\") failed: " +
+ GetLastErrnoDescription());
+ return EXIT_FAILURE;
+ }
+
+ // We can safely call execve() as it's a direct system call. We
+ // cannot use execvp() as it's a libc function and thus potentially
+ // unsafe. Since execve() doesn't search the PATH, the user must
+ // invoke the test program via a valid path that contains at least
+ // one path separator.
+ execve(args->argv[0], args->argv, GetEnviron());
+ DeathTestAbort(std::string("execve(") + args->argv[0] + ", ...) in " +
+ original_dir + " failed: " +
+ GetLastErrnoDescription());
+ return EXIT_FAILURE;
+}
+# endif // !GTEST_OS_QNX
+
+// Two utility routines that together determine the direction the stack
+// grows.
+// This could be accomplished more elegantly by a single recursive
+// function, but we want to guard against the unlikely possibility of
+// a smart compiler optimizing the recursion away.
+//
+// GTEST_NO_INLINE_ is required to prevent GCC 4.6 from inlining
+// StackLowerThanAddress into StackGrowsDown, which then doesn't give
+// correct answer.
+void StackLowerThanAddress(const void* ptr, bool* result) GTEST_NO_INLINE_;
+void StackLowerThanAddress(const void* ptr, bool* result) {
+ int dummy;
+ *result = (&dummy < ptr);
+}
+
+// Make sure AddressSanitizer does not tamper with the stack here.
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+bool StackGrowsDown() {
+ int dummy;
+ bool result;
+ StackLowerThanAddress(&dummy, &result);
+ return result;
+}
+
+// Spawns a child process with the same executable as the current process in
+// a thread-safe manner and instructs it to run the death test. The
+// implementation uses fork(2) + exec. On systems where clone(2) is
+// available, it is used instead, being slightly more thread-safe. On QNX,
+// fork supports only single-threaded environments, so this function uses
+// spawn(2) there instead. The function dies with an error message if
+// anything goes wrong.
+static pid_t ExecDeathTestSpawnChild(char* const* argv, int close_fd) {
+ ExecDeathTestArgs args = { argv, close_fd };
+ pid_t child_pid = -1;
+
+# if GTEST_OS_QNX
+ // Obtains the current directory and sets it to be closed in the child
+ // process.
+ const int cwd_fd = open(".", O_RDONLY);
+ GTEST_DEATH_TEST_CHECK_(cwd_fd != -1);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(fcntl(cwd_fd, F_SETFD, FD_CLOEXEC));
+ // We need to execute the test program in the same environment where
+ // it was originally invoked. Therefore we change to the original
+ // working directory first.
+ const char* const original_dir =
+ UnitTest::GetInstance()->original_working_dir();
+ // We can safely call chdir() as it's a direct system call.
+ if (chdir(original_dir) != 0) {
+ DeathTestAbort(std::string("chdir(\"") + original_dir + "\") failed: " +
+ GetLastErrnoDescription());
+ return EXIT_FAILURE;
+ }
+
+ int fd_flags;
+ // Set close_fd to be closed after spawn.
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(fd_flags = fcntl(close_fd, F_GETFD));
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(fcntl(close_fd, F_SETFD,
+ fd_flags | FD_CLOEXEC));
+ struct inheritance inherit = {0};
+ // spawn is a system call.
+ child_pid = spawn(args.argv[0], 0, NULL, &inherit, args.argv, GetEnviron());
+ // Restores the current working directory.
+ GTEST_DEATH_TEST_CHECK_(fchdir(cwd_fd) != -1);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(cwd_fd));
+
+# else // GTEST_OS_QNX
+# if GTEST_OS_LINUX
+ // When a SIGPROF signal is received while fork() or clone() are executing,
+ // the process may hang. To avoid this, we ignore SIGPROF here and re-enable
+ // it after the call to fork()/clone() is complete.
+ struct sigaction saved_sigprof_action;
+ struct sigaction ignore_sigprof_action;
+ memset(&ignore_sigprof_action, 0, sizeof(ignore_sigprof_action));
+ sigemptyset(&ignore_sigprof_action.sa_mask);
+ ignore_sigprof_action.sa_handler = SIG_IGN;
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(sigaction(
+ SIGPROF, &ignore_sigprof_action, &saved_sigprof_action));
+# endif // GTEST_OS_LINUX
+
+# if GTEST_HAS_CLONE
+ const bool use_fork = GTEST_FLAG(death_test_use_fork);
+
+ if (!use_fork) {
+ static const bool stack_grows_down = StackGrowsDown();
+ const size_t stack_size = getpagesize();
+ // MMAP_ANONYMOUS is not defined on Mac, so we use MAP_ANON instead.
+ void* const stack = mmap(NULL, stack_size, PROT_READ | PROT_WRITE,
+ MAP_ANON | MAP_PRIVATE, -1, 0);
+ GTEST_DEATH_TEST_CHECK_(stack != MAP_FAILED);
+
+ // Maximum stack alignment in bytes: For a downward-growing stack, this
+ // amount is subtracted from size of the stack space to get an address
+ // that is within the stack space and is aligned on all systems we care
+ // about. As far as I know there is no ABI with stack alignment greater
+ // than 64. We assume stack and stack_size already have alignment of
+ // kMaxStackAlignment.
+ const size_t kMaxStackAlignment = 64;
+ void* const stack_top =
+ static_cast<char*>(stack) +
+ (stack_grows_down ? stack_size - kMaxStackAlignment : 0);
+ GTEST_DEATH_TEST_CHECK_(stack_size > kMaxStackAlignment &&
+ reinterpret_cast<intptr_t>(stack_top) % kMaxStackAlignment == 0);
+
+ child_pid = clone(&ExecDeathTestChildMain, stack_top, SIGCHLD, &args);
+
+ GTEST_DEATH_TEST_CHECK_(munmap(stack, stack_size) != -1);
+ }
+# else
+ const bool use_fork = true;
+# endif // GTEST_HAS_CLONE
+
+ if (use_fork && (child_pid = fork()) == 0) {
+ ExecDeathTestChildMain(&args);
+ _exit(0);
+ }
+# endif // GTEST_OS_QNX
+# if GTEST_OS_LINUX
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(
+ sigaction(SIGPROF, &saved_sigprof_action, NULL));
+# endif // GTEST_OS_LINUX
+
+ GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+ return child_pid;
+}
+
+// The AssumeRole process for a fork-and-exec death test. It re-executes the
+// main program from the beginning, setting the --gtest_filter
+// and --gtest_internal_run_death_test flags to cause only the current
+// death test to be re-run.
+DeathTest::TestRole ExecDeathTest::AssumeRole() {
+ const UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const TestInfo* const info = impl->current_test_info();
+ const int death_test_index = info->result()->death_test_count();
+
+ if (flag != NULL) {
+ set_write_fd(flag->write_fd());
+ return EXECUTE_TEST;
+ }
+
+ int pipe_fd[2];
+ GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+ // Clear the close-on-exec flag on the write end of the pipe, lest
+ // it be closed when the child process does an exec:
+ GTEST_DEATH_TEST_CHECK_(fcntl(pipe_fd[1], F_SETFD, 0) != -1);
+
+ const std::string filter_flag =
+ std::string("--") + GTEST_FLAG_PREFIX_ + kFilterFlag + "="
+ + info->test_case_name() + "." + info->name();
+ const std::string internal_flag =
+ std::string("--") + GTEST_FLAG_PREFIX_ + kInternalRunDeathTestFlag + "="
+ + file_ + "|" + StreamableToString(line_) + "|"
+ + StreamableToString(death_test_index) + "|"
+ + StreamableToString(pipe_fd[1]);
+ Arguments args;
+ args.AddArguments(GetArgvsForDeathTestChildProcess());
+ args.AddArgument(filter_flag.c_str());
+ args.AddArgument(internal_flag.c_str());
+
+ DeathTest::set_last_death_test_message("");
+
+ CaptureStderr();
+ // See the comment in NoExecDeathTest::AssumeRole for why the next line
+ // is necessary.
+ FlushInfoLog();
+
+ const pid_t child_pid = ExecDeathTestSpawnChild(args.Argv(), pipe_fd[0]);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+ set_child_pid(child_pid);
+ set_read_fd(pipe_fd[0]);
+ set_spawned(true);
+ return OVERSEE_TEST;
+}
+
+# endif // !GTEST_OS_WINDOWS
+
+// Creates a concrete DeathTest-derived class that depends on the
+// --gtest_death_test_style flag, and sets the pointer pointed to
+// by the "test" argument to its address. If the test should be
+// skipped, sets that pointer to NULL. Returns true, unless the
+// flag is set to an invalid value.
+bool DefaultDeathTestFactory::Create(const char* statement, const RE* regex,
+ const char* file, int line,
+ DeathTest** test) {
+ UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const int death_test_index = impl->current_test_info()
+ ->increment_death_test_count();
+
+ if (flag != NULL) {
+ if (death_test_index > flag->index()) {
+ DeathTest::set_last_death_test_message(
+ "Death test count (" + StreamableToString(death_test_index)
+ + ") somehow exceeded expected maximum ("
+ + StreamableToString(flag->index()) + ")");
+ return false;
+ }
+
+ if (!(flag->file() == file && flag->line() == line &&
+ flag->index() == death_test_index)) {
+ *test = NULL;
+ return true;
+ }
+ }
+
+# if GTEST_OS_WINDOWS
+
+ if (GTEST_FLAG(death_test_style) == "threadsafe" ||
+ GTEST_FLAG(death_test_style) == "fast") {
+ *test = new WindowsDeathTest(statement, regex, file, line);
+ }
+
+# else
+
+ if (GTEST_FLAG(death_test_style) == "threadsafe") {
+ *test = new ExecDeathTest(statement, regex, file, line);
+ } else if (GTEST_FLAG(death_test_style) == "fast") {
+ *test = new NoExecDeathTest(statement, regex);
+ }
+
+# endif // GTEST_OS_WINDOWS
+
+ else { // NOLINT - this is more readable than unbalanced brackets inside #if.
+ DeathTest::set_last_death_test_message(
+ "Unknown death test style \"" + GTEST_FLAG(death_test_style)
+ + "\" encountered");
+ return false;
+ }
+
+ return true;
+}
+
+# if GTEST_OS_WINDOWS
+// Recreates the pipe and event handles from the provided parameters,
+// signals the event, and returns a file descriptor wrapped around the pipe
+// handle. This function is called in the child process only.
+int GetStatusFileDescriptor(unsigned int parent_process_id,
+ size_t write_handle_as_size_t,
+ size_t event_handle_as_size_t) {
+ AutoHandle parent_process_handle(::OpenProcess(PROCESS_DUP_HANDLE,
+ FALSE, // Non-inheritable.
+ parent_process_id));
+ if (parent_process_handle.Get() == INVALID_HANDLE_VALUE) {
+ DeathTestAbort("Unable to open parent process " +
+ StreamableToString(parent_process_id));
+ }
+
+ // TODO(vladl@google.com): Replace the following check with a
+ // compile-time assertion when available.
+ GTEST_CHECK_(sizeof(HANDLE) <= sizeof(size_t));
+
+ const HANDLE write_handle =
+ reinterpret_cast<HANDLE>(write_handle_as_size_t);
+ HANDLE dup_write_handle;
+
+ // The newly initialized handle is accessible only in in the parent
+ // process. To obtain one accessible within the child, we need to use
+ // DuplicateHandle.
+ if (!::DuplicateHandle(parent_process_handle.Get(), write_handle,
+ ::GetCurrentProcess(), &dup_write_handle,
+ 0x0, // Requested privileges ignored since
+ // DUPLICATE_SAME_ACCESS is used.
+ FALSE, // Request non-inheritable handler.
+ DUPLICATE_SAME_ACCESS)) {
+ DeathTestAbort("Unable to duplicate the pipe handle " +
+ StreamableToString(write_handle_as_size_t) +
+ " from the parent process " +
+ StreamableToString(parent_process_id));
+ }
+
+ const HANDLE event_handle = reinterpret_cast<HANDLE>(event_handle_as_size_t);
+ HANDLE dup_event_handle;
+
+ if (!::DuplicateHandle(parent_process_handle.Get(), event_handle,
+ ::GetCurrentProcess(), &dup_event_handle,
+ 0x0,
+ FALSE,
+ DUPLICATE_SAME_ACCESS)) {
+ DeathTestAbort("Unable to duplicate the event handle " +
+ StreamableToString(event_handle_as_size_t) +
+ " from the parent process " +
+ StreamableToString(parent_process_id));
+ }
+
+ const int write_fd =
+ ::_open_osfhandle(reinterpret_cast<intptr_t>(dup_write_handle), O_APPEND);
+ if (write_fd == -1) {
+ DeathTestAbort("Unable to convert pipe handle " +
+ StreamableToString(write_handle_as_size_t) +
+ " to a file descriptor");
+ }
+
+ // Signals the parent that the write end of the pipe has been acquired
+ // so the parent can release its own write end.
+ ::SetEvent(dup_event_handle);
+
+ return write_fd;
+}
+# endif // GTEST_OS_WINDOWS
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag() {
+ if (GTEST_FLAG(internal_run_death_test) == "") return NULL;
+
+ // GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we
+ // can use it here.
+ int line = -1;
+ int index = -1;
+ ::std::vector< ::std::string> fields;
+ SplitString(GTEST_FLAG(internal_run_death_test).c_str(), '|', &fields);
+ int write_fd = -1;
+
+# if GTEST_OS_WINDOWS
+
+ unsigned int parent_process_id = 0;
+ size_t write_handle_as_size_t = 0;
+ size_t event_handle_as_size_t = 0;
+
+ if (fields.size() != 6
+ || !ParseNaturalNumber(fields[1], &line)
+ || !ParseNaturalNumber(fields[2], &index)
+ || !ParseNaturalNumber(fields[3], &parent_process_id)
+ || !ParseNaturalNumber(fields[4], &write_handle_as_size_t)
+ || !ParseNaturalNumber(fields[5], &event_handle_as_size_t)) {
+ DeathTestAbort("Bad --gtest_internal_run_death_test flag: " +
+ GTEST_FLAG(internal_run_death_test));
+ }
+ write_fd = GetStatusFileDescriptor(parent_process_id,
+ write_handle_as_size_t,
+ event_handle_as_size_t);
+# else
+
+ if (fields.size() != 4
+ || !ParseNaturalNumber(fields[1], &line)
+ || !ParseNaturalNumber(fields[2], &index)
+ || !ParseNaturalNumber(fields[3], &write_fd)) {
+ DeathTestAbort("Bad --gtest_internal_run_death_test flag: "
+ + GTEST_FLAG(internal_run_death_test));
+ }
+
+# endif // GTEST_OS_WINDOWS
+
+ return new InternalRunDeathTestFlag(fields[0], line, index, write_fd);
+}
+
+} // namespace internal
+
+#endif // GTEST_HAS_DEATH_TEST
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: keith.ray@gmail.com (Keith Ray)
+
+
+#include <stdlib.h>
+
+#if GTEST_OS_WINDOWS_MOBILE
+# include <windows.h>
+#elif GTEST_OS_WINDOWS
+# include <direct.h>
+# include <io.h>
+#elif GTEST_OS_SYMBIAN
+// Symbian OpenC has PATH_MAX in sys/syslimits.h
+# include <sys/syslimits.h>
+#else
+# include <limits.h>
+# include <climits> // Some Linux distributions define PATH_MAX here.
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_MAX_ _MAX_PATH
+#elif defined(PATH_MAX)
+# define GTEST_PATH_MAX_ PATH_MAX
+#elif defined(_XOPEN_PATH_MAX)
+# define GTEST_PATH_MAX_ _XOPEN_PATH_MAX
+#else
+# define GTEST_PATH_MAX_ _POSIX_PATH_MAX
+#endif // GTEST_OS_WINDOWS
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+// On Windows, '\\' is the standard path separator, but many tools and the
+// Windows API also accept '/' as an alternate path separator. Unless otherwise
+// noted, a file path can contain either kind of path separators, or a mixture
+// of them.
+const char kPathSeparator = '\\';
+const char kAlternatePathSeparator = '/';
+const char kAlternatePathSeparatorString[] = "/";
+# if GTEST_OS_WINDOWS_MOBILE
+// Windows CE doesn't have a current directory. You should not use
+// the current directory in tests on Windows CE, but this at least
+// provides a reasonable fallback.
+const char kCurrentDirectoryString[] = "\\";
+// Windows CE doesn't define INVALID_FILE_ATTRIBUTES
+const DWORD kInvalidFileAttributes = 0xffffffff;
+# else
+const char kCurrentDirectoryString[] = ".\\";
+# endif // GTEST_OS_WINDOWS_MOBILE
+#else
+const char kPathSeparator = '/';
+const char kCurrentDirectoryString[] = "./";
+#endif // GTEST_OS_WINDOWS
+
+// Returns whether the given character is a valid path separator.
+static bool IsPathSeparator(char c) {
+#if GTEST_HAS_ALT_PATH_SEP_
+ return (c == kPathSeparator) || (c == kAlternatePathSeparator);
+#else
+ return c == kPathSeparator;
+#endif
+}
+
+// Returns the current working directory, or "" if unsuccessful.
+FilePath FilePath::GetCurrentDir() {
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+ // Windows CE doesn't have a current directory, so we just return
+ // something reasonable.
+ return FilePath(kCurrentDirectoryString);
+#elif GTEST_OS_WINDOWS
+ char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+ return FilePath(_getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
+#else
+ char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+ char* result = getcwd(cwd, sizeof(cwd));
+# if GTEST_OS_NACL
+ // getcwd will likely fail in NaCl due to the sandbox, so return something
+ // reasonable. The user may have provided a shim implementation for getcwd,
+ // however, so fallback only when failure is detected.
+ return FilePath(result == NULL ? kCurrentDirectoryString : cwd);
+# endif // GTEST_OS_NACL
+ return FilePath(result == NULL ? "" : cwd);
+#endif // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns a copy of the FilePath with the case-insensitive extension removed.
+// Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+// FilePath("dir/file"). If a case-insensitive extension is not
+// found, returns a copy of the original FilePath.
+FilePath FilePath::RemoveExtension(const char* extension) const {
+ const std::string dot_extension = std::string(".") + extension;
+ if (String::EndsWithCaseInsensitive(pathname_, dot_extension)) {
+ return FilePath(pathname_.substr(
+ 0, pathname_.length() - dot_extension.length()));
+ }
+ return *this;
+}
+
+// Returns a pointer to the last occurence of a valid path separator in
+// the FilePath. On Windows, for example, both '/' and '\' are valid path
+// separators. Returns NULL if no path separator was found.
+const char* FilePath::FindLastPathSeparator() const {
+ const char* const last_sep = strrchr(c_str(), kPathSeparator);
+#if GTEST_HAS_ALT_PATH_SEP_
+ const char* const last_alt_sep = strrchr(c_str(), kAlternatePathSeparator);
+ // Comparing two pointers of which only one is NULL is undefined.
+ if (last_alt_sep != NULL &&
+ (last_sep == NULL || last_alt_sep > last_sep)) {
+ return last_alt_sep;
+ }
+#endif
+ return last_sep;
+}
+
+// Returns a copy of the FilePath with the directory part removed.
+// Example: FilePath("path/to/file").RemoveDirectoryName() returns
+// FilePath("file"). If there is no directory part ("just_a_file"), it returns
+// the FilePath unmodified. If there is no file part ("just_a_dir/") it
+// returns an empty FilePath ("").
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveDirectoryName() const {
+ const char* const last_sep = FindLastPathSeparator();
+ return last_sep ? FilePath(last_sep + 1) : *this;
+}
+
+// RemoveFileName returns the directory path with the filename removed.
+// Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+// If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+// FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+// not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveFileName() const {
+ const char* const last_sep = FindLastPathSeparator();
+ std::string dir;
+ if (last_sep) {
+ dir = std::string(c_str(), last_sep + 1 - c_str());
+ } else {
+ dir = kCurrentDirectoryString;
+ }
+ return FilePath(dir);
+}
+
+// Helper functions for naming files in a directory for xml output.
+
+// Given directory = "dir", base_name = "test", number = 0,
+// extension = "xml", returns "dir/test.xml". If number is greater
+// than zero (e.g., 12), returns "dir/test_12.xml".
+// On Windows platform, uses \ as the separator rather than /.
+FilePath FilePath::MakeFileName(const FilePath& directory,
+ const FilePath& base_name,
+ int number,
+ const char* extension) {
+ std::string file;
+ if (number == 0) {
+ file = base_name.string() + "." + extension;
+ } else {
+ file = base_name.string() + "_" + StreamableToString(number)
+ + "." + extension;
+ }
+ return ConcatPaths(directory, FilePath(file));
+}
+
+// Given directory = "dir", relative_path = "test.xml", returns "dir/test.xml".
+// On Windows, uses \ as the separator rather than /.
+FilePath FilePath::ConcatPaths(const FilePath& directory,
+ const FilePath& relative_path) {
+ if (directory.IsEmpty())
+ return relative_path;
+ const FilePath dir(directory.RemoveTrailingPathSeparator());
+ return FilePath(dir.string() + kPathSeparator + relative_path.string());
+}
+
+// Returns true if pathname describes something findable in the file-system,
+// either a file, directory, or whatever.
+bool FilePath::FileOrDirectoryExists() const {
+#if GTEST_OS_WINDOWS_MOBILE
+ LPCWSTR unicode = String::AnsiToUtf16(pathname_.c_str());
+ const DWORD attributes = GetFileAttributes(unicode);
+ delete [] unicode;
+ return attributes != kInvalidFileAttributes;
+#else
+ posix::StatStruct file_stat;
+ return posix::Stat(pathname_.c_str(), &file_stat) == 0;
+#endif // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns true if pathname describes a directory in the file-system
+// that exists.
+bool FilePath::DirectoryExists() const {
+ bool result = false;
+#if GTEST_OS_WINDOWS
+ // Don't strip off trailing separator if path is a root directory on
+ // Windows (like "C:\\").
+ const FilePath& path(IsRootDirectory() ? *this :
+ RemoveTrailingPathSeparator());
+#else
+ const FilePath& path(*this);
+#endif
+
+#if GTEST_OS_WINDOWS_MOBILE
+ LPCWSTR unicode = String::AnsiToUtf16(path.c_str());
+ const DWORD attributes = GetFileAttributes(unicode);
+ delete [] unicode;
+ if ((attributes != kInvalidFileAttributes) &&
+ (attributes & FILE_ATTRIBUTE_DIRECTORY)) {
+ result = true;
+ }
+#else
+ posix::StatStruct file_stat;
+ result = posix::Stat(path.c_str(), &file_stat) == 0 &&
+ posix::IsDir(file_stat);
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+ return result;
+}
+
+// Returns true if pathname describes a root directory. (Windows has one
+// root directory per disk drive.)
+bool FilePath::IsRootDirectory() const {
+#if GTEST_OS_WINDOWS
+ // TODO(wan@google.com): on Windows a network share like
+ // \\server\share can be a root directory, although it cannot be the
+ // current directory. Handle this properly.
+ return pathname_.length() == 3 && IsAbsolutePath();
+#else
+ return pathname_.length() == 1 && IsPathSeparator(pathname_.c_str()[0]);
+#endif
+}
+
+// Returns true if pathname describes an absolute path.
+bool FilePath::IsAbsolutePath() const {
+ const char* const name = pathname_.c_str();
+#if GTEST_OS_WINDOWS
+ return pathname_.length() >= 3 &&
+ ((name[0] >= 'a' && name[0] <= 'z') ||
+ (name[0] >= 'A' && name[0] <= 'Z')) &&
+ name[1] == ':' &&
+ IsPathSeparator(name[2]);
+#else
+ return IsPathSeparator(name[0]);
+#endif
+}
+
+// Returns a pathname for a file that does not currently exist. The pathname
+// will be directory/base_name.extension or
+// directory/base_name_<number>.extension if directory/base_name.extension
+// already exists. The number will be incremented until a pathname is found
+// that does not already exist.
+// Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+// There could be a race condition if two or more processes are calling this
+// function at the same time -- they could both pick the same filename.
+FilePath FilePath::GenerateUniqueFileName(const FilePath& directory,
+ const FilePath& base_name,
+ const char* extension) {
+ FilePath full_pathname;
+ int number = 0;
+ do {
+ full_pathname.Set(MakeFileName(directory, base_name, number++, extension));
+ } while (full_pathname.FileOrDirectoryExists());
+ return full_pathname;
+}
+
+// Returns true if FilePath ends with a path separator, which indicates that
+// it is intended to represent a directory. Returns false otherwise.
+// This does NOT check that a directory (or file) actually exists.
+bool FilePath::IsDirectory() const {
+ return !pathname_.empty() &&
+ IsPathSeparator(pathname_.c_str()[pathname_.length() - 1]);
+}
+
+// Create directories so that path exists. Returns true if successful or if
+// the directories already exist; returns false if unable to create directories
+// for any reason.
+bool FilePath::CreateDirectoriesRecursively() const {
+ if (!this->IsDirectory()) {
+ return false;
+ }
+
+ if (pathname_.length() == 0 || this->DirectoryExists()) {
+ return true;
+ }
+
+ const FilePath parent(this->RemoveTrailingPathSeparator().RemoveFileName());
+ return parent.CreateDirectoriesRecursively() && this->CreateFolder();
+}
+
+// Create the directory so that path exists. Returns true if successful or
+// if the directory already exists; returns false if unable to create the
+// directory for any reason, including if the parent directory does not
+// exist. Not named "CreateDirectory" because that's a macro on Windows.
+bool FilePath::CreateFolder() const {
+#if GTEST_OS_WINDOWS_MOBILE
+ FilePath removed_sep(this->RemoveTrailingPathSeparator());
+ LPCWSTR unicode = String::AnsiToUtf16(removed_sep.c_str());
+ int result = CreateDirectory(unicode, NULL) ? 0 : -1;
+ delete [] unicode;
+#elif GTEST_OS_WINDOWS
+ int result = _mkdir(pathname_.c_str());
+#else
+ int result = mkdir(pathname_.c_str(), 0777);
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+ if (result == -1) {
+ return this->DirectoryExists(); // An error is OK if the directory exists.
+ }
+ return true; // No error.
+}
+
+// If input name has a trailing separator character, remove it and return the
+// name, otherwise return the name string unmodified.
+// On Windows platform, uses \ as the separator, other platforms use /.
+FilePath FilePath::RemoveTrailingPathSeparator() const {
+ return IsDirectory()
+ ? FilePath(pathname_.substr(0, pathname_.length() - 1))
+ : *this;
+}
+
+// Removes any redundant separators that might be in the pathname.
+// For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+// redundancies that might be in a pathname involving "." or "..".
+// TODO(wan@google.com): handle Windows network shares (e.g. \\server\share).
+void FilePath::Normalize() {
+ if (pathname_.c_str() == NULL) {
+ pathname_ = "";
+ return;
+ }
+ const char* src = pathname_.c_str();
+ char* const dest = new char[pathname_.length() + 1];
+ char* dest_ptr = dest;
+ memset(dest_ptr, 0, pathname_.length() + 1);
+
+ while (*src != '\0') {
+ *dest_ptr = *src;
+ if (!IsPathSeparator(*src)) {
+ src++;
+ } else {
+#if GTEST_HAS_ALT_PATH_SEP_
+ if (*dest_ptr == kAlternatePathSeparator) {
+ *dest_ptr = kPathSeparator;
+ }
+#endif
+ while (IsPathSeparator(*src))
+ src++;
+ }
+ dest_ptr++;
+ }
+ *dest_ptr = '\0';
+ pathname_ = dest;
+ delete[] dest;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+
+#include <limits.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <fstream>
+
+#if GTEST_OS_WINDOWS
+# include <windows.h>
+# include <io.h>
+# include <sys/stat.h>
+# include <map> // Used in ThreadLocal.
+#else
+# include <unistd.h>
+#endif // GTEST_OS_WINDOWS
+
+#if GTEST_OS_MAC
+# include <mach/mach_init.h>
+# include <mach/task.h>
+# include <mach/vm_map.h>
+#endif // GTEST_OS_MAC
+
+#if GTEST_OS_QNX
+# include <devctl.h>
+# include <fcntl.h>
+# include <sys/procfs.h>
+#endif // GTEST_OS_QNX
+
+#if GTEST_OS_AIX
+# include <procinfo.h>
+# include <sys/types.h>
+#endif // GTEST_OS_AIX
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+namespace internal {
+
+#if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC and C++Builder do not provide a definition of STDERR_FILENO.
+const int kStdOutFileno = 1;
+const int kStdErrFileno = 2;
+#else
+const int kStdOutFileno = STDOUT_FILENO;
+const int kStdErrFileno = STDERR_FILENO;
+#endif // _MSC_VER
+
+#if GTEST_OS_LINUX
+
+namespace {
+template <typename T>
+T ReadProcFileField(const string& filename, int field) {
+ std::string dummy;
+ std::ifstream file(filename.c_str());
+ while (field-- > 0) {
+ file >> dummy;
+ }
+ T output = 0;
+ file >> output;
+ return output;
+}
+} // namespace
+
+// Returns the number of active threads, or 0 when there is an error.
+size_t GetThreadCount() {
+ const string filename =
+ (Message() << "/proc/" << getpid() << "/stat").GetString();
+ return ReadProcFileField<int>(filename, 19);
+}
+
+#elif GTEST_OS_MAC
+
+size_t GetThreadCount() {
+ const task_t task = mach_task_self();
+ mach_msg_type_number_t thread_count;
+ thread_act_array_t thread_list;
+ const kern_return_t status = task_threads(task, &thread_list, &thread_count);
+ if (status == KERN_SUCCESS) {
+ // task_threads allocates resources in thread_list and we need to free them
+ // to avoid leaks.
+ vm_deallocate(task,
+ reinterpret_cast<vm_address_t>(thread_list),
+ sizeof(thread_t) * thread_count);
+ return static_cast<size_t>(thread_count);
+ } else {
+ return 0;
+ }
+}
+
+#elif GTEST_OS_QNX
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+size_t GetThreadCount() {
+ const int fd = open("/proc/self/as", O_RDONLY);
+ if (fd < 0) {
+ return 0;
+ }
+ procfs_info process_info;
+ const int status =
+ devctl(fd, DCMD_PROC_INFO, &process_info, sizeof(process_info), NULL);
+ close(fd);
+ if (status == EOK) {
+ return static_cast<size_t>(process_info.num_threads);
+ } else {
+ return 0;
+ }
+}
+
+#elif GTEST_OS_AIX
+
+size_t GetThreadCount() {
+ struct procentry64 entry;
+ pid_t pid = getpid();
+ int status = getprocs64(&entry, sizeof(entry), NULL, 0, &pid, 1);
+ if (status == 1) {
+ return entry.pi_thcount;
+ } else {
+ return 0;
+ }
+}
+
+#else
+
+size_t GetThreadCount() {
+ // There's no portable way to detect the number of threads, so we just
+ // return 0 to indicate that we cannot detect it.
+ return 0;
+}
+
+#endif // GTEST_OS_LINUX
+
+#if GTEST_IS_THREADSAFE && GTEST_OS_WINDOWS
+
+void SleepMilliseconds(int n) {
+ ::Sleep(n);
+}
+
+AutoHandle::AutoHandle()
+ : handle_(INVALID_HANDLE_VALUE) {}
+
+AutoHandle::AutoHandle(Handle handle)
+ : handle_(handle) {}
+
+AutoHandle::~AutoHandle() {
+ Reset();
+}
+
+AutoHandle::Handle AutoHandle::Get() const {
+ return handle_;
+}
+
+void AutoHandle::Reset() {
+ Reset(INVALID_HANDLE_VALUE);
+}
+
+void AutoHandle::Reset(HANDLE handle) {
+ // Resetting with the same handle we already own is invalid.
+ if (handle_ != handle) {
+ if (IsCloseable()) {
+ ::CloseHandle(handle_);
+ }
+ handle_ = handle;
+ } else {
+ GTEST_CHECK_(!IsCloseable())
+ << "Resetting a valid handle to itself is likely a programmer error "
+ "and thus not allowed.";
+ }
+}
+
+bool AutoHandle::IsCloseable() const {
+ // Different Windows APIs may use either of these values to represent an
+ // invalid handle.
+ return handle_ != NULL && handle_ != INVALID_HANDLE_VALUE;
+}
+
+Notification::Notification()
+ : event_(::CreateEvent(NULL, // Default security attributes.
+ TRUE, // Do not reset automatically.
+ FALSE, // Initially unset.
+ NULL)) { // Anonymous event.
+ GTEST_CHECK_(event_.Get() != NULL);
+}
+
+void Notification::Notify() {
+ GTEST_CHECK_(::SetEvent(event_.Get()) != FALSE);
+}
+
+void Notification::WaitForNotification() {
+ GTEST_CHECK_(
+ ::WaitForSingleObject(event_.Get(), INFINITE) == WAIT_OBJECT_0);
+}
+
+Mutex::Mutex()
+ : owner_thread_id_(0),
+ type_(kDynamic),
+ critical_section_init_phase_(0),
+ critical_section_(new CRITICAL_SECTION) {
+ ::InitializeCriticalSection(critical_section_);
+}
+
+Mutex::~Mutex() {
+ // Static mutexes are leaked intentionally. It is not thread-safe to try
+ // to clean them up.
+ // TODO(yukawa): Switch to Slim Reader/Writer (SRW) Locks, which requires
+ // nothing to clean it up but is available only on Vista and later.
+ // http://msdn.microsoft.com/en-us/library/windows/desktop/aa904937.aspx
+ if (type_ == kDynamic) {
+ ::DeleteCriticalSection(critical_section_);
+ delete critical_section_;
+ critical_section_ = NULL;
+ }
+}
+
+void Mutex::Lock() {
+ ThreadSafeLazyInit();
+ ::EnterCriticalSection(critical_section_);
+ owner_thread_id_ = ::GetCurrentThreadId();
+}
+
+void Mutex::Unlock() {
+ ThreadSafeLazyInit();
+ // We don't protect writing to owner_thread_id_ here, as it's the
+ // caller's responsibility to ensure that the current thread holds the
+ // mutex when this is called.
+ owner_thread_id_ = 0;
+ ::LeaveCriticalSection(critical_section_);
+}
+
+// Does nothing if the current thread holds the mutex. Otherwise, crashes
+// with high probability.
+void Mutex::AssertHeld() {
+ ThreadSafeLazyInit();
+ GTEST_CHECK_(owner_thread_id_ == ::GetCurrentThreadId())
+ << "The current thread is not holding the mutex @" << this;
+}
+
+// Initializes owner_thread_id_ and critical_section_ in static mutexes.
+void Mutex::ThreadSafeLazyInit() {
+ // Dynamic mutexes are initialized in the constructor.
+ if (type_ == kStatic) {
+ switch (
+ ::InterlockedCompareExchange(&critical_section_init_phase_, 1L, 0L)) {
+ case 0:
+ // If critical_section_init_phase_ was 0 before the exchange, we
+ // are the first to test it and need to perform the initialization.
+ owner_thread_id_ = 0;
+ critical_section_ = new CRITICAL_SECTION;
+ ::InitializeCriticalSection(critical_section_);
+ // Updates the critical_section_init_phase_ to 2 to signal
+ // initialization complete.
+ GTEST_CHECK_(::InterlockedCompareExchange(
+ &critical_section_init_phase_, 2L, 1L) ==
+ 1L);
+ break;
+ case 1:
+ // Somebody else is already initializing the mutex; spin until they
+ // are done.
+ while (::InterlockedCompareExchange(&critical_section_init_phase_,
+ 2L,
+ 2L) != 2L) {
+ // Possibly yields the rest of the thread's time slice to other
+ // threads.
+ ::Sleep(0);
+ }
+ break;
+
+ case 2:
+ break; // The mutex is already initialized and ready for use.
+
+ default:
+ GTEST_CHECK_(false)
+ << "Unexpected value of critical_section_init_phase_ "
+ << "while initializing a static mutex.";
+ }
+ }
+}
+
+namespace {
+
+class ThreadWithParamSupport : public ThreadWithParamBase {
+ public:
+ static HANDLE CreateThread(Runnable* runnable,
+ Notification* thread_can_start) {
+ ThreadMainParam* param = new ThreadMainParam(runnable, thread_can_start);
+ DWORD thread_id;
+ // TODO(yukawa): Consider to use _beginthreadex instead.
+ HANDLE thread_handle = ::CreateThread(
+ NULL, // Default security.
+ 0, // Default stack size.
+ &ThreadWithParamSupport::ThreadMain,
+ param, // Parameter to ThreadMainStatic
+ 0x0, // Default creation flags.
+ &thread_id); // Need a valid pointer for the call to work under Win98.
+ GTEST_CHECK_(thread_handle != NULL) << "CreateThread failed with error "
+ << ::GetLastError() << ".";
+ if (thread_handle == NULL) {
+ delete param;
+ }
+ return thread_handle;
+ }
+
+ private:
+ struct ThreadMainParam {
+ ThreadMainParam(Runnable* runnable, Notification* thread_can_start)
+ : runnable_(runnable),
+ thread_can_start_(thread_can_start) {
+ }
+ scoped_ptr<Runnable> runnable_;
+ // Does not own.
+ Notification* thread_can_start_;
+ };
+
+ static DWORD WINAPI ThreadMain(void* ptr) {
+ // Transfers ownership.
+ scoped_ptr<ThreadMainParam> param(static_cast<ThreadMainParam*>(ptr));
+ if (param->thread_can_start_ != NULL)
+ param->thread_can_start_->WaitForNotification();
+ param->runnable_->Run();
+ return 0;
+ }
+
+ // Prohibit instantiation.
+ ThreadWithParamSupport();
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParamSupport);
+};
+
+} // namespace
+
+ThreadWithParamBase::ThreadWithParamBase(Runnable *runnable,
+ Notification* thread_can_start)
+ : thread_(ThreadWithParamSupport::CreateThread(runnable,
+ thread_can_start)) {
+}
+
+ThreadWithParamBase::~ThreadWithParamBase() {
+ Join();
+}
+
+void ThreadWithParamBase::Join() {
+ GTEST_CHECK_(::WaitForSingleObject(thread_.Get(), INFINITE) == WAIT_OBJECT_0)
+ << "Failed to join the thread with error " << ::GetLastError() << ".";
+}
+
+// Maps a thread to a set of ThreadIdToThreadLocals that have values
+// instantiated on that thread and notifies them when the thread exits. A
+// ThreadLocal instance is expected to persist until all threads it has
+// values on have terminated.
+class ThreadLocalRegistryImpl {
+ public:
+ // Registers thread_local_instance as having value on the current thread.
+ // Returns a value that can be used to identify the thread from other threads.
+ static ThreadLocalValueHolderBase* GetValueOnCurrentThread(
+ const ThreadLocalBase* thread_local_instance) {
+ DWORD current_thread = ::GetCurrentThreadId();
+ MutexLock lock(&mutex_);
+ ThreadIdToThreadLocals* const thread_to_thread_locals =
+ GetThreadLocalsMapLocked();
+ ThreadIdToThreadLocals::iterator thread_local_pos =
+ thread_to_thread_locals->find(current_thread);
+ if (thread_local_pos == thread_to_thread_locals->end()) {
+ thread_local_pos = thread_to_thread_locals->insert(
+ std::make_pair(current_thread, ThreadLocalValues())).first;
+ StartWatcherThreadFor(current_thread);
+ }
+ ThreadLocalValues& thread_local_values = thread_local_pos->second;
+ ThreadLocalValues::iterator value_pos =
+ thread_local_values.find(thread_local_instance);
+ if (value_pos == thread_local_values.end()) {
+ value_pos =
+ thread_local_values
+ .insert(std::make_pair(
+ thread_local_instance,
+ linked_ptr<ThreadLocalValueHolderBase>(
+ thread_local_instance->NewValueForCurrentThread())))
+ .first;
+ }
+ return value_pos->second.get();
+ }
+
+ static void OnThreadLocalDestroyed(
+ const ThreadLocalBase* thread_local_instance) {
+ std::vector<linked_ptr<ThreadLocalValueHolderBase> > value_holders;
+ // Clean up the ThreadLocalValues data structure while holding the lock, but
+ // defer the destruction of the ThreadLocalValueHolderBases.
+ {
+ MutexLock lock(&mutex_);
+ ThreadIdToThreadLocals* const thread_to_thread_locals =
+ GetThreadLocalsMapLocked();
+ for (ThreadIdToThreadLocals::iterator it =
+ thread_to_thread_locals->begin();
+ it != thread_to_thread_locals->end();
+ ++it) {
+ ThreadLocalValues& thread_local_values = it->second;
+ ThreadLocalValues::iterator value_pos =
+ thread_local_values.find(thread_local_instance);
+ if (value_pos != thread_local_values.end()) {
+ value_holders.push_back(value_pos->second);
+ thread_local_values.erase(value_pos);
+ // This 'if' can only be successful at most once, so theoretically we
+ // could break out of the loop here, but we don't bother doing so.
+ }
+ }
+ }
+ // Outside the lock, let the destructor for 'value_holders' deallocate the
+ // ThreadLocalValueHolderBases.
+ }
+
+ static void OnThreadExit(DWORD thread_id) {
+ GTEST_CHECK_(thread_id != 0) << ::GetLastError();
+ std::vector<linked_ptr<ThreadLocalValueHolderBase> > value_holders;
+ // Clean up the ThreadIdToThreadLocals data structure while holding the
+ // lock, but defer the destruction of the ThreadLocalValueHolderBases.
+ {
+ MutexLock lock(&mutex_);
+ ThreadIdToThreadLocals* const thread_to_thread_locals =
+ GetThreadLocalsMapLocked();
+ ThreadIdToThreadLocals::iterator thread_local_pos =
+ thread_to_thread_locals->find(thread_id);
+ if (thread_local_pos != thread_to_thread_locals->end()) {
+ ThreadLocalValues& thread_local_values = thread_local_pos->second;
+ for (ThreadLocalValues::iterator value_pos =
+ thread_local_values.begin();
+ value_pos != thread_local_values.end();
+ ++value_pos) {
+ value_holders.push_back(value_pos->second);
+ }
+ thread_to_thread_locals->erase(thread_local_pos);
+ }
+ }
+ // Outside the lock, let the destructor for 'value_holders' deallocate the
+ // ThreadLocalValueHolderBases.
+ }
+
+ private:
+ // In a particular thread, maps a ThreadLocal object to its value.
+ typedef std::map<const ThreadLocalBase*,
+ linked_ptr<ThreadLocalValueHolderBase> > ThreadLocalValues;
+ // Stores all ThreadIdToThreadLocals having values in a thread, indexed by
+ // thread's ID.
+ typedef std::map<DWORD, ThreadLocalValues> ThreadIdToThreadLocals;
+
+ // Holds the thread id and thread handle that we pass from
+ // StartWatcherThreadFor to WatcherThreadFunc.
+ typedef std::pair<DWORD, HANDLE> ThreadIdAndHandle;
+
+ static void StartWatcherThreadFor(DWORD thread_id) {
+ // The returned handle will be kept in thread_map and closed by
+ // watcher_thread in WatcherThreadFunc.
+ HANDLE thread = ::OpenThread(SYNCHRONIZE | THREAD_QUERY_INFORMATION,
+ FALSE,
+ thread_id);
+ GTEST_CHECK_(thread != NULL);
+ // We need to to pass a valid thread ID pointer into CreateThread for it
+ // to work correctly under Win98.
+ DWORD watcher_thread_id;
+ HANDLE watcher_thread = ::CreateThread(
+ NULL, // Default security.
+ 0, // Default stack size
+ &ThreadLocalRegistryImpl::WatcherThreadFunc,
+ reinterpret_cast<LPVOID>(new ThreadIdAndHandle(thread_id, thread)),
+ CREATE_SUSPENDED,
+ &watcher_thread_id);
+ GTEST_CHECK_(watcher_thread != NULL);
+ // Give the watcher thread the same priority as ours to avoid being
+ // blocked by it.
+ ::SetThreadPriority(watcher_thread,
+ ::GetThreadPriority(::GetCurrentThread()));
+ ::ResumeThread(watcher_thread);
+ ::CloseHandle(watcher_thread);
+ }
+
+ // Monitors exit from a given thread and notifies those
+ // ThreadIdToThreadLocals about thread termination.
+ static DWORD WINAPI WatcherThreadFunc(LPVOID param) {
+ const ThreadIdAndHandle* tah =
+ reinterpret_cast<const ThreadIdAndHandle*>(param);
+ GTEST_CHECK_(
+ ::WaitForSingleObject(tah->second, INFINITE) == WAIT_OBJECT_0);
+ OnThreadExit(tah->first);
+ ::CloseHandle(tah->second);
+ delete tah;
+ return 0;
+ }
+
+ // Returns map of thread local instances.
+ static ThreadIdToThreadLocals* GetThreadLocalsMapLocked() {
+ mutex_.AssertHeld();
+ static ThreadIdToThreadLocals* map = new ThreadIdToThreadLocals;
+ return map;
+ }
+
+ // Protects access to GetThreadLocalsMapLocked() and its return value.
+ static Mutex mutex_;
+ // Protects access to GetThreadMapLocked() and its return value.
+ static Mutex thread_map_mutex_;
+};
+
+Mutex ThreadLocalRegistryImpl::mutex_(Mutex::kStaticMutex);
+Mutex ThreadLocalRegistryImpl::thread_map_mutex_(Mutex::kStaticMutex);
+
+ThreadLocalValueHolderBase* ThreadLocalRegistry::GetValueOnCurrentThread(
+ const ThreadLocalBase* thread_local_instance) {
+ return ThreadLocalRegistryImpl::GetValueOnCurrentThread(
+ thread_local_instance);
+}
+
+void ThreadLocalRegistry::OnThreadLocalDestroyed(
+ const ThreadLocalBase* thread_local_instance) {
+ ThreadLocalRegistryImpl::OnThreadLocalDestroyed(thread_local_instance);
+}
+
+#endif // GTEST_IS_THREADSAFE && GTEST_OS_WINDOWS
+
+#if GTEST_USES_POSIX_RE
+
+// Implements RE. Currently only needed for death tests.
+
+RE::~RE() {
+ if (is_valid_) {
+ // regfree'ing an invalid regex might crash because the content
+ // of the regex is undefined. Since the regex's are essentially
+ // the same, one cannot be valid (or invalid) without the other
+ // being so too.
+ regfree(&partial_regex_);
+ regfree(&full_regex_);
+ }
+ free(const_cast<char*>(pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+ if (!re.is_valid_) return false;
+
+ regmatch_t match;
+ return regexec(&re.full_regex_, str, 1, &match, 0) == 0;
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+ if (!re.is_valid_) return false;
+
+ regmatch_t match;
+ return regexec(&re.partial_regex_, str, 1, &match, 0) == 0;
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+ pattern_ = posix::StrDup(regex);
+
+ // Reserves enough bytes to hold the regular expression used for a
+ // full match.
+ const size_t full_regex_len = strlen(regex) + 10;
+ char* const full_pattern = new char[full_regex_len];
+
+ snprintf(full_pattern, full_regex_len, "^(%s)$", regex);
+ is_valid_ = regcomp(&full_regex_, full_pattern, REG_EXTENDED) == 0;
+ // We want to call regcomp(&partial_regex_, ...) even if the
+ // previous expression returns false. Otherwise partial_regex_ may
+ // not be properly initialized can may cause trouble when it's
+ // freed.
+ //
+ // Some implementation of POSIX regex (e.g. on at least some
+ // versions of Cygwin) doesn't accept the empty string as a valid
+ // regex. We change it to an equivalent form "()" to be safe.
+ if (is_valid_) {
+ const char* const partial_regex = (*regex == '\0') ? "()" : regex;
+ is_valid_ = regcomp(&partial_regex_, partial_regex, REG_EXTENDED) == 0;
+ }
+ EXPECT_TRUE(is_valid_)
+ << "Regular expression \"" << regex
+ << "\" is not a valid POSIX Extended regular expression.";
+
+ delete[] full_pattern;
+}
+
+#elif GTEST_USES_SIMPLE_RE
+
+// Returns true iff ch appears anywhere in str (excluding the
+// terminating '\0' character).
+bool IsInSet(char ch, const char* str) {
+ return ch != '\0' && strchr(str, ch) != NULL;
+}
+
+// Returns true iff ch belongs to the given classification. Unlike
+// similar functions in <ctype.h>, these aren't affected by the
+// current locale.
+bool IsAsciiDigit(char ch) { return '0' <= ch && ch <= '9'; }
+bool IsAsciiPunct(char ch) {
+ return IsInSet(ch, "^-!\"#$%&'()*+,./:;<=>?@[\\]_`{|}~");
+}
+bool IsRepeat(char ch) { return IsInSet(ch, "?*+"); }
+bool IsAsciiWhiteSpace(char ch) { return IsInSet(ch, " \f\n\r\t\v"); }
+bool IsAsciiWordChar(char ch) {
+ return ('a' <= ch && ch <= 'z') || ('A' <= ch && ch <= 'Z') ||
+ ('0' <= ch && ch <= '9') || ch == '_';
+}
+
+// Returns true iff "\\c" is a supported escape sequence.
+bool IsValidEscape(char c) {
+ return (IsAsciiPunct(c) || IsInSet(c, "dDfnrsStvwW"));
+}
+
+// Returns true iff the given atom (specified by escaped and pattern)
+// matches ch. The result is undefined if the atom is invalid.
+bool AtomMatchesChar(bool escaped, char pattern_char, char ch) {
+ if (escaped) { // "\\p" where p is pattern_char.
+ switch (pattern_char) {
+ case 'd': return IsAsciiDigit(ch);
+ case 'D': return !IsAsciiDigit(ch);
+ case 'f': return ch == '\f';
+ case 'n': return ch == '\n';
+ case 'r': return ch == '\r';
+ case 's': return IsAsciiWhiteSpace(ch);
+ case 'S': return !IsAsciiWhiteSpace(ch);
+ case 't': return ch == '\t';
+ case 'v': return ch == '\v';
+ case 'w': return IsAsciiWordChar(ch);
+ case 'W': return !IsAsciiWordChar(ch);
+ }
+ return IsAsciiPunct(pattern_char) && pattern_char == ch;
+ }
+
+ return (pattern_char == '.' && ch != '\n') || pattern_char == ch;
+}
+
+// Helper function used by ValidateRegex() to format error messages.
+std::string FormatRegexSyntaxError(const char* regex, int index) {
+ return (Message() << "Syntax error at index " << index
+ << " in simple regular expression \"" << regex << "\": ").GetString();
+}
+
+// Generates non-fatal failures and returns false if regex is invalid;
+// otherwise returns true.
+bool ValidateRegex(const char* regex) {
+ if (regex == NULL) {
+ // TODO(wan@google.com): fix the source file location in the
+ // assertion failures to match where the regex is used in user
+ // code.
+ ADD_FAILURE() << "NULL is not a valid simple regular expression.";
+ return false;
+ }
+
+ bool is_valid = true;
+
+ // True iff ?, *, or + can follow the previous atom.
+ bool prev_repeatable = false;
+ for (int i = 0; regex[i]; i++) {
+ if (regex[i] == '\\') { // An escape sequence
+ i++;
+ if (regex[i] == '\0') {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+ << "'\\' cannot appear at the end.";
+ return false;
+ }
+
+ if (!IsValidEscape(regex[i])) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+ << "invalid escape sequence \"\\" << regex[i] << "\".";
+ is_valid = false;
+ }
+ prev_repeatable = true;
+ } else { // Not an escape sequence.
+ const char ch = regex[i];
+
+ if (ch == '^' && i > 0) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'^' can only appear at the beginning.";
+ is_valid = false;
+ } else if (ch == '$' && regex[i + 1] != '\0') {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'$' can only appear at the end.";
+ is_valid = false;
+ } else if (IsInSet(ch, "()[]{}|")) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'" << ch << "' is unsupported.";
+ is_valid = false;
+ } else if (IsRepeat(ch) && !prev_repeatable) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'" << ch << "' can only follow a repeatable token.";
+ is_valid = false;
+ }
+
+ prev_repeatable = !IsInSet(ch, "^$?*+");
+ }
+ }
+
+ return is_valid;
+}
+
+// Matches a repeated regex atom followed by a valid simple regular
+// expression. The regex atom is defined as c if escaped is false,
+// or \c otherwise. repeat is the repetition meta character (?, *,
+// or +). The behavior is undefined if str contains too many
+// characters to be indexable by size_t, in which case the test will
+// probably time out anyway. We are fine with this limitation as
+// std::string has it too.
+bool MatchRepetitionAndRegexAtHead(
+ bool escaped, char c, char repeat, const char* regex,
+ const char* str) {
+ const size_t min_count = (repeat == '+') ? 1 : 0;
+ const size_t max_count = (repeat == '?') ? 1 :
+ static_cast<size_t>(-1) - 1;
+ // We cannot call numeric_limits::max() as it conflicts with the
+ // max() macro on Windows.
+
+ for (size_t i = 0; i <= max_count; ++i) {
+ // We know that the atom matches each of the first i characters in str.
+ if (i >= min_count && MatchRegexAtHead(regex, str + i)) {
+ // We have enough matches at the head, and the tail matches too.
+ // Since we only care about *whether* the pattern matches str
+ // (as opposed to *how* it matches), there is no need to find a
+ // greedy match.
+ return true;
+ }
+ if (str[i] == '\0' || !AtomMatchesChar(escaped, c, str[i]))
+ return false;
+ }
+ return false;
+}
+
+// Returns true iff regex matches a prefix of str. regex must be a
+// valid simple regular expression and not start with "^", or the
+// result is undefined.
+bool MatchRegexAtHead(const char* regex, const char* str) {
+ if (*regex == '\0') // An empty regex matches a prefix of anything.
+ return true;
+
+ // "$" only matches the end of a string. Note that regex being
+ // valid guarantees that there's nothing after "$" in it.
+ if (*regex == '$')
+ return *str == '\0';
+
+ // Is the first thing in regex an escape sequence?
+ const bool escaped = *regex == '\\';
+ if (escaped)
+ ++regex;
+ if (IsRepeat(regex[1])) {
+ // MatchRepetitionAndRegexAtHead() calls MatchRegexAtHead(), so
+ // here's an indirect recursion. It terminates as the regex gets
+ // shorter in each recursion.
+ return MatchRepetitionAndRegexAtHead(
+ escaped, regex[0], regex[1], regex + 2, str);
+ } else {
+ // regex isn't empty, isn't "$", and doesn't start with a
+ // repetition. We match the first atom of regex with the first
+ // character of str and recurse.
+ return (*str != '\0') && AtomMatchesChar(escaped, *regex, *str) &&
+ MatchRegexAtHead(regex + 1, str + 1);
+ }
+}
+
+// Returns true iff regex matches any substring of str. regex must be
+// a valid simple regular expression, or the result is undefined.
+//
+// The algorithm is recursive, but the recursion depth doesn't exceed
+// the regex length, so we won't need to worry about running out of
+// stack space normally. In rare cases the time complexity can be
+// exponential with respect to the regex length + the string length,
+// but usually it's must faster (often close to linear).
+bool MatchRegexAnywhere(const char* regex, const char* str) {
+ if (regex == NULL || str == NULL)
+ return false;
+
+ if (*regex == '^')
+ return MatchRegexAtHead(regex + 1, str);
+
+ // A successful match can be anywhere in str.
+ do {
+ if (MatchRegexAtHead(regex, str))
+ return true;
+ } while (*str++ != '\0');
+ return false;
+}
+
+// Implements the RE class.
+
+RE::~RE() {
+ free(const_cast<char*>(pattern_));
+ free(const_cast<char*>(full_pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+ return re.is_valid_ && MatchRegexAnywhere(re.full_pattern_, str);
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+ return re.is_valid_ && MatchRegexAnywhere(re.pattern_, str);
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+ pattern_ = full_pattern_ = NULL;
+ if (regex != NULL) {
+ pattern_ = posix::StrDup(regex);
+ }
+
+ is_valid_ = ValidateRegex(regex);
+ if (!is_valid_) {
+ // No need to calculate the full pattern when the regex is invalid.
+ return;
+ }
+
+ const size_t len = strlen(regex);
+ // Reserves enough bytes to hold the regular expression used for a
+ // full match: we need space to prepend a '^', append a '$', and
+ // terminate the string with '\0'.
+ char* buffer = static_cast<char*>(malloc(len + 3));
+ full_pattern_ = buffer;
+
+ if (*regex != '^')
+ *buffer++ = '^'; // Makes sure full_pattern_ starts with '^'.
+
+ // We don't use snprintf or strncpy, as they trigger a warning when
+ // compiled with VC++ 8.0.
+ memcpy(buffer, regex, len);
+ buffer += len;
+
+ if (len == 0 || regex[len - 1] != '$')
+ *buffer++ = '$'; // Makes sure full_pattern_ ends with '$'.
+
+ *buffer = '\0';
+}
+
+#endif // GTEST_USES_POSIX_RE
+
+const char kUnknownFile[] = "unknown file";
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line) {
+ const std::string file_name(file == NULL ? kUnknownFile : file);
+
+ if (line < 0) {
+ return file_name + ":";
+ }
+#ifdef _MSC_VER
+ return file_name + "(" + StreamableToString(line) + "):";
+#else
+ return file_name + ":" + StreamableToString(line) + ":";
+#endif // _MSC_VER
+}
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+// Note that FormatCompilerIndependentFileLocation() does NOT append colon
+// to the file location it produces, unlike FormatFileLocation().
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(
+ const char* file, int line) {
+ const std::string file_name(file == NULL ? kUnknownFile : file);
+
+ if (line < 0)
+ return file_name;
+ else
+ return file_name + ":" + StreamableToString(line);
+}
+
+GTestLog::GTestLog(GTestLogSeverity severity, const char* file, int line)
+ : severity_(severity) {
+ const char* const marker =
+ severity == GTEST_INFO ? "[ INFO ]" :
+ severity == GTEST_WARNING ? "[WARNING]" :
+ severity == GTEST_ERROR ? "[ ERROR ]" : "[ FATAL ]";
+ GetStream() << ::std::endl << marker << " "
+ << FormatFileLocation(file, line).c_str() << ": ";
+}
+
+// Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+GTestLog::~GTestLog() {
+ GetStream() << ::std::endl;
+ if (severity_ == GTEST_FATAL) {
+ fflush(stderr);
+ posix::Abort();
+ }
+}
+// Disable Microsoft deprecation warnings for POSIX functions called from
+// this class (creat, dup, dup2, and close)
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Object that captures an output stream (stdout/stderr).
+class CapturedStream {
+ public:
+ // The ctor redirects the stream to a temporary file.
+ explicit CapturedStream(int fd) : fd_(fd), uncaptured_fd_(dup(fd)) {
+# if GTEST_OS_WINDOWS
+ char temp_dir_path[MAX_PATH + 1] = { '\0' }; // NOLINT
+ char temp_file_path[MAX_PATH + 1] = { '\0' }; // NOLINT
+
+ ::GetTempPathA(sizeof(temp_dir_path), temp_dir_path);
+ const UINT success = ::GetTempFileNameA(temp_dir_path,
+ "gtest_redir",
+ 0, // Generate unique file name.
+ temp_file_path);
+ GTEST_CHECK_(success != 0)
+ << "Unable to create a temporary file in " << temp_dir_path;
+ const int captured_fd = creat(temp_file_path, _S_IREAD | _S_IWRITE);
+ GTEST_CHECK_(captured_fd != -1) << "Unable to open temporary file "
+ << temp_file_path;
+ filename_ = temp_file_path;
+# else
+ // There's no guarantee that a test has write access to the current
+ // directory, so we create the temporary file in the /tmp directory
+ // instead. We use /tmp on most systems, and /sdcard on Android.
+ // That's because Android doesn't have /tmp.
+# if GTEST_OS_LINUX_ANDROID
+ // Note: Android applications are expected to call the framework's
+ // Context.getExternalStorageDirectory() method through JNI to get
+ // the location of the world-writable SD Card directory. However,
+ // this requires a Context handle, which cannot be retrieved
+ // globally from native code. Doing so also precludes running the
+ // code as part of a regular standalone executable, which doesn't
+ // run in a Dalvik process (e.g. when running it through 'adb shell').
+ //
+ // The location /sdcard is directly accessible from native code
+ // and is the only location (unofficially) supported by the Android
+ // team. It's generally a symlink to the real SD Card mount point
+ // which can be /mnt/sdcard, /mnt/sdcard0, /system/media/sdcard, or
+ // other OEM-customized locations. Never rely on these, and always
+ // use /sdcard.
+ char name_template[] = "/sdcard/gtest_captured_stream.XXXXXX";
+# else
+ char name_template[] = "/tmp/captured_stream.XXXXXX";
+# endif // GTEST_OS_LINUX_ANDROID
+ const int captured_fd = mkstemp(name_template);
+ filename_ = name_template;
+# endif // GTEST_OS_WINDOWS
+ fflush(NULL);
+ dup2(captured_fd, fd_);
+ close(captured_fd);
+ }
+
+ ~CapturedStream() {
+ remove(filename_.c_str());
+ }
+
+ std::string GetCapturedString() {
+ if (uncaptured_fd_ != -1) {
+ // Restores the original stream.
+ fflush(NULL);
+ dup2(uncaptured_fd_, fd_);
+ close(uncaptured_fd_);
+ uncaptured_fd_ = -1;
+ }
+
+ FILE* const file = posix::FOpen(filename_.c_str(), "r");
+ const std::string content = ReadEntireFile(file);
+ posix::FClose(file);
+ return content;
+ }
+
+ private:
+ const int fd_; // A stream to capture.
+ int uncaptured_fd_;
+ // Name of the temporary file holding the stderr output.
+ ::std::string filename_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(CapturedStream);
+};
+
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+static CapturedStream* g_captured_stderr = NULL;
+static CapturedStream* g_captured_stdout = NULL;
+
+// Starts capturing an output stream (stdout/stderr).
+void CaptureStream(int fd, const char* stream_name, CapturedStream** stream) {
+ if (*stream != NULL) {
+ GTEST_LOG_(FATAL) << "Only one " << stream_name
+ << " capturer can exist at a time.";
+ }
+ *stream = new CapturedStream(fd);
+}
+
+// Stops capturing the output stream and returns the captured string.
+std::string GetCapturedStream(CapturedStream** captured_stream) {
+ const std::string content = (*captured_stream)->GetCapturedString();
+
+ delete *captured_stream;
+ *captured_stream = NULL;
+
+ return content;
+}
+
+// Starts capturing stdout.
+void CaptureStdout() {
+ CaptureStream(kStdOutFileno, "stdout", &g_captured_stdout);
+}
+
+// Starts capturing stderr.
+void CaptureStderr() {
+ CaptureStream(kStdErrFileno, "stderr", &g_captured_stderr);
+}
+
+// Stops capturing stdout and returns the captured string.
+std::string GetCapturedStdout() {
+ return GetCapturedStream(&g_captured_stdout);
+}
+
+// Stops capturing stderr and returns the captured string.
+std::string GetCapturedStderr() {
+ return GetCapturedStream(&g_captured_stderr);
+}
+
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+std::string TempDir() {
+#if GTEST_OS_WINDOWS_MOBILE
+ return "\\temp\\";
+#elif GTEST_OS_WINDOWS
+ const char* temp_dir = posix::GetEnv("TEMP");
+ if (temp_dir == NULL || temp_dir[0] == '\0')
+ return "\\temp\\";
+ else if (temp_dir[strlen(temp_dir) - 1] == '\\')
+ return temp_dir;
+ else
+ return std::string(temp_dir) + "\\";
+#elif GTEST_OS_LINUX_ANDROID
+ return "/sdcard/";
+#else
+ return "/tmp/";
+#endif // GTEST_OS_WINDOWS_MOBILE
+}
+
+size_t GetFileSize(FILE* file) {
+ fseek(file, 0, SEEK_END);
+ return static_cast<size_t>(ftell(file));
+}
+
+std::string ReadEntireFile(FILE* file) {
+ const size_t file_size = GetFileSize(file);
+ char* const buffer = new char[file_size];
+
+ size_t bytes_last_read = 0; // # of bytes read in the last fread()
+ size_t bytes_read = 0; // # of bytes read so far
+
+ fseek(file, 0, SEEK_SET);
+
+ // Keeps reading the file until we cannot read further or the
+ // pre-determined file size is reached.
+ do {
+ bytes_last_read = fread(buffer+bytes_read, 1, file_size-bytes_read, file);
+ bytes_read += bytes_last_read;
+ } while (bytes_last_read > 0 && bytes_read < file_size);
+
+ const std::string content(buffer, bytes_read);
+ delete[] buffer;
+
+ return content;
+}
+
+#if GTEST_HAS_DEATH_TEST
+
+static const ::std::vector<testing::internal::string>* g_injected_test_argvs =
+ NULL; // Owned.
+
+void SetInjectableArgvs(const ::std::vector<testing::internal::string>* argvs) {
+ if (g_injected_test_argvs != argvs)
+ delete g_injected_test_argvs;
+ g_injected_test_argvs = argvs;
+}
+
+const ::std::vector<testing::internal::string>& GetInjectableArgvs() {
+ if (g_injected_test_argvs != NULL) {
+ return *g_injected_test_argvs;
+ }
+ return GetArgvs();
+}
+#endif // GTEST_HAS_DEATH_TEST
+
+#if GTEST_OS_WINDOWS_MOBILE
+namespace posix {
+void Abort() {
+ DebugBreak();
+ TerminateProcess(GetCurrentProcess(), 1);
+}
+} // namespace posix
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+// Returns the name of the environment variable corresponding to the
+// given flag. For example, FlagToEnvVar("foo") will return
+// "GTEST_FOO" in the open-source version.
+static std::string FlagToEnvVar(const char* flag) {
+ const std::string full_flag =
+ (Message() << GTEST_FLAG_PREFIX_ << flag).GetString();
+
+ Message env_var;
+ for (size_t i = 0; i != full_flag.length(); i++) {
+ env_var << ToUpper(full_flag.c_str()[i]);
+ }
+
+ return env_var.GetString();
+}
+
+// Parses 'str' for a 32-bit signed integer. If successful, writes
+// the result to *value and returns true; otherwise leaves *value
+// unchanged and returns false.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value) {
+ // Parses the environment variable as a decimal integer.
+ char* end = NULL;
+ const long long_value = strtol(str, &end, 10); // NOLINT
+
+ // Has strtol() consumed all characters in the string?
+ if (*end != '\0') {
+ // No - an invalid character was encountered.
+ Message msg;
+ msg << "WARNING: " << src_text
+ << " is expected to be a 32-bit integer, but actually"
+ << " has value \"" << str << "\".\n";
+ printf("%s", msg.GetString().c_str());
+ fflush(stdout);
+ return false;
+ }
+
+ // Is the parsed value in the range of an Int32?
+ const Int32 result = static_cast<Int32>(long_value);
+ if (long_value == LONG_MAX || long_value == LONG_MIN ||
+ // The parsed value overflows as a long. (strtol() returns
+ // LONG_MAX or LONG_MIN when the input overflows.)
+ result != long_value
+ // The parsed value overflows as an Int32.
+ ) {
+ Message msg;
+ msg << "WARNING: " << src_text
+ << " is expected to be a 32-bit integer, but actually"
+ << " has value " << str << ", which overflows.\n";
+ printf("%s", msg.GetString().c_str());
+ fflush(stdout);
+ return false;
+ }
+
+ *value = result;
+ return true;
+}
+
+// Reads and returns the Boolean environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+//
+// The value is considered true iff it's not "0".
+bool BoolFromGTestEnv(const char* flag, bool default_value) {
+#if defined(GTEST_GET_BOOL_FROM_ENV_)
+ return GTEST_GET_BOOL_FROM_ENV_(flag, default_value);
+#endif // defined(GTEST_GET_BOOL_FROM_ENV_)
+ const std::string env_var = FlagToEnvVar(flag);
+ const char* const string_value = posix::GetEnv(env_var.c_str());
+ return string_value == NULL ?
+ default_value : strcmp(string_value, "0") != 0;
+}
+
+// Reads and returns a 32-bit integer stored in the environment
+// variable corresponding to the given flag; if it isn't set or
+// doesn't represent a valid 32-bit integer, returns default_value.
+Int32 Int32FromGTestEnv(const char* flag, Int32 default_value) {
+#if defined(GTEST_GET_INT32_FROM_ENV_)
+ return GTEST_GET_INT32_FROM_ENV_(flag, default_value);
+#endif // defined(GTEST_GET_INT32_FROM_ENV_)
+ const std::string env_var = FlagToEnvVar(flag);
+ const char* const string_value = posix::GetEnv(env_var.c_str());
+ if (string_value == NULL) {
+ // The environment variable is not set.
+ return default_value;
+ }
+
+ Int32 result = default_value;
+ if (!ParseInt32(Message() << "Environment variable " << env_var,
+ string_value, &result)) {
+ printf("The default value %s is used.\n",
+ (Message() << default_value).GetString().c_str());
+ fflush(stdout);
+ return default_value;
+ }
+
+ return result;
+}
+
+// Reads and returns the string environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+std::string StringFromGTestEnv(const char* flag, const char* default_value) {
+#if defined(GTEST_GET_STRING_FROM_ENV_)
+ return GTEST_GET_STRING_FROM_ENV_(flag, default_value);
+#endif // defined(GTEST_GET_STRING_FROM_ENV_)
+ const std::string env_var = FlagToEnvVar(flag);
+ const char* value = posix::GetEnv(env_var.c_str());
+ if (value != NULL) {
+ return value;
+ }
+
+ // As a special case for the 'output' flag, if GTEST_OUTPUT is not
+ // set, we look for XML_OUTPUT_FILE, which is set by the Bazel build
+ // system. The value of XML_OUTPUT_FILE is a filename without the
+ // "xml:" prefix of GTEST_OUTPUT.
+ //
+ // The net priority order after flag processing is thus:
+ // --gtest_output command line flag
+ // GTEST_OUTPUT environment variable
+ // XML_OUTPUT_FILE environment variable
+ // 'default_value'
+ if (strcmp(flag, "output") == 0) {
+ value = posix::GetEnv("XML_OUTPUT_FILE");
+ if (value != NULL) {
+ return std::string("xml:") + value;
+ }
+ }
+ return default_value;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// It uses the << operator when possible, and prints the bytes in the
+// object otherwise. A user can override its behavior for a class
+// type Foo by defining either operator<<(::std::ostream&, const Foo&)
+// or void PrintTo(const Foo&, ::std::ostream*) in the namespace that
+// defines Foo.
+
+#include <ctype.h>
+#include <stdio.h>
+#include <cwchar>
+#include <ostream> // NOLINT
+#include <string>
+
+namespace testing {
+
+namespace {
+
+using ::std::ostream;
+
+// Prints a segment of bytes in the given object.
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+void PrintByteSegmentInObjectTo(const unsigned char* obj_bytes, size_t start,
+ size_t count, ostream* os) {
+ char text[5] = "";
+ for (size_t i = 0; i != count; i++) {
+ const size_t j = start + i;
+ if (i != 0) {
+ // Organizes the bytes into groups of 2 for easy parsing by
+ // human.
+ if ((j % 2) == 0)
+ *os << ' ';
+ else
+ *os << '-';
+ }
+ GTEST_SNPRINTF_(text, sizeof(text), "%02X", obj_bytes[j]);
+ *os << text;
+ }
+}
+
+// Prints the bytes in the given value to the given ostream.
+void PrintBytesInObjectToImpl(const unsigned char* obj_bytes, size_t count,
+ ostream* os) {
+ // Tells the user how big the object is.
+ *os << count << "-byte object <";
+
+ const size_t kThreshold = 132;
+ const size_t kChunkSize = 64;
+ // If the object size is bigger than kThreshold, we'll have to omit
+ // some details by printing only the first and the last kChunkSize
+ // bytes.
+ // TODO(wan): let the user control the threshold using a flag.
+ if (count < kThreshold) {
+ PrintByteSegmentInObjectTo(obj_bytes, 0, count, os);
+ } else {
+ PrintByteSegmentInObjectTo(obj_bytes, 0, kChunkSize, os);
+ *os << " ... ";
+ // Rounds up to 2-byte boundary.
+ const size_t resume_pos = (count - kChunkSize + 1)/2*2;
+ PrintByteSegmentInObjectTo(obj_bytes, resume_pos, count - resume_pos, os);
+ }
+ *os << ">";
+}
+
+} // namespace
+
+namespace internal2 {
+
+// Delegates to PrintBytesInObjectToImpl() to print the bytes in the
+// given object. The delegation simplifies the implementation, which
+// uses the << operator and thus is easier done outside of the
+// ::testing::internal namespace, which contains a << operator that
+// sometimes conflicts with the one in STL.
+void PrintBytesInObjectTo(const unsigned char* obj_bytes, size_t count,
+ ostream* os) {
+ PrintBytesInObjectToImpl(obj_bytes, count, os);
+}
+
+} // namespace internal2
+
+namespace internal {
+
+// Depending on the value of a char (or wchar_t), we print it in one
+// of three formats:
+// - as is if it's a printable ASCII (e.g. 'a', '2', ' '),
+// - as a hexidecimal escape sequence (e.g. '\x7F'), or
+// - as a special escape sequence (e.g. '\r', '\n').
+enum CharFormat {
+ kAsIs,
+ kHexEscape,
+ kSpecialEscape
+};
+
+// Returns true if c is a printable ASCII character. We test the
+// value of c directly instead of calling isprint(), which is buggy on
+// Windows Mobile.
+inline bool IsPrintableAscii(wchar_t c) {
+ return 0x20 <= c && c <= 0x7E;
+}
+
+// Prints a wide or narrow char c as a character literal without the
+// quotes, escaping it when necessary; returns how c was formatted.
+// The template argument UnsignedChar is the unsigned version of Char,
+// which is the type of c.
+template <typename UnsignedChar, typename Char>
+static CharFormat PrintAsCharLiteralTo(Char c, ostream* os) {
+ switch (static_cast<wchar_t>(c)) {
+ case L'\0':
+ *os << "\\0";
+ break;
+ case L'\'':
+ *os << "\\'";
+ break;
+ case L'\\':
+ *os << "\\\\";
+ break;
+ case L'\a':
+ *os << "\\a";
+ break;
+ case L'\b':
+ *os << "\\b";
+ break;
+ case L'\f':
+ *os << "\\f";
+ break;
+ case L'\n':
+ *os << "\\n";
+ break;
+ case L'\r':
+ *os << "\\r";
+ break;
+ case L'\t':
+ *os << "\\t";
+ break;
+ case L'\v':
+ *os << "\\v";
+ break;
+ default:
+ if (IsPrintableAscii(c)) {
+ *os << static_cast<char>(c);
+ return kAsIs;
+ } else {
+ *os << "\\x" + String::FormatHexInt(static_cast<UnsignedChar>(c));
+ return kHexEscape;
+ }
+ }
+ return kSpecialEscape;
+}
+
+// Prints a wchar_t c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsStringLiteralTo(wchar_t c, ostream* os) {
+ switch (c) {
+ case L'\'':
+ *os << "'";
+ return kAsIs;
+ case L'"':
+ *os << "\\\"";
+ return kSpecialEscape;
+ default:
+ return PrintAsCharLiteralTo<wchar_t>(c, os);
+ }
+}
+
+// Prints a char c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsStringLiteralTo(char c, ostream* os) {
+ return PrintAsStringLiteralTo(
+ static_cast<wchar_t>(static_cast<unsigned char>(c)), os);
+}
+
+// Prints a wide or narrow character c and its code. '\0' is printed
+// as "'\\0'", other unprintable characters are also properly escaped
+// using the standard C++ escape sequence. The template argument
+// UnsignedChar is the unsigned version of Char, which is the type of c.
+template <typename UnsignedChar, typename Char>
+void PrintCharAndCodeTo(Char c, ostream* os) {
+ // First, print c as a literal in the most readable form we can find.
+ *os << ((sizeof(c) > 1) ? "L'" : "'");
+ const CharFormat format = PrintAsCharLiteralTo<UnsignedChar>(c, os);
+ *os << "'";
+
+ // To aid user debugging, we also print c's code in decimal, unless
+ // it's 0 (in which case c was printed as '\\0', making the code
+ // obvious).
+ if (c == 0)
+ return;
+ *os << " (" << static_cast<int>(c);
+
+ // For more convenience, we print c's code again in hexidecimal,
+ // unless c was already printed in the form '\x##' or the code is in
+ // [1, 9].
+ if (format == kHexEscape || (1 <= c && c <= 9)) {
+ // Do nothing.
+ } else {
+ *os << ", 0x" << String::FormatHexInt(static_cast<UnsignedChar>(c));
+ }
+ *os << ")";
+}
+
+void PrintTo(unsigned char c, ::std::ostream* os) {
+ PrintCharAndCodeTo<unsigned char>(c, os);
+}
+void PrintTo(signed char c, ::std::ostream* os) {
+ PrintCharAndCodeTo<unsigned char>(c, os);
+}
+
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its code. L'\0' is printed as "L'\\0'".
+void PrintTo(wchar_t wc, ostream* os) {
+ PrintCharAndCodeTo<wchar_t>(wc, os);
+}
+
+// Prints the given array of characters to the ostream. CharType must be either
+// char or wchar_t.
+// The array starts at begin, the length is len, it may include '\0' characters
+// and may not be NUL-terminated.
+template <typename CharType>
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+static void PrintCharsAsStringTo(
+ const CharType* begin, size_t len, ostream* os) {
+ const char* const kQuoteBegin = sizeof(CharType) == 1 ? "\"" : "L\"";
+ *os << kQuoteBegin;
+ bool is_previous_hex = false;
+ for (size_t index = 0; index < len; ++index) {
+ const CharType cur = begin[index];
+ if (is_previous_hex && IsXDigit(cur)) {
+ // Previous character is of '\x..' form and this character can be
+ // interpreted as another hexadecimal digit in its number. Break string to
+ // disambiguate.
+ *os << "\" " << kQuoteBegin;
+ }
+ is_previous_hex = PrintAsStringLiteralTo(cur, os) == kHexEscape;
+ }
+ *os << "\"";
+}
+
+// Prints a (const) char/wchar_t array of 'len' elements, starting at address
+// 'begin'. CharType must be either char or wchar_t.
+template <typename CharType>
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+static void UniversalPrintCharArray(
+ const CharType* begin, size_t len, ostream* os) {
+ // The code
+ // const char kFoo[] = "foo";
+ // generates an array of 4, not 3, elements, with the last one being '\0'.
+ //
+ // Therefore when printing a char array, we don't print the last element if
+ // it's '\0', such that the output matches the string literal as it's
+ // written in the source code.
+ if (len > 0 && begin[len - 1] == '\0') {
+ PrintCharsAsStringTo(begin, len - 1, os);
+ return;
+ }
+
+ // If, however, the last element in the array is not '\0', e.g.
+ // const char kFoo[] = { 'f', 'o', 'o' };
+ // we must print the entire array. We also print a message to indicate
+ // that the array is not NUL-terminated.
+ PrintCharsAsStringTo(begin, len, os);
+ *os << " (no terminating NUL)";
+}
+
+// Prints a (const) char array of 'len' elements, starting at address 'begin'.
+void UniversalPrintArray(const char* begin, size_t len, ostream* os) {
+ UniversalPrintCharArray(begin, len, os);
+}
+
+// Prints a (const) wchar_t array of 'len' elements, starting at address
+// 'begin'.
+void UniversalPrintArray(const wchar_t* begin, size_t len, ostream* os) {
+ UniversalPrintCharArray(begin, len, os);
+}
+
+// Prints the given C string to the ostream.
+void PrintTo(const char* s, ostream* os) {
+ if (s == NULL) {
+ *os << "NULL";
+ } else {
+ *os << ImplicitCast_<const void*>(s) << " pointing to ";
+ PrintCharsAsStringTo(s, strlen(s), os);
+ }
+}
+
+// MSVC compiler can be configured to define whar_t as a typedef
+// of unsigned short. Defining an overload for const wchar_t* in that case
+// would cause pointers to unsigned shorts be printed as wide strings,
+// possibly accessing more memory than intended and causing invalid
+// memory accesses. MSVC defines _NATIVE_WCHAR_T_DEFINED symbol when
+// wchar_t is implemented as a native type.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Prints the given wide C string to the ostream.
+void PrintTo(const wchar_t* s, ostream* os) {
+ if (s == NULL) {
+ *os << "NULL";
+ } else {
+ *os << ImplicitCast_<const void*>(s) << " pointing to ";
+ PrintCharsAsStringTo(s, std::wcslen(s), os);
+ }
+}
+#endif // wchar_t is native
+
+// Prints a ::string object.
+#if GTEST_HAS_GLOBAL_STRING
+void PrintStringTo(const ::string& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_GLOBAL_STRING
+
+void PrintStringTo(const ::std::string& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+
+// Prints a ::wstring object.
+#if GTEST_HAS_GLOBAL_WSTRING
+void PrintWideStringTo(const ::wstring& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+void PrintWideStringTo(const ::std::wstring& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+} // namespace internal
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: mheule@google.com (Markus Heule)
+//
+// The Google C++ Testing Framework (Google Test)
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+using internal::GetUnitTestImpl;
+
+// Gets the summary of the failure message by omitting the stack trace
+// in it.
+std::string TestPartResult::ExtractSummary(const char* message) {
+ const char* const stack_trace = strstr(message, internal::kStackTraceMarker);
+ return stack_trace == NULL ? message :
+ std::string(message, stack_trace);
+}
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result) {
+ return os
+ << result.file_name() << ":" << result.line_number() << ": "
+ << (result.type() == TestPartResult::kSuccess ? "Success" :
+ result.type() == TestPartResult::kFatalFailure ? "Fatal failure" :
+ "Non-fatal failure") << ":\n"
+ << result.message() << std::endl;
+}
+
+// Appends a TestPartResult to the array.
+void TestPartResultArray::Append(const TestPartResult& result) {
+ array_.push_back(result);
+}
+
+// Returns the TestPartResult at the given index (0-based).
+const TestPartResult& TestPartResultArray::GetTestPartResult(int index) const {
+ if (index < 0 || index >= size()) {
+ printf("\nInvalid index (%d) into TestPartResultArray.\n", index);
+ internal::posix::Abort();
+ }
+
+ return array_[index];
+}
+
+// Returns the number of TestPartResult objects in the array.
+int TestPartResultArray::size() const {
+ return static_cast<int>(array_.size());
+}
+
+namespace internal {
+
+HasNewFatalFailureHelper::HasNewFatalFailureHelper()
+ : has_new_fatal_failure_(false),
+ original_reporter_(GetUnitTestImpl()->
+ GetTestPartResultReporterForCurrentThread()) {
+ GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(this);
+}
+
+HasNewFatalFailureHelper::~HasNewFatalFailureHelper() {
+ GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(
+ original_reporter_);
+}
+
+void HasNewFatalFailureHelper::ReportTestPartResult(
+ const TestPartResult& result) {
+ if (result.fatally_failed())
+ has_new_fatal_failure_ = true;
+ original_reporter_->ReportTestPartResult(result);
+}
+
+} // namespace internal
+
+} // namespace testing
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// Skips to the first non-space char in str. Returns an empty string if str
+// contains only whitespace characters.
+static const char* SkipSpaces(const char* str) {
+ while (IsSpace(*str))
+ str++;
+ return str;
+}
+
+static std::vector<std::string> SplitIntoTestNames(const char* src) {
+ std::vector<std::string> name_vec;
+ src = SkipSpaces(src);
+ for (; src != NULL; src = SkipComma(src)) {
+ name_vec.push_back(StripTrailingSpaces(GetPrefixUntilComma(src)));
+ }
+ return name_vec;
+}
+
+// Verifies that registered_tests match the test names in
+// registered_tests_; returns registered_tests if successful, or
+// aborts the program otherwise.
+const char* TypedTestCasePState::VerifyRegisteredTestNames(
+ const char* file, int line, const char* registered_tests) {
+ typedef RegisteredTestsMap::const_iterator RegisteredTestIter;
+ registered_ = true;
+
+ std::vector<std::string> name_vec = SplitIntoTestNames(registered_tests);
+
+ Message errors;
+
+ std::set<std::string> tests;
+ for (std::vector<std::string>::const_iterator name_it = name_vec.begin();
+ name_it != name_vec.end(); ++name_it) {
+ const std::string& name = *name_it;
+ if (tests.count(name) != 0) {
+ errors << "Test " << name << " is listed more than once.\n";
+ continue;
+ }
+
+ bool found = false;
+ for (RegisteredTestIter it = registered_tests_.begin();
+ it != registered_tests_.end();
+ ++it) {
+ if (name == it->first) {
+ found = true;
+ break;
+ }
+ }
+
+ if (found) {
+ tests.insert(name);
+ } else {
+ errors << "No test named " << name
+ << " can be found in this test case.\n";
+ }
+ }
+
+ for (RegisteredTestIter it = registered_tests_.begin();
+ it != registered_tests_.end();
+ ++it) {
+ if (tests.count(it->first) == 0) {
+ errors << "You forgot to list test " << it->first << ".\n";
+ }
+ }
+
+ const std::string& errors_str = errors.GetString();
+ if (errors_str != "") {
+ fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
+ errors_str.c_str());
+ fflush(stderr);
+ posix::Abort();
+ }
+
+ return registered_tests;
+}
+
+#endif // GTEST_HAS_TYPED_TEST_P
+
+} // namespace internal
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Mocking Framework (Google Mock)
+//
+// This file #includes all Google Mock implementation .cc files. The
+// purpose is to allow a user to build Google Mock by compiling this
+// file alone.
+
+// This line ensures that gmock.h can be compiled on its own, even
+// when it's fused.
+#include "gmock/gmock.h"
+
+// The following lines pull in the real gmock *.cc files.
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements cardinalities.
+
+
+#include <limits.h>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+namespace {
+
+// Implements the Between(m, n) cardinality.
+class BetweenCardinalityImpl : public CardinalityInterface {
+ public:
+ BetweenCardinalityImpl(int min, int max)
+ : min_(min >= 0 ? min : 0),
+ max_(max >= min_ ? max : min_) {
+ std::stringstream ss;
+ if (min < 0) {
+ ss << "The invocation lower bound must be >= 0, "
+ << "but is actually " << min << ".";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ } else if (max < 0) {
+ ss << "The invocation upper bound must be >= 0, "
+ << "but is actually " << max << ".";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ } else if (min > max) {
+ ss << "The invocation upper bound (" << max
+ << ") must be >= the invocation lower bound (" << min
+ << ").";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ }
+ }
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ virtual int ConservativeLowerBound() const { return min_; }
+ virtual int ConservativeUpperBound() const { return max_; }
+
+ virtual bool IsSatisfiedByCallCount(int call_count) const {
+ return min_ <= call_count && call_count <= max_;
+ }
+
+ virtual bool IsSaturatedByCallCount(int call_count) const {
+ return call_count >= max_;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const;
+
+ private:
+ const int min_;
+ const int max_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(BetweenCardinalityImpl);
+};
+
+// Formats "n times" in a human-friendly way.
+inline internal::string FormatTimes(int n) {
+ if (n == 1) {
+ return "once";
+ } else if (n == 2) {
+ return "twice";
+ } else {
+ std::stringstream ss;
+ ss << n << " times";
+ return ss.str();
+ }
+}
+
+// Describes the Between(m, n) cardinality in human-friendly text.
+void BetweenCardinalityImpl::DescribeTo(::std::ostream* os) const {
+ if (min_ == 0) {
+ if (max_ == 0) {
+ *os << "never called";
+ } else if (max_ == INT_MAX) {
+ *os << "called any number of times";
+ } else {
+ *os << "called at most " << FormatTimes(max_);
+ }
+ } else if (min_ == max_) {
+ *os << "called " << FormatTimes(min_);
+ } else if (max_ == INT_MAX) {
+ *os << "called at least " << FormatTimes(min_);
+ } else {
+ // 0 < min_ < max_ < INT_MAX
+ *os << "called between " << min_ << " and " << max_ << " times";
+ }
+}
+
+} // Unnamed namespace
+
+// Describes the given call count to an ostream.
+void Cardinality::DescribeActualCallCountTo(int actual_call_count,
+ ::std::ostream* os) {
+ if (actual_call_count > 0) {
+ *os << "called " << FormatTimes(actual_call_count);
+ } else {
+ *os << "never called";
+ }
+}
+
+// Creates a cardinality that allows at least n calls.
+GTEST_API_ Cardinality AtLeast(int n) { return Between(n, INT_MAX); }
+
+// Creates a cardinality that allows at most n calls.
+GTEST_API_ Cardinality AtMost(int n) { return Between(0, n); }
+
+// Creates a cardinality that allows any number of calls.
+GTEST_API_ Cardinality AnyNumber() { return AtLeast(0); }
+
+// Creates a cardinality that allows between min and max calls.
+GTEST_API_ Cardinality Between(int min, int max) {
+ return Cardinality(new BetweenCardinalityImpl(min, max));
+}
+
+// Creates a cardinality that allows exactly n calls.
+GTEST_API_ Cardinality Exactly(int n) { return Between(n, n); }
+
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock. They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+
+#include <ctype.h>
+#include <ostream> // NOLINT
+#include <string>
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words. Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word. For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+GTEST_API_ string ConvertIdentifierNameToWords(const char* id_name) {
+ string result;
+ char prev_char = '\0';
+ for (const char* p = id_name; *p != '\0'; prev_char = *(p++)) {
+ // We don't care about the current locale as the input is
+ // guaranteed to be a valid C++ identifier name.
+ const bool starts_new_word = IsUpper(*p) ||
+ (!IsAlpha(prev_char) && IsLower(*p)) ||
+ (!IsDigit(prev_char) && IsDigit(*p));
+
+ if (IsAlNum(*p)) {
+ if (starts_new_word && result != "")
+ result += ' ';
+ result += ToLower(*p);
+ }
+ }
+ return result;
+}
+
+// This class reports Google Mock failures as Google Test failures. A
+// user can define another class in a similar fashion if he intends to
+// use Google Mock with a testing framework other than Google Test.
+class GoogleTestFailureReporter : public FailureReporterInterface {
+ public:
+ virtual void ReportFailure(FailureType type, const char* file, int line,
+ const string& message) {
+ AssertHelper(type == kFatal ?
+ TestPartResult::kFatalFailure :
+ TestPartResult::kNonFatalFailure,
+ file,
+ line,
+ message.c_str()) = Message();
+ if (type == kFatal) {
+ posix::Abort();
+ }
+ }
+};
+
+// Returns the global failure reporter. Will create a
+// GoogleTestFailureReporter and return it the first time called.
+GTEST_API_ FailureReporterInterface* GetFailureReporter() {
+ // Points to the global failure reporter used by Google Mock. gcc
+ // guarantees that the following use of failure_reporter is
+ // thread-safe. We may need to add additional synchronization to
+ // protect failure_reporter if we port Google Mock to other
+ // compilers.
+ static FailureReporterInterface* const failure_reporter =
+ new GoogleTestFailureReporter();
+ return failure_reporter;
+}
+
+// Protects global resources (stdout in particular) used by Log().
+static GTEST_DEFINE_STATIC_MUTEX_(g_log_mutex);
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+GTEST_API_ bool LogIsVisible(LogSeverity severity) {
+ if (GMOCK_FLAG(verbose) == kInfoVerbosity) {
+ // Always show the log if --gmock_verbose=info.
+ return true;
+ } else if (GMOCK_FLAG(verbose) == kErrorVerbosity) {
+ // Always hide it if --gmock_verbose=error.
+ return false;
+ } else {
+ // If --gmock_verbose is neither "info" nor "error", we treat it
+ // as "warning" (its default value).
+ return severity == kWarning;
+ }
+}
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag. If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames. In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+GTEST_API_ void Log(LogSeverity severity,
+ const string& message,
+ int stack_frames_to_skip) {
+ if (!LogIsVisible(severity))
+ return;
+
+ // Ensures that logs from different threads don't interleave.
+ MutexLock l(&g_log_mutex);
+
+ // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is a
+ // macro.
+
+ if (severity == kWarning) {
+ // Prints a GMOCK WARNING marker to make the warnings easily searchable.
+ std::cout << "\nGMOCK WARNING:";
+ }
+ // Pre-pends a new-line to message if it doesn't start with one.
+ if (message.empty() || message[0] != '\n') {
+ std::cout << "\n";
+ }
+ std::cout << message;
+ if (stack_frames_to_skip >= 0) {
+#ifdef NDEBUG
+ // In opt mode, we have to be conservative and skip no stack frame.
+ const int actual_to_skip = 0;
+#else
+ // In dbg mode, we can do what the caller tell us to do (plus one
+ // for skipping this function's stack frame).
+ const int actual_to_skip = stack_frames_to_skip + 1;
+#endif // NDEBUG
+
+ // Appends a new-line to message if it doesn't end with one.
+ if (!message.empty() && *message.rbegin() != '\n') {
+ std::cout << "\n";
+ }
+ std::cout << "Stack trace:\n"
+ << ::testing::internal::GetCurrentOsStackTraceExceptTop(
+ ::testing::UnitTest::GetInstance(), actual_to_skip);
+ }
+ std::cout << ::std::flush;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements Matcher<const string&>, Matcher<string>, and
+// utilities for defining matchers.
+
+
+#include <string.h>
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const internal::string& s) {
+ *this = Eq(s);
+}
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const internal::string& s) { *this = Eq(s); }
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+#if GTEST_HAS_STRING_PIECE_
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(const internal::string& s) {
+ *this = Eq(s);
+}
+
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(StringPiece s) {
+ *this = Eq(s.ToString());
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(const internal::string& s) {
+ *this = Eq(s);
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(StringPiece s) {
+ *this = Eq(s.ToString());
+}
+#endif // GTEST_HAS_STRING_PIECE_
+
+namespace internal {
+
+// Joins a vector of strings as if they are fields of a tuple; returns
+// the joined string.
+GTEST_API_ string JoinAsTuple(const Strings& fields) {
+ switch (fields.size()) {
+ case 0:
+ return "";
+ case 1:
+ return fields[0];
+ default:
+ string result = "(" + fields[0];
+ for (size_t i = 1; i < fields.size(); i++) {
+ result += ", ";
+ result += fields[i];
+ }
+ result += ")";
+ return result;
+ }
+}
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher. 'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+GTEST_API_ string FormatMatcherDescription(bool negation,
+ const char* matcher_name,
+ const Strings& param_values) {
+ string result = ConvertIdentifierNameToWords(matcher_name);
+ if (param_values.size() >= 1)
+ result += " " + JoinAsTuple(param_values);
+ return negation ? "not (" + result + ")" : result;
+}
+
+// FindMaxBipartiteMatching and its helper class.
+//
+// Uses the well-known Ford-Fulkerson max flow method to find a maximum
+// bipartite matching. Flow is considered to be from left to right.
+// There is an implicit source node that is connected to all of the left
+// nodes, and an implicit sink node that is connected to all of the
+// right nodes. All edges have unit capacity.
+//
+// Neither the flow graph nor the residual flow graph are represented
+// explicitly. Instead, they are implied by the information in 'graph' and
+// a vector<int> called 'left_' whose elements are initialized to the
+// value kUnused. This represents the initial state of the algorithm,
+// where the flow graph is empty, and the residual flow graph has the
+// following edges:
+// - An edge from source to each left_ node
+// - An edge from each right_ node to sink
+// - An edge from each left_ node to each right_ node, if the
+// corresponding edge exists in 'graph'.
+//
+// When the TryAugment() method adds a flow, it sets left_[l] = r for some
+// nodes l and r. This induces the following changes:
+// - The edges (source, l), (l, r), and (r, sink) are added to the
+// flow graph.
+// - The same three edges are removed from the residual flow graph.
+// - The reverse edges (l, source), (r, l), and (sink, r) are added
+// to the residual flow graph, which is a directional graph
+// representing unused flow capacity.
+//
+// When the method augments a flow (moving left_[l] from some r1 to some
+// other r2), this can be thought of as "undoing" the above steps with
+// respect to r1 and "redoing" them with respect to r2.
+//
+// It bears repeating that the flow graph and residual flow graph are
+// never represented explicitly, but can be derived by looking at the
+// information in 'graph' and in left_.
+//
+// As an optimization, there is a second vector<int> called right_ which
+// does not provide any new information. Instead, it enables more
+// efficient queries about edges entering or leaving the right-side nodes
+// of the flow or residual flow graphs. The following invariants are
+// maintained:
+//
+// left[l] == kUnused or right[left[l]] == l
+// right[r] == kUnused or left[right[r]] == r
+//
+// . [ source ] .
+// . ||| .
+// . ||| .
+// . ||\--> left[0]=1 ---\ right[0]=-1 ----\ .
+// . || | | .
+// . |\---> left[1]=-1 \--> right[1]=0 ---\| .
+// . | || .
+// . \----> left[2]=2 ------> right[2]=2 --\|| .
+// . ||| .
+// . elements matchers vvv .
+// . [ sink ] .
+//
+// See Also:
+// [1] Cormen, et al (2001). "Section 26.2: The Ford-Fulkerson method".
+// "Introduction to Algorithms (Second ed.)", pp. 651-664.
+// [2] "Ford-Fulkerson algorithm", Wikipedia,
+// 'http://en.wikipedia.org/wiki/Ford%E2%80%93Fulkerson_algorithm'
+class MaxBipartiteMatchState {
+ public:
+ explicit MaxBipartiteMatchState(const MatchMatrix& graph)
+ : graph_(&graph),
+ left_(graph_->LhsSize(), kUnused),
+ right_(graph_->RhsSize(), kUnused) {
+ }
+
+ // Returns the edges of a maximal match, each in the form {left, right}.
+ ElementMatcherPairs Compute() {
+ // 'seen' is used for path finding { 0: unseen, 1: seen }.
+ ::std::vector<char> seen;
+ // Searches the residual flow graph for a path from each left node to
+ // the sink in the residual flow graph, and if one is found, add flow
+ // to the graph. It's okay to search through the left nodes once. The
+ // edge from the implicit source node to each previously-visited left
+ // node will have flow if that left node has any path to the sink
+ // whatsoever. Subsequent augmentations can only add flow to the
+ // network, and cannot take away that previous flow unit from the source.
+ // Since the source-to-left edge can only carry one flow unit (or,
+ // each element can be matched to only one matcher), there is no need
+ // to visit the left nodes more than once looking for augmented paths.
+ // The flow is known to be possible or impossible by looking at the
+ // node once.
+ for (size_t ilhs = 0; ilhs < graph_->LhsSize(); ++ilhs) {
+ // Reset the path-marking vector and try to find a path from
+ // source to sink starting at the left_[ilhs] node.
+ GTEST_CHECK_(left_[ilhs] == kUnused)
+ << "ilhs: " << ilhs << ", left_[ilhs]: " << left_[ilhs];
+ // 'seen' initialized to 'graph_->RhsSize()' copies of 0.
+ seen.assign(graph_->RhsSize(), 0);
+ TryAugment(ilhs, &seen);
+ }
+ ElementMatcherPairs result;
+ for (size_t ilhs = 0; ilhs < left_.size(); ++ilhs) {
+ size_t irhs = left_[ilhs];
+ if (irhs == kUnused) continue;
+ result.push_back(ElementMatcherPair(ilhs, irhs));
+ }
+ return result;
+ }
+
+ private:
+ static const size_t kUnused = static_cast<size_t>(-1);
+
+ // Perform a depth-first search from left node ilhs to the sink. If a
+ // path is found, flow is added to the network by linking the left and
+ // right vector elements corresponding each segment of the path.
+ // Returns true if a path to sink was found, which means that a unit of
+ // flow was added to the network. The 'seen' vector elements correspond
+ // to right nodes and are marked to eliminate cycles from the search.
+ //
+ // Left nodes will only be explored at most once because they
+ // are accessible from at most one right node in the residual flow
+ // graph.
+ //
+ // Note that left_[ilhs] is the only element of left_ that TryAugment will
+ // potentially transition from kUnused to another value. Any other
+ // left_ element holding kUnused before TryAugment will be holding it
+ // when TryAugment returns.
+ //
+ bool TryAugment(size_t ilhs, ::std::vector<char>* seen) {
+ for (size_t irhs = 0; irhs < graph_->RhsSize(); ++irhs) {
+ if ((*seen)[irhs])
+ continue;
+ if (!graph_->HasEdge(ilhs, irhs))
+ continue;
+ // There's an available edge from ilhs to irhs.
+ (*seen)[irhs] = 1;
+ // Next a search is performed to determine whether
+ // this edge is a dead end or leads to the sink.
+ //
+ // right_[irhs] == kUnused means that there is residual flow from
+ // right node irhs to the sink, so we can use that to finish this
+ // flow path and return success.
+ //
+ // Otherwise there is residual flow to some ilhs. We push flow
+ // along that path and call ourselves recursively to see if this
+ // ultimately leads to sink.
+ if (right_[irhs] == kUnused || TryAugment(right_[irhs], seen)) {
+ // Add flow from left_[ilhs] to right_[irhs].
+ left_[ilhs] = irhs;
+ right_[irhs] = ilhs;
+ return true;
+ }
+ }
+ return false;
+ }
+
+ const MatchMatrix* graph_; // not owned
+ // Each element of the left_ vector represents a left hand side node
+ // (i.e. an element) and each element of right_ is a right hand side
+ // node (i.e. a matcher). The values in the left_ vector indicate
+ // outflow from that node to a node on the the right_ side. The values
+ // in the right_ indicate inflow, and specify which left_ node is
+ // feeding that right_ node, if any. For example, left_[3] == 1 means
+ // there's a flow from element #3 to matcher #1. Such a flow would also
+ // be redundantly represented in the right_ vector as right_[1] == 3.
+ // Elements of left_ and right_ are either kUnused or mutually
+ // referent. Mutually referent means that left_[right_[i]] = i and
+ // right_[left_[i]] = i.
+ ::std::vector<size_t> left_;
+ ::std::vector<size_t> right_;
+
+ GTEST_DISALLOW_ASSIGN_(MaxBipartiteMatchState);
+};
+
+const size_t MaxBipartiteMatchState::kUnused;
+
+GTEST_API_ ElementMatcherPairs
+FindMaxBipartiteMatching(const MatchMatrix& g) {
+ return MaxBipartiteMatchState(g).Compute();
+}
+
+static void LogElementMatcherPairVec(const ElementMatcherPairs& pairs,
+ ::std::ostream* stream) {
+ typedef ElementMatcherPairs::const_iterator Iter;
+ ::std::ostream& os = *stream;
+ os << "{";
+ const char *sep = "";
+ for (Iter it = pairs.begin(); it != pairs.end(); ++it) {
+ os << sep << "\n ("
+ << "element #" << it->first << ", "
+ << "matcher #" << it->second << ")";
+ sep = ",";
+ }
+ os << "\n}";
+}
+
+// Tries to find a pairing, and explains the result.
+GTEST_API_ bool FindPairing(const MatchMatrix& matrix,
+ MatchResultListener* listener) {
+ ElementMatcherPairs matches = FindMaxBipartiteMatching(matrix);
+
+ size_t max_flow = matches.size();
+ bool result = (max_flow == matrix.RhsSize());
+
+ if (!result) {
+ if (listener->IsInterested()) {
+ *listener << "where no permutation of the elements can "
+ "satisfy all matchers, and the closest match is "
+ << max_flow << " of " << matrix.RhsSize()
+ << " matchers with the pairings:\n";
+ LogElementMatcherPairVec(matches, listener->stream());
+ }
+ return false;
+ }
+
+ if (matches.size() > 1) {
+ if (listener->IsInterested()) {
+ const char *sep = "where:\n";
+ for (size_t mi = 0; mi < matches.size(); ++mi) {
+ *listener << sep << " - element #" << matches[mi].first
+ << " is matched by matcher #" << matches[mi].second;
+ sep = ",\n";
+ }
+ }
+ }
+ return true;
+}
+
+bool MatchMatrix::NextGraph() {
+ for (size_t ilhs = 0; ilhs < LhsSize(); ++ilhs) {
+ for (size_t irhs = 0; irhs < RhsSize(); ++irhs) {
+ char& b = matched_[SpaceIndex(ilhs, irhs)];
+ if (!b) {
+ b = 1;
+ return true;
+ }
+ b = 0;
+ }
+ }
+ return false;
+}
+
+void MatchMatrix::Randomize() {
+ for (size_t ilhs = 0; ilhs < LhsSize(); ++ilhs) {
+ for (size_t irhs = 0; irhs < RhsSize(); ++irhs) {
+ char& b = matched_[SpaceIndex(ilhs, irhs)];
+ b = static_cast<char>(rand() & 1); // NOLINT
+ }
+ }
+}
+
+string MatchMatrix::DebugString() const {
+ ::std::stringstream ss;
+ const char *sep = "";
+ for (size_t i = 0; i < LhsSize(); ++i) {
+ ss << sep;
+ for (size_t j = 0; j < RhsSize(); ++j) {
+ ss << HasEdge(i, j);
+ }
+ sep = ";";
+ }
+ return ss.str();
+}
+
+void UnorderedElementsAreMatcherImplBase::DescribeToImpl(
+ ::std::ostream* os) const {
+ if (matcher_describers_.empty()) {
+ *os << "is empty";
+ return;
+ }
+ if (matcher_describers_.size() == 1) {
+ *os << "has " << Elements(1) << " and that element ";
+ matcher_describers_[0]->DescribeTo(os);
+ return;
+ }
+ *os << "has " << Elements(matcher_describers_.size())
+ << " and there exists some permutation of elements such that:\n";
+ const char* sep = "";
+ for (size_t i = 0; i != matcher_describers_.size(); ++i) {
+ *os << sep << " - element #" << i << " ";
+ matcher_describers_[i]->DescribeTo(os);
+ sep = ", and\n";
+ }
+}
+
+void UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl(
+ ::std::ostream* os) const {
+ if (matcher_describers_.empty()) {
+ *os << "isn't empty";
+ return;
+ }
+ if (matcher_describers_.size() == 1) {
+ *os << "doesn't have " << Elements(1)
+ << ", or has " << Elements(1) << " that ";
+ matcher_describers_[0]->DescribeNegationTo(os);
+ return;
+ }
+ *os << "doesn't have " << Elements(matcher_describers_.size())
+ << ", or there exists no permutation of elements such that:\n";
+ const char* sep = "";
+ for (size_t i = 0; i != matcher_describers_.size(); ++i) {
+ *os << sep << " - element #" << i << " ";
+ matcher_describers_[i]->DescribeTo(os);
+ sep = ", and\n";
+ }
+}
+
+// Checks that all matchers match at least one element, and that all
+// elements match at least one matcher. This enables faster matching
+// and better error reporting.
+// Returns false, writing an explanation to 'listener', if and only
+// if the success criteria are not met.
+bool UnorderedElementsAreMatcherImplBase::
+VerifyAllElementsAndMatchersAreMatched(
+ const ::std::vector<string>& element_printouts,
+ const MatchMatrix& matrix,
+ MatchResultListener* listener) const {
+ bool result = true;
+ ::std::vector<char> element_matched(matrix.LhsSize(), 0);
+ ::std::vector<char> matcher_matched(matrix.RhsSize(), 0);
+
+ for (size_t ilhs = 0; ilhs < matrix.LhsSize(); ilhs++) {
+ for (size_t irhs = 0; irhs < matrix.RhsSize(); irhs++) {
+ char matched = matrix.HasEdge(ilhs, irhs);
+ element_matched[ilhs] |= matched;
+ matcher_matched[irhs] |= matched;
+ }
+ }
+
+ {
+ const char* sep =
+ "where the following matchers don't match any elements:\n";
+ for (size_t mi = 0; mi < matcher_matched.size(); ++mi) {
+ if (matcher_matched[mi])
+ continue;
+ result = false;
+ if (listener->IsInterested()) {
+ *listener << sep << "matcher #" << mi << ": ";
+ matcher_describers_[mi]->DescribeTo(listener->stream());
+ sep = ",\n";
+ }
+ }
+ }
+
+ {
+ const char* sep =
+ "where the following elements don't match any matchers:\n";
+ const char* outer_sep = "";
+ if (!result) {
+ outer_sep = "\nand ";
+ }
+ for (size_t ei = 0; ei < element_matched.size(); ++ei) {
+ if (element_matched[ei])
+ continue;
+ result = false;
+ if (listener->IsInterested()) {
+ *listener << outer_sep << sep << "element #" << ei << ": "
+ << element_printouts[ei];
+ sep = ",\n";
+ outer_sep = "";
+ }
+ }
+ }
+ return result;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the spec builder syntax (ON_CALL and
+// EXPECT_CALL).
+
+
+#include <stdlib.h>
+#include <iostream> // NOLINT
+#include <map>
+#include <set>
+#include <string>
+
+#if GTEST_OS_CYGWIN || GTEST_OS_LINUX || GTEST_OS_MAC
+# include <unistd.h> // NOLINT
+#endif
+
+namespace testing {
+namespace internal {
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+GTEST_API_ GTEST_DEFINE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Logs a message including file and line number information.
+GTEST_API_ void LogWithLocation(testing::internal::LogSeverity severity,
+ const char* file, int line,
+ const string& message) {
+ ::std::ostringstream s;
+ s << file << ":" << line << ": " << message << ::std::endl;
+ Log(severity, s.str(), 0);
+}
+
+// Constructs an ExpectationBase object.
+ExpectationBase::ExpectationBase(const char* a_file,
+ int a_line,
+ const string& a_source_text)
+ : file_(a_file),
+ line_(a_line),
+ source_text_(a_source_text),
+ cardinality_specified_(false),
+ cardinality_(Exactly(1)),
+ call_count_(0),
+ retired_(false),
+ extra_matcher_specified_(false),
+ repeated_action_specified_(false),
+ retires_on_saturation_(false),
+ last_clause_(kNone),
+ action_count_checked_(false) {}
+
+// Destructs an ExpectationBase object.
+ExpectationBase::~ExpectationBase() {}
+
+// Explicitly specifies the cardinality of this expectation. Used by
+// the subclasses to implement the .Times() clause.
+void ExpectationBase::SpecifyCardinality(const Cardinality& a_cardinality) {
+ cardinality_specified_ = true;
+ cardinality_ = a_cardinality;
+}
+
+// Retires all pre-requisites of this expectation.
+void ExpectationBase::RetireAllPreRequisites()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ if (is_retired()) {
+ // We can take this short-cut as we never retire an expectation
+ // until we have retired all its pre-requisites.
+ return;
+ }
+
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ ExpectationBase* const prerequisite = it->expectation_base().get();
+ if (!prerequisite->is_retired()) {
+ prerequisite->RetireAllPreRequisites();
+ prerequisite->Retire();
+ }
+ }
+}
+
+// Returns true iff all pre-requisites of this expectation have been
+// satisfied.
+bool ExpectationBase::AllPrerequisitesAreSatisfied() const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ if (!(it->expectation_base()->IsSatisfied()) ||
+ !(it->expectation_base()->AllPrerequisitesAreSatisfied()))
+ return false;
+ }
+ return true;
+}
+
+// Adds unsatisfied pre-requisites of this expectation to 'result'.
+void ExpectationBase::FindUnsatisfiedPrerequisites(ExpectationSet* result) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ if (it->expectation_base()->IsSatisfied()) {
+ // If *it is satisfied and has a call count of 0, some of its
+ // pre-requisites may not be satisfied yet.
+ if (it->expectation_base()->call_count_ == 0) {
+ it->expectation_base()->FindUnsatisfiedPrerequisites(result);
+ }
+ } else {
+ // Now that we know *it is unsatisfied, we are not so interested
+ // in whether its pre-requisites are satisfied. Therefore we
+ // don't recursively call FindUnsatisfiedPrerequisites() here.
+ *result += *it;
+ }
+ }
+}
+
+// Describes how many times a function call matching this
+// expectation has occurred.
+void ExpectationBase::DescribeCallCountTo(::std::ostream* os) const
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+
+ // Describes how many times the function is expected to be called.
+ *os << " Expected: to be ";
+ cardinality().DescribeTo(os);
+ *os << "\n Actual: ";
+ Cardinality::DescribeActualCallCountTo(call_count(), os);
+
+ // Describes the state of the expectation (e.g. is it satisfied?
+ // is it active?).
+ *os << " - " << (IsOverSaturated() ? "over-saturated" :
+ IsSaturated() ? "saturated" :
+ IsSatisfied() ? "satisfied" : "unsatisfied")
+ << " and "
+ << (is_retired() ? "retired" : "active");
+}
+
+// Checks the action count (i.e. the number of WillOnce() and
+// WillRepeatedly() clauses) against the cardinality if this hasn't
+// been done before. Prints a warning if there are too many or too
+// few actions.
+void ExpectationBase::CheckActionCountIfNotDone() const
+ GTEST_LOCK_EXCLUDED_(mutex_) {
+ bool should_check = false;
+ {
+ MutexLock l(&mutex_);
+ if (!action_count_checked_) {
+ action_count_checked_ = true;
+ should_check = true;
+ }
+ }
+
+ if (should_check) {
+ if (!cardinality_specified_) {
+ // The cardinality was inferred - no need to check the action
+ // count against it.
+ return;
+ }
+
+ // The cardinality was explicitly specified.
+ const int action_count = static_cast<int>(untyped_actions_.size());
+ const int upper_bound = cardinality().ConservativeUpperBound();
+ const int lower_bound = cardinality().ConservativeLowerBound();
+ bool too_many; // True if there are too many actions, or false
+ // if there are too few.
+ if (action_count > upper_bound ||
+ (action_count == upper_bound && repeated_action_specified_)) {
+ too_many = true;
+ } else if (0 < action_count && action_count < lower_bound &&
+ !repeated_action_specified_) {
+ too_many = false;
+ } else {
+ return;
+ }
+
+ ::std::stringstream ss;
+ DescribeLocationTo(&ss);
+ ss << "Too " << (too_many ? "many" : "few")
+ << " actions specified in " << source_text() << "...\n"
+ << "Expected to be ";
+ cardinality().DescribeTo(&ss);
+ ss << ", but has " << (too_many ? "" : "only ")
+ << action_count << " WillOnce()"
+ << (action_count == 1 ? "" : "s");
+ if (repeated_action_specified_) {
+ ss << " and a WillRepeatedly()";
+ }
+ ss << ".";
+ Log(kWarning, ss.str(), -1); // -1 means "don't print stack trace".
+ }
+}
+
+// Implements the .Times() clause.
+void ExpectationBase::UntypedTimes(const Cardinality& a_cardinality) {
+ if (last_clause_ == kTimes) {
+ ExpectSpecProperty(false,
+ ".Times() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kTimes,
+ ".Times() cannot appear after "
+ ".InSequence(), .WillOnce(), .WillRepeatedly(), "
+ "or .RetiresOnSaturation().");
+ }
+ last_clause_ = kTimes;
+
+ SpecifyCardinality(a_cardinality);
+}
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+GTEST_API_ ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg) {
+ // Include a stack trace only if --gmock_verbose=info is specified.
+ const int stack_frames_to_skip =
+ GMOCK_FLAG(verbose) == kInfoVerbosity ? 3 : -1;
+ switch (reaction) {
+ case kAllow:
+ Log(kInfo, msg, stack_frames_to_skip);
+ break;
+ case kWarn:
+ Log(kWarning,
+ msg +
+ "\nNOTE: You can safely ignore the above warning unless this "
+ "call should not happen. Do not suppress it by blindly adding "
+ "an EXPECT_CALL() if you don't mean to enforce the call. "
+ "See https://github.com/google/googletest/blob/master/googlemock/docs/CookBook.md#"
+ "knowing-when-to-expect for details.\n",
+ stack_frames_to_skip);
+ break;
+ default: // FAIL
+ Expect(false, NULL, -1, msg);
+ }
+}
+
+UntypedFunctionMockerBase::UntypedFunctionMockerBase()
+ : mock_obj_(NULL), name_("") {}
+
+UntypedFunctionMockerBase::~UntypedFunctionMockerBase() {}
+
+// Sets the mock object this mock method belongs to, and registers
+// this information in the global mock registry. Will be called
+// whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+// method.
+void UntypedFunctionMockerBase::RegisterOwner(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ {
+ MutexLock l(&g_gmock_mutex);
+ mock_obj_ = mock_obj;
+ }
+ Mock::Register(mock_obj, this);
+}
+
+// Sets the mock object this mock method belongs to, and sets the name
+// of the mock function. Will be called upon each invocation of this
+// mock function.
+void UntypedFunctionMockerBase::SetOwnerAndName(const void* mock_obj,
+ const char* name)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ // We protect name_ under g_gmock_mutex in case this mock function
+ // is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ mock_obj_ = mock_obj;
+ name_ = name;
+}
+
+// Returns the name of the function being mocked. Must be called
+// after RegisterOwner() or SetOwnerAndName() has been called.
+const void* UntypedFunctionMockerBase::MockObject() const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ const void* mock_obj;
+ {
+ // We protect mock_obj_ under g_gmock_mutex in case this mock
+ // function is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ Assert(mock_obj_ != NULL, __FILE__, __LINE__,
+ "MockObject() must not be called before RegisterOwner() or "
+ "SetOwnerAndName() has been called.");
+ mock_obj = mock_obj_;
+ }
+ return mock_obj;
+}
+
+// Returns the name of this mock method. Must be called after
+// SetOwnerAndName() has been called.
+const char* UntypedFunctionMockerBase::Name() const
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ const char* name;
+ {
+ // We protect name_ under g_gmock_mutex in case this mock
+ // function is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ Assert(name_ != NULL, __FILE__, __LINE__,
+ "Name() must not be called before SetOwnerAndName() has "
+ "been called.");
+ name = name_;
+ }
+ return name;
+}
+
+// Calculates the result of invoking this mock function with the given
+// arguments, prints it, and returns it. The caller is responsible
+// for deleting the result.
+UntypedActionResultHolderBase*
+UntypedFunctionMockerBase::UntypedInvokeWith(const void* const untyped_args)
+ GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+ if (untyped_expectations_.size() == 0) {
+ // No expectation is set on this mock method - we have an
+ // uninteresting call.
+
+ // We must get Google Mock's reaction on uninteresting calls
+ // made on this mock object BEFORE performing the action,
+ // because the action may DELETE the mock object and make the
+ // following expression meaningless.
+ const CallReaction reaction =
+ Mock::GetReactionOnUninterestingCalls(MockObject());
+
+ // True iff we need to print this call's arguments and return
+ // value. This definition must be kept in sync with
+ // the behavior of ReportUninterestingCall().
+ const bool need_to_report_uninteresting_call =
+ // If the user allows this uninteresting call, we print it
+ // only when he wants informational messages.
+ reaction == kAllow ? LogIsVisible(kInfo) :
+ // If the user wants this to be a warning, we print it only
+ // when he wants to see warnings.
+ reaction == kWarn ? LogIsVisible(kWarning) :
+ // Otherwise, the user wants this to be an error, and we
+ // should always print detailed information in the error.
+ true;
+
+ if (!need_to_report_uninteresting_call) {
+ // Perform the action without printing the call information.
+ return this->UntypedPerformDefaultAction(untyped_args, "");
+ }
+
+ // Warns about the uninteresting call.
+ ::std::stringstream ss;
+ this->UntypedDescribeUninterestingCall(untyped_args, &ss);
+
+ // Calculates the function result.
+ UntypedActionResultHolderBase* const result =
+ this->UntypedPerformDefaultAction(untyped_args, ss.str());
+
+ // Prints the function result.
+ if (result != NULL)
+ result->PrintAsActionResult(&ss);
+
+ ReportUninterestingCall(reaction, ss.str());
+ return result;
+ }
+
+ bool is_excessive = false;
+ ::std::stringstream ss;
+ ::std::stringstream why;
+ ::std::stringstream loc;
+ const void* untyped_action = NULL;
+
+ // The UntypedFindMatchingExpectation() function acquires and
+ // releases g_gmock_mutex.
+ const ExpectationBase* const untyped_expectation =
+ this->UntypedFindMatchingExpectation(
+ untyped_args, &untyped_action, &is_excessive,
+ &ss, &why);
+ const bool found = untyped_expectation != NULL;
+
+ // True iff we need to print the call's arguments and return value.
+ // This definition must be kept in sync with the uses of Expect()
+ // and Log() in this function.
+ const bool need_to_report_call =
+ !found || is_excessive || LogIsVisible(kInfo);
+ if (!need_to_report_call) {
+ // Perform the action without printing the call information.
+ return
+ untyped_action == NULL ?
+ this->UntypedPerformDefaultAction(untyped_args, "") :
+ this->UntypedPerformAction(untyped_action, untyped_args);
+ }
+
+ ss << " Function call: " << Name();
+ this->UntypedPrintArgs(untyped_args, &ss);
+
+ // In case the action deletes a piece of the expectation, we
+ // generate the message beforehand.
+ if (found && !is_excessive) {
+ untyped_expectation->DescribeLocationTo(&loc);
+ }
+
+ UntypedActionResultHolderBase* const result =
+ untyped_action == NULL ?
+ this->UntypedPerformDefaultAction(untyped_args, ss.str()) :
+ this->UntypedPerformAction(untyped_action, untyped_args);
+ if (result != NULL)
+ result->PrintAsActionResult(&ss);
+ ss << "\n" << why.str();
+
+ if (!found) {
+ // No expectation matches this call - reports a failure.
+ Expect(false, NULL, -1, ss.str());
+ } else if (is_excessive) {
+ // We had an upper-bound violation and the failure message is in ss.
+ Expect(false, untyped_expectation->file(),
+ untyped_expectation->line(), ss.str());
+ } else {
+ // We had an expected call and the matching expectation is
+ // described in ss.
+ Log(kInfo, loc.str() + ss.str(), 2);
+ }
+
+ return result;
+}
+
+// Returns an Expectation object that references and co-owns exp,
+// which must be an expectation on this mock function.
+Expectation UntypedFunctionMockerBase::GetHandleOf(ExpectationBase* exp) {
+ for (UntypedExpectations::const_iterator it =
+ untyped_expectations_.begin();
+ it != untyped_expectations_.end(); ++it) {
+ if (it->get() == exp) {
+ return Expectation(*it);
+ }
+ }
+
+ Assert(false, __FILE__, __LINE__, "Cannot find expectation.");
+ return Expectation();
+ // The above statement is just to make the code compile, and will
+ // never be executed.
+}
+
+// Verifies that all expectations on this mock function have been
+// satisfied. Reports one or more Google Test non-fatal failures
+// and returns false if not.
+bool UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked()
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+ g_gmock_mutex.AssertHeld();
+ bool expectations_met = true;
+ for (UntypedExpectations::const_iterator it =
+ untyped_expectations_.begin();
+ it != untyped_expectations_.end(); ++it) {
+ ExpectationBase* const untyped_expectation = it->get();
+ if (untyped_expectation->IsOverSaturated()) {
+ // There was an upper-bound violation. Since the error was
+ // already reported when it occurred, there is no need to do
+ // anything here.
+ expectations_met = false;
+ } else if (!untyped_expectation->IsSatisfied()) {
+ expectations_met = false;
+ ::std::stringstream ss;
+ ss << "Actual function call count doesn't match "
+ << untyped_expectation->source_text() << "...\n";
+ // No need to show the source file location of the expectation
+ // in the description, as the Expect() call that follows already
+ // takes care of it.
+ untyped_expectation->MaybeDescribeExtraMatcherTo(&ss);
+ untyped_expectation->DescribeCallCountTo(&ss);
+ Expect(false, untyped_expectation->file(),
+ untyped_expectation->line(), ss.str());
+ }
+ }
+
+ // Deleting our expectations may trigger other mock objects to be deleted, for
+ // example if an action contains a reference counted smart pointer to that
+ // mock object, and that is the last reference. So if we delete our
+ // expectations within the context of the global mutex we may deadlock when
+ // this method is called again. Instead, make a copy of the set of
+ // expectations to delete, clear our set within the mutex, and then clear the
+ // copied set outside of it.
+ UntypedExpectations expectations_to_delete;
+ untyped_expectations_.swap(expectations_to_delete);
+
+ g_gmock_mutex.Unlock();
+ expectations_to_delete.clear();
+ g_gmock_mutex.Lock();
+
+ return expectations_met;
+}
+
+} // namespace internal
+
+// Class Mock.
+
+namespace {
+
+typedef std::set<internal::UntypedFunctionMockerBase*> FunctionMockers;
+
+// The current state of a mock object. Such information is needed for
+// detecting leaked mock objects and explicitly verifying a mock's
+// expectations.
+struct MockObjectState {
+ MockObjectState()
+ : first_used_file(NULL), first_used_line(-1), leakable(false) {}
+
+ // Where in the source file an ON_CALL or EXPECT_CALL is first
+ // invoked on this mock object.
+ const char* first_used_file;
+ int first_used_line;
+ ::std::string first_used_test_case;
+ ::std::string first_used_test;
+ bool leakable; // true iff it's OK to leak the object.
+ FunctionMockers function_mockers; // All registered methods of the object.
+};
+
+// A global registry holding the state of all mock objects that are
+// alive. A mock object is added to this registry the first time
+// Mock::AllowLeak(), ON_CALL(), or EXPECT_CALL() is called on it. It
+// is removed from the registry in the mock object's destructor.
+class MockObjectRegistry {
+ public:
+ // Maps a mock object (identified by its address) to its state.
+ typedef std::map<const void*, MockObjectState> StateMap;
+
+ // This destructor will be called when a program exits, after all
+ // tests in it have been run. By then, there should be no mock
+ // object alive. Therefore we report any living object as test
+ // failure, unless the user explicitly asked us to ignore it.
+ ~MockObjectRegistry() {
+ // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is
+ // a macro.
+
+ if (!GMOCK_FLAG(catch_leaked_mocks))
+ return;
+
+ int leaked_count = 0;
+ for (StateMap::const_iterator it = states_.begin(); it != states_.end();
+ ++it) {
+ if (it->second.leakable) // The user said it's fine to leak this object.
+ continue;
+
+ // TODO(wan@google.com): Print the type of the leaked object.
+ // This can help the user identify the leaked object.
+ std::cout << "\n";
+ const MockObjectState& state = it->second;
+ std::cout << internal::FormatFileLocation(state.first_used_file,
+ state.first_used_line);
+ std::cout << " ERROR: this mock object";
+ if (state.first_used_test != "") {
+ std::cout << " (used in test " << state.first_used_test_case << "."
+ << state.first_used_test << ")";
+ }
+ std::cout << " should be deleted but never is. Its address is @"
+ << it->first << ".";
+ leaked_count++;
+ }
+ if (leaked_count > 0) {
+ std::cout << "\nERROR: " << leaked_count
+ << " leaked mock " << (leaked_count == 1 ? "object" : "objects")
+ << " found at program exit.\n";
+ std::cout.flush();
+ ::std::cerr.flush();
+ // RUN_ALL_TESTS() has already returned when this destructor is
+ // called. Therefore we cannot use the normal Google Test
+ // failure reporting mechanism.
+ _exit(1); // We cannot call exit() as it is not reentrant and
+ // may already have been called.
+ }
+ }
+
+ StateMap& states() { return states_; }
+
+ private:
+ StateMap states_;
+};
+
+// Protected by g_gmock_mutex.
+MockObjectRegistry g_mock_object_registry;
+
+// Maps a mock object to the reaction Google Mock should have when an
+// uninteresting method is called. Protected by g_gmock_mutex.
+std::map<const void*, internal::CallReaction> g_uninteresting_call_reaction;
+
+// Sets the reaction Google Mock should have when an uninteresting
+// method of the given mock object is called.
+void SetReactionOnUninterestingCalls(const void* mock_obj,
+ internal::CallReaction reaction)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_uninteresting_call_reaction[mock_obj] = reaction;
+}
+
+} // namespace
+
+// Tells Google Mock to allow uninteresting calls on the given mock
+// object.
+void Mock::AllowUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::kAllow);
+}
+
+// Tells Google Mock to warn the user about uninteresting calls on the
+// given mock object.
+void Mock::WarnUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::kWarn);
+}
+
+// Tells Google Mock to fail uninteresting calls on the given mock
+// object.
+void Mock::FailUninterestingCalls(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::kFail);
+}
+
+// Tells Google Mock the given mock object is being destroyed and its
+// entry in the call-reaction table should be removed.
+void Mock::UnregisterCallReaction(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_uninteresting_call_reaction.erase(mock_obj);
+}
+
+// Returns the reaction Google Mock will have on uninteresting calls
+// made on the given mock object.
+internal::CallReaction Mock::GetReactionOnUninterestingCalls(
+ const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ return (g_uninteresting_call_reaction.count(mock_obj) == 0) ?
+ internal::kDefault : g_uninteresting_call_reaction[mock_obj];
+}
+
+// Tells Google Mock to ignore mock_obj when checking for leaked mock
+// objects.
+void Mock::AllowLeak(const void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_mock_object_registry.states()[mock_obj].leakable = true;
+}
+
+// Verifies and clears all expectations on the given mock object. If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+bool Mock::VerifyAndClearExpectations(void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies all expectations on the given mock object and clears its
+// default actions and expectations. Returns true iff the
+// verification was successful.
+bool Mock::VerifyAndClear(void* mock_obj)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ ClearDefaultActionsLocked(mock_obj);
+ return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies and clears all expectations on the given mock object. If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+bool Mock::VerifyAndClearExpectationsLocked(void* mock_obj)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+ internal::g_gmock_mutex.AssertHeld();
+ if (g_mock_object_registry.states().count(mock_obj) == 0) {
+ // No EXPECT_CALL() was set on the given mock object.
+ return true;
+ }
+
+ // Verifies and clears the expectations on each mock method in the
+ // given mock object.
+ bool expectations_met = true;
+ FunctionMockers& mockers =
+ g_mock_object_registry.states()[mock_obj].function_mockers;
+ for (FunctionMockers::const_iterator it = mockers.begin();
+ it != mockers.end(); ++it) {
+ if (!(*it)->VerifyAndClearExpectationsLocked()) {
+ expectations_met = false;
+ }
+ }
+
+ // We don't clear the content of mockers, as they may still be
+ // needed by ClearDefaultActionsLocked().
+ return expectations_met;
+}
+
+// Registers a mock object and a mock method it owns.
+void Mock::Register(const void* mock_obj,
+ internal::UntypedFunctionMockerBase* mocker)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_mock_object_registry.states()[mock_obj].function_mockers.insert(mocker);
+}
+
+// Tells Google Mock where in the source code mock_obj is used in an
+// ON_CALL or EXPECT_CALL. In case mock_obj is leaked, this
+// information helps the user identify which object it is.
+void Mock::RegisterUseByOnCallOrExpectCall(const void* mock_obj,
+ const char* file, int line)
+ GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ MockObjectState& state = g_mock_object_registry.states()[mock_obj];
+ if (state.first_used_file == NULL) {
+ state.first_used_file = file;
+ state.first_used_line = line;
+ const TestInfo* const test_info =
+ UnitTest::GetInstance()->current_test_info();
+ if (test_info != NULL) {
+ // TODO(wan@google.com): record the test case name when the
+ // ON_CALL or EXPECT_CALL is invoked from SetUpTestCase() or
+ // TearDownTestCase().
+ state.first_used_test_case = test_info->test_case_name();
+ state.first_used_test = test_info->name();
+ }
+ }
+}
+
+// Unregisters a mock method; removes the owning mock object from the
+// registry when the last mock method associated with it has been
+// unregistered. This is called only in the destructor of
+// FunctionMockerBase.
+void Mock::UnregisterLocked(internal::UntypedFunctionMockerBase* mocker)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+ internal::g_gmock_mutex.AssertHeld();
+ for (MockObjectRegistry::StateMap::iterator it =
+ g_mock_object_registry.states().begin();
+ it != g_mock_object_registry.states().end(); ++it) {
+ FunctionMockers& mockers = it->second.function_mockers;
+ if (mockers.erase(mocker) > 0) {
+ // mocker was in mockers and has been just removed.
+ if (mockers.empty()) {
+ g_mock_object_registry.states().erase(it);
+ }
+ return;
+ }
+ }
+}
+
+// Clears all ON_CALL()s set on the given mock object.
+void Mock::ClearDefaultActionsLocked(void* mock_obj)
+ GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+ internal::g_gmock_mutex.AssertHeld();
+
+ if (g_mock_object_registry.states().count(mock_obj) == 0) {
+ // No ON_CALL() was set on the given mock object.
+ return;
+ }
+
+ // Clears the default actions for each mock method in the given mock
+ // object.
+ FunctionMockers& mockers =
+ g_mock_object_registry.states()[mock_obj].function_mockers;
+ for (FunctionMockers::const_iterator it = mockers.begin();
+ it != mockers.end(); ++it) {
+ (*it)->ClearDefaultActionsLocked();
+ }
+
+ // We don't clear the content of mockers, as they may still be
+ // needed by VerifyAndClearExpectationsLocked().
+}
+
+Expectation::Expectation() {}
+
+Expectation::Expectation(
+ const internal::linked_ptr<internal::ExpectationBase>& an_expectation_base)
+ : expectation_base_(an_expectation_base) {}
+
+Expectation::~Expectation() {}
+
+// Adds an expectation to a sequence.
+void Sequence::AddExpectation(const Expectation& expectation) const {
+ if (*last_expectation_ != expectation) {
+ if (last_expectation_->expectation_base() != NULL) {
+ expectation.expectation_base()->immediate_prerequisites_
+ += *last_expectation_;
+ }
+ *last_expectation_ = expectation;
+ }
+}
+
+// Creates the implicit sequence if there isn't one.
+InSequence::InSequence() {
+ if (internal::g_gmock_implicit_sequence.get() == NULL) {
+ internal::g_gmock_implicit_sequence.set(new Sequence);
+ sequence_created_ = true;
+ } else {
+ sequence_created_ = false;
+ }
+}
+
+// Deletes the implicit sequence if it was created by the constructor
+// of this object.
+InSequence::~InSequence() {
+ if (sequence_created_) {
+ delete internal::g_gmock_implicit_sequence.get();
+ internal::g_gmock_implicit_sequence.set(NULL);
+ }
+}
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+
+// TODO(wan@google.com): support using environment variables to
+// control the flag values, like what Google Test does.
+
+GMOCK_DEFINE_bool_(catch_leaked_mocks, true,
+ "true iff Google Mock should report leaked mock objects "
+ "as failures.");
+
+GMOCK_DEFINE_string_(verbose, internal::kWarningVerbosity,
+ "Controls how verbose Google Mock's output is."
+ " Valid values:\n"
+ " info - prints all messages.\n"
+ " warning - prints warnings and errors.\n"
+ " error - prints errors only.");
+
+namespace internal {
+
+// Parses a string as a command line flag. The string should have the
+// format "--gmock_flag=value". When def_optional is true, the
+// "=value" part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+static const char* ParseGoogleMockFlagValue(const char* str,
+ const char* flag,
+ bool def_optional) {
+ // str and flag must not be NULL.
+ if (str == NULL || flag == NULL) return NULL;
+
+ // The flag must start with "--gmock_".
+ const std::string flag_str = std::string("--gmock_") + flag;
+ const size_t flag_len = flag_str.length();
+ if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+ // Skips the flag name.
+ const char* flag_end = str + flag_len;
+
+ // When def_optional is true, it's OK to not have a "=value" part.
+ if (def_optional && (flag_end[0] == '\0')) {
+ return flag_end;
+ }
+
+ // If def_optional is true and there are more characters after the
+ // flag name, or if def_optional is false, there must be a '=' after
+ // the flag name.
+ if (flag_end[0] != '=') return NULL;
+
+ // Returns the string after "=".
+ return flag_end + 1;
+}
+
+// Parses a string for a Google Mock bool flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+static bool ParseGoogleMockBoolFlag(const char* str, const char* flag,
+ bool* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseGoogleMockFlagValue(str, flag, true);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Converts the string value to a bool.
+ *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+ return true;
+}
+
+// Parses a string for a Google Mock string flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+template <typename String>
+static bool ParseGoogleMockStringFlag(const char* str, const char* flag,
+ String* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseGoogleMockFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ *value = value_str;
+ return true;
+}
+
+// The internal implementation of InitGoogleMock().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleMockImpl(int* argc, CharType** argv) {
+ // Makes sure Google Test is initialized. InitGoogleTest() is
+ // idempotent, so it's fine if the user has already called it.
+ InitGoogleTest(argc, argv);
+ if (*argc <= 0) return;
+
+ for (int i = 1; i != *argc; i++) {
+ const std::string arg_string = StreamableToString(argv[i]);
+ const char* const arg = arg_string.c_str();
+
+ // Do we see a Google Mock flag?
+ if (ParseGoogleMockBoolFlag(arg, "catch_leaked_mocks",
+ &GMOCK_FLAG(catch_leaked_mocks)) ||
+ ParseGoogleMockStringFlag(arg, "verbose", &GMOCK_FLAG(verbose))) {
+ // Yes. Shift the remainder of the argv list left by one. Note
+ // that argv has (*argc + 1) elements, the last one always being
+ // NULL. The following loop moves the trailing NULL element as
+ // well.
+ for (int j = i; j != *argc; j++) {
+ argv[j] = argv[j + 1];
+ }
+
+ // Decrements the argument count.
+ (*argc)--;
+
+ // We also need to decrement the iterator as we just removed
+ // an element.
+ i--;
+ }
+ }
+}
+
+} // namespace internal
+
+// Initializes Google Mock. This must be called before running the
+// tests. In particular, it parses a command line for the flags that
+// Google Mock recognizes. Whenever a Google Mock flag is seen, it is
+// removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+GTEST_API_ void InitGoogleMock(int* argc, char** argv) {
+ internal::InitGoogleMockImpl(argc, argv);
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleMock(int* argc, wchar_t** argv) {
+ internal::InitGoogleMockImpl(argc, argv);
+}
+
+} // namespace testing
--- /dev/null
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+#include <iostream>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+// NOTE(keir): This flag is normally part of gtest within Google but isn't in
+// the open source Google Test, since it is build-system dependent. However for
+// Ceres this is needed for our tests. Add the new flag here.
+DEFINE_string(test_srcdir, "", "The location of the source code.");
+
+// MS C++ compiler/linker has a bug on Windows (not on Windows CE), which
+// causes a link error when _tmain is defined in a static library and UNICODE
+// is enabled. For this reason instead of _tmain, main function is used on
+// Windows. See the following link to track the current status of this bug:
+// http://connect.microsoft.com/VisualStudio/feedback/ViewFeedback.aspx?FeedbackID=394464 // NOLINT
+#if GTEST_OS_WINDOWS_MOBILE
+# include <tchar.h> // NOLINT
+
+GTEST_API_ int _tmain(int argc, TCHAR** argv) {
+#else
+GTEST_API_ int main(int argc, char** argv) {
+#endif // GTEST_OS_WINDOWS_MOBILE
+ std::cout << "Running main() from gmock_main.cc\n";
+ google::InitGoogleLogging(argv[0]);
+ // Since Google Mock depends on Google Test, InitGoogleMock() is
+ // also responsible for initializing Google Test. Therefore there's
+ // no need for calling testing::InitGoogleTest() separately.
+ testing::InitGoogleMock(&argc, argv);
+ // On Windows, gtest passes additional non-gflags command line flags to
+ // death-tests, specifically --gtest_filter & --gtest_internal_run_death_test
+ // in order that these unknown (to gflags) flags do not invoke an error in
+ // gflags, InitGoogleTest() (called by InitGoogleMock()) must be called
+ // before ParseCommandLineFlags() to handle & remove them before gflags
+ // parses the remaining flags.
+ CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+ return RUN_ALL_TESTS();
+}
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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.
+//
+// Authors: wjr@google.com (William Rucklidge),
+// keir@google.com (Keir Mierle),
+// dgossow@google.com (David Gossow)
+
+#include "ceres/gradient_checker.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "ceres/is_close.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+using internal::IsClose;
+using internal::StringAppendF;
+using internal::StringPrintf;
+using std::string;
+using std::vector;
+
+namespace {
+// Evaluate the cost function and transform the returned Jacobians to
+// the local space of the respective local parameterizations.
+bool EvaluateCostFunction(
+ const ceres::CostFunction* function,
+ double const* const * parameters,
+ const std::vector<const ceres::LocalParameterization*>&
+ local_parameterizations,
+ Vector* residuals,
+ std::vector<Matrix>* jacobians,
+ std::vector<Matrix>* local_jacobians) {
+ CHECK_NOTNULL(residuals);
+ CHECK_NOTNULL(jacobians);
+ CHECK_NOTNULL(local_jacobians);
+
+ const vector<int32>& block_sizes = function->parameter_block_sizes();
+ const int num_parameter_blocks = block_sizes.size();
+
+ // Allocate Jacobian matrices in local space.
+ local_jacobians->resize(num_parameter_blocks);
+ vector<double*> local_jacobian_data(num_parameter_blocks);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ int block_size = block_sizes.at(i);
+ if (local_parameterizations.at(i) != NULL) {
+ block_size = local_parameterizations.at(i)->LocalSize();
+ }
+ local_jacobians->at(i).resize(function->num_residuals(), block_size);
+ local_jacobians->at(i).setZero();
+ local_jacobian_data.at(i) = local_jacobians->at(i).data();
+ }
+
+ // Allocate Jacobian matrices in global space.
+ jacobians->resize(num_parameter_blocks);
+ vector<double*> jacobian_data(num_parameter_blocks);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ jacobians->at(i).resize(function->num_residuals(), block_sizes.at(i));
+ jacobians->at(i).setZero();
+ jacobian_data.at(i) = jacobians->at(i).data();
+ }
+
+ // Compute residuals & jacobians.
+ CHECK_NE(0, function->num_residuals());
+ residuals->resize(function->num_residuals());
+ residuals->setZero();
+ if (!function->Evaluate(parameters, residuals->data(),
+ jacobian_data.data())) {
+ return false;
+ }
+
+ // Convert Jacobians from global to local space.
+ for (size_t i = 0; i < local_jacobians->size(); ++i) {
+ if (local_parameterizations.at(i) == NULL) {
+ local_jacobians->at(i) = jacobians->at(i);
+ } else {
+ int global_size = local_parameterizations.at(i)->GlobalSize();
+ int local_size = local_parameterizations.at(i)->LocalSize();
+ CHECK_EQ(jacobians->at(i).cols(), global_size);
+ Matrix global_J_local(global_size, local_size);
+ local_parameterizations.at(i)->ComputeJacobian(
+ parameters[i], global_J_local.data());
+ local_jacobians->at(i) = jacobians->at(i) * global_J_local;
+ }
+ }
+ return true;
+}
+} // namespace
+
+GradientChecker::GradientChecker(
+ const CostFunction* function,
+ const vector<const LocalParameterization*>* local_parameterizations,
+ const NumericDiffOptions& options) :
+ function_(function) {
+ CHECK_NOTNULL(function);
+ if (local_parameterizations != NULL) {
+ local_parameterizations_ = *local_parameterizations;
+ } else {
+ local_parameterizations_.resize(function->parameter_block_sizes().size(),
+ NULL);
+ }
+ DynamicNumericDiffCostFunction<CostFunction, CENTRAL>*
+ finite_diff_cost_function =
+ new DynamicNumericDiffCostFunction<CostFunction, CENTRAL>(
+ function, DO_NOT_TAKE_OWNERSHIP, options);
+ finite_diff_cost_function_.reset(finite_diff_cost_function);
+
+ const vector<int32>& parameter_block_sizes =
+ function->parameter_block_sizes();
+ const int num_parameter_blocks = parameter_block_sizes.size();
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ finite_diff_cost_function->AddParameterBlock(parameter_block_sizes[i]);
+ }
+ finite_diff_cost_function->SetNumResiduals(function->num_residuals());
+}
+
+bool GradientChecker::Probe(double const* const * parameters,
+ double relative_precision,
+ ProbeResults* results_param) const {
+ int num_residuals = function_->num_residuals();
+
+ // Make sure that we have a place to store results, no matter if the user has
+ // provided an output argument.
+ ProbeResults* results;
+ ProbeResults results_local;
+ if (results_param != NULL) {
+ results = results_param;
+ results->residuals.resize(0);
+ results->jacobians.clear();
+ results->numeric_jacobians.clear();
+ results->local_jacobians.clear();
+ results->local_numeric_jacobians.clear();
+ results->error_log.clear();
+ } else {
+ results = &results_local;
+ }
+ results->maximum_relative_error = 0.0;
+ results->return_value = true;
+
+ // Evaluate the derivative using the user supplied code.
+ vector<Matrix>& jacobians = results->jacobians;
+ vector<Matrix>& local_jacobians = results->local_jacobians;
+ if (!EvaluateCostFunction(function_, parameters, local_parameterizations_,
+ &results->residuals, &jacobians, &local_jacobians)) {
+ results->error_log = "Function evaluation with Jacobians failed.";
+ results->return_value = false;
+ }
+
+ // Evaluate the derivative using numeric derivatives.
+ vector<Matrix>& numeric_jacobians = results->numeric_jacobians;
+ vector<Matrix>& local_numeric_jacobians = results->local_numeric_jacobians;
+ Vector finite_diff_residuals;
+ if (!EvaluateCostFunction(finite_diff_cost_function_.get(), parameters,
+ local_parameterizations_, &finite_diff_residuals,
+ &numeric_jacobians, &local_numeric_jacobians)) {
+ results->error_log += "\nFunction evaluation with numerical "
+ "differentiation failed.";
+ results->return_value = false;
+ }
+
+ if (!results->return_value) {
+ return false;
+ }
+
+ for (int i = 0; i < num_residuals; ++i) {
+ if (!IsClose(
+ results->residuals[i],
+ finite_diff_residuals[i],
+ relative_precision,
+ NULL,
+ NULL)) {
+ results->error_log = "Function evaluation with and without Jacobians "
+ "resulted in different residuals.";
+ LOG(INFO) << results->residuals.transpose();
+ LOG(INFO) << finite_diff_residuals.transpose();
+ return false;
+ }
+ }
+
+ // See if any elements have relative error larger than the threshold.
+ int num_bad_jacobian_components = 0;
+ double& worst_relative_error = results->maximum_relative_error;
+ worst_relative_error = 0;
+
+ // Accumulate the error message for all the jacobians, since it won't get
+ // output if there are no bad jacobian components.
+ string error_log;
+ for (int k = 0; k < function_->parameter_block_sizes().size(); k++) {
+ StringAppendF(&error_log,
+ "========== "
+ "Jacobian for " "block %d: (%ld by %ld)) "
+ "==========\n",
+ k,
+ static_cast<long>(local_jacobians[k].rows()),
+ static_cast<long>(local_jacobians[k].cols()));
+ // The funny spacing creates appropriately aligned column headers.
+ error_log +=
+ " block row col user dx/dy num diff dx/dy "
+ "abs error relative error parameter residual\n";
+
+ for (int i = 0; i < local_jacobians[k].rows(); i++) {
+ for (int j = 0; j < local_jacobians[k].cols(); j++) {
+ double term_jacobian = local_jacobians[k](i, j);
+ double finite_jacobian = local_numeric_jacobians[k](i, j);
+ double relative_error, absolute_error;
+ bool bad_jacobian_entry =
+ !IsClose(term_jacobian,
+ finite_jacobian,
+ relative_precision,
+ &relative_error,
+ &absolute_error);
+ worst_relative_error = std::max(worst_relative_error, relative_error);
+
+ StringAppendF(&error_log,
+ "%6d %4d %4d %17g %17g %17g %17g %17g %17g",
+ k, i, j,
+ term_jacobian, finite_jacobian,
+ absolute_error, relative_error,
+ parameters[k][j],
+ results->residuals[i]);
+
+ if (bad_jacobian_entry) {
+ num_bad_jacobian_components++;
+ StringAppendF(
+ &error_log,
+ " ------ (%d,%d,%d) Relative error worse than %g",
+ k, i, j, relative_precision);
+ }
+ error_log += "\n";
+ }
+ }
+ }
+
+ // Since there were some bad errors, dump comprehensive debug info.
+ if (num_bad_jacobian_components) {
+ string header = StringPrintf("\nDetected %d bad Jacobian component(s). "
+ "Worst relative error was %g.\n",
+ num_bad_jacobian_components,
+ worst_relative_error);
+ results->error_log = header + "\n" + error_log;
+ return false;
+ }
+ return true;
+}
+
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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: wjr@google.com (William Rucklidge)
+//
+// This file contains tests for the GradientChecker class.
+
+#include "ceres/gradient_checker.h"
+
+#include <cmath>
+#include <cstdlib>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/random.h"
+#include "ceres/solver.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// We pick a (non-quadratic) function whose derivative are easy:
+//
+// f = exp(- a' x).
+// df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+class GoodTestTerm : public CostFunction {
+ public:
+ GoodTestTerm(int arity, int const* dim) : arity_(arity), return_value_(true) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!return_value_) {
+ return false;
+ }
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = -f * a_[j][u];
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ void SetReturnValue(bool return_value) { return_value_ = return_value; }
+
+ private:
+ int arity_;
+ bool return_value_;
+ vector<vector<double> > a_; // our vectors.
+};
+
+class BadTestTerm : public CostFunction {
+ public:
+ BadTestTerm(int arity, int const* dim) : arity_(arity) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = -f * a_[j][u] + 0.001;
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int arity_;
+ vector<vector<double> > a_; // our vectors.
+};
+
+const double kTolerance = 1e-6;
+
+void CheckDimensions(const GradientChecker::ProbeResults& results,
+ const std::vector<int>& parameter_sizes,
+ const std::vector<int>& local_parameter_sizes,
+ int residual_size) {
+ CHECK_EQ(parameter_sizes.size(), local_parameter_sizes.size());
+ int num_parameters = parameter_sizes.size();
+ ASSERT_EQ(residual_size, results.residuals.size());
+ ASSERT_EQ(num_parameters, results.local_jacobians.size());
+ ASSERT_EQ(num_parameters, results.local_numeric_jacobians.size());
+ ASSERT_EQ(num_parameters, results.jacobians.size());
+ ASSERT_EQ(num_parameters, results.numeric_jacobians.size());
+ for (int i = 0; i < num_parameters; ++i) {
+ EXPECT_EQ(residual_size, results.local_jacobians.at(i).rows());
+ EXPECT_EQ(local_parameter_sizes[i], results.local_jacobians.at(i).cols());
+ EXPECT_EQ(residual_size, results.local_numeric_jacobians.at(i).rows());
+ EXPECT_EQ(local_parameter_sizes[i],
+ results.local_numeric_jacobians.at(i).cols());
+ EXPECT_EQ(residual_size, results.jacobians.at(i).rows());
+ EXPECT_EQ(parameter_sizes[i], results.jacobians.at(i).cols());
+ EXPECT_EQ(residual_size, results.numeric_jacobians.at(i).rows());
+ EXPECT_EQ(parameter_sizes[i], results.numeric_jacobians.at(i).cols());
+ }
+}
+
+TEST(GradientChecker, SmokeTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const num_parameters = 3;
+ std::vector<int> parameter_sizes(3);
+ parameter_sizes[0] = 2;
+ parameter_sizes[1] = 3;
+ parameter_sizes[2] = 4;
+
+ // Make a random set of blocks.
+ FixedArray<double*> parameters(num_parameters);
+ for (int j = 0; j < num_parameters; ++j) {
+ parameters[j] = new double[parameter_sizes[j]];
+ for (int u = 0; u < parameter_sizes[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ NumericDiffOptions numeric_diff_options;
+ GradientChecker::ProbeResults results;
+
+ // Test that Probe returns true for correct Jacobians.
+ GoodTestTerm good_term(num_parameters, parameter_sizes.data());
+ GradientChecker good_gradient_checker(&good_term, NULL, numeric_diff_options);
+ EXPECT_TRUE(good_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+ EXPECT_TRUE(
+ good_gradient_checker.Probe(parameters.get(), kTolerance, &results))
+ << results.error_log;
+
+ // Check that results contain sensible data.
+ ASSERT_EQ(results.return_value, true);
+ ASSERT_EQ(results.residuals.size(), 1);
+ CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+ EXPECT_GE(results.maximum_relative_error, 0.0);
+ EXPECT_TRUE(results.error_log.empty());
+
+ // Test that if the cost function return false, Probe should return false.
+ good_term.SetReturnValue(false);
+ EXPECT_FALSE(good_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+ EXPECT_FALSE(
+ good_gradient_checker.Probe(parameters.get(), kTolerance, &results))
+ << results.error_log;
+
+ // Check that results contain sensible data.
+ ASSERT_EQ(results.return_value, false);
+ ASSERT_EQ(results.residuals.size(), 1);
+ CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+ for (int i = 0; i < num_parameters; ++i) {
+ EXPECT_EQ(results.local_jacobians.at(i).norm(), 0);
+ EXPECT_EQ(results.local_numeric_jacobians.at(i).norm(), 0);
+ }
+ EXPECT_EQ(results.maximum_relative_error, 0.0);
+ EXPECT_FALSE(results.error_log.empty());
+
+ // Test that Probe returns false for incorrect Jacobians.
+ BadTestTerm bad_term(num_parameters, parameter_sizes.data());
+ GradientChecker bad_gradient_checker(&bad_term, NULL, numeric_diff_options);
+ EXPECT_FALSE(bad_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+ EXPECT_FALSE(
+ bad_gradient_checker.Probe(parameters.get(), kTolerance, &results));
+
+ // Check that results contain sensible data.
+ ASSERT_EQ(results.return_value, true);
+ ASSERT_EQ(results.residuals.size(), 1);
+ CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+ EXPECT_GT(results.maximum_relative_error, kTolerance);
+ EXPECT_FALSE(results.error_log.empty());
+
+ // Setting a high threshold should make the test pass.
+ EXPECT_TRUE(bad_gradient_checker.Probe(parameters.get(), 1.0, &results));
+
+ // Check that results contain sensible data.
+ ASSERT_EQ(results.return_value, true);
+ ASSERT_EQ(results.residuals.size(), 1);
+ CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+ EXPECT_GT(results.maximum_relative_error, 0.0);
+ EXPECT_TRUE(results.error_log.empty());
+
+ for (int j = 0; j < num_parameters; j++) {
+ delete[] parameters[j];
+ }
+}
+
+/**
+ * Helper cost function that multiplies the parameters by the given jacobians
+ * and adds a constant offset.
+ */
+class LinearCostFunction : public CostFunction {
+ public:
+ explicit LinearCostFunction(const Vector& residuals_offset)
+ : residuals_offset_(residuals_offset) {
+ set_num_residuals(residuals_offset_.size());
+ }
+
+ virtual bool Evaluate(double const* const* parameter_ptrs,
+ double* residuals_ptr,
+ double** residual_J_params) const {
+ CHECK_GE(residual_J_params_.size(), 0.0);
+ VectorRef residuals(residuals_ptr, residual_J_params_[0].rows());
+ residuals = residuals_offset_;
+
+ for (size_t i = 0; i < residual_J_params_.size(); ++i) {
+ const Matrix& residual_J_param = residual_J_params_[i];
+ int parameter_size = residual_J_param.cols();
+ ConstVectorRef param(parameter_ptrs[i], parameter_size);
+
+ // Compute residual.
+ residuals += residual_J_param * param;
+
+ // Return Jacobian.
+ if (residual_J_params != NULL && residual_J_params[i] != NULL) {
+ Eigen::Map<Matrix> residual_J_param_out(residual_J_params[i],
+ residual_J_param.rows(),
+ residual_J_param.cols());
+ if (jacobian_offsets_.count(i) != 0) {
+ residual_J_param_out = residual_J_param + jacobian_offsets_.at(i);
+ } else {
+ residual_J_param_out = residual_J_param;
+ }
+ }
+ }
+ return true;
+ }
+
+ void AddParameter(const Matrix& residual_J_param) {
+ CHECK_EQ(num_residuals(), residual_J_param.rows());
+ residual_J_params_.push_back(residual_J_param);
+ mutable_parameter_block_sizes()->push_back(residual_J_param.cols());
+ }
+
+ /// Add offset to the given Jacobian before returning it from Evaluate(),
+ /// thus introducing an error in the comutation.
+ void SetJacobianOffset(size_t index, Matrix offset) {
+ CHECK_LT(index, residual_J_params_.size());
+ CHECK_EQ(residual_J_params_[index].rows(), offset.rows());
+ CHECK_EQ(residual_J_params_[index].cols(), offset.cols());
+ jacobian_offsets_[index] = offset;
+ }
+
+ private:
+ std::vector<Matrix> residual_J_params_;
+ std::map<int, Matrix> jacobian_offsets_;
+ Vector residuals_offset_;
+};
+
+/**
+ * Helper local parameterization that multiplies the delta vector by the given
+ * jacobian and adds it to the parameter.
+ */
+class MatrixParameterization : public LocalParameterization {
+ public:
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ VectorRef(x_plus_delta, GlobalSize()) =
+ ConstVectorRef(x, GlobalSize()) +
+ (global_J_local * ConstVectorRef(delta, LocalSize()));
+ return true;
+ }
+
+ virtual bool ComputeJacobian(const double* /*x*/, double* jacobian) const {
+ MatrixRef(jacobian, GlobalSize(), LocalSize()) = global_J_local;
+ return true;
+ }
+
+ virtual int GlobalSize() const { return global_J_local.rows(); }
+ virtual int LocalSize() const { return global_J_local.cols(); }
+
+ Matrix global_J_local;
+};
+
+// Helper function to compare two Eigen matrices (used in the test below).
+void ExpectMatricesClose(Matrix p, Matrix q, double tolerance) {
+ ASSERT_EQ(p.rows(), q.rows());
+ ASSERT_EQ(p.cols(), q.cols());
+ ExpectArraysClose(p.size(), p.data(), q.data(), tolerance);
+}
+
+TEST(GradientChecker, TestCorrectnessWithLocalParameterizations) {
+ // Create cost function.
+ Eigen::Vector3d residual_offset(100.0, 200.0, 300.0);
+ LinearCostFunction cost_function(residual_offset);
+ Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j0;
+ j0.row(0) << 1.0, 2.0, 3.0;
+ j0.row(1) << 4.0, 5.0, 6.0;
+ j0.row(2) << 7.0, 8.0, 9.0;
+ Eigen::Matrix<double, 3, 2, Eigen::RowMajor> j1;
+ j1.row(0) << 10.0, 11.0;
+ j1.row(1) << 12.0, 13.0;
+ j1.row(2) << 14.0, 15.0;
+
+ Eigen::Vector3d param0(1.0, 2.0, 3.0);
+ Eigen::Vector2d param1(4.0, 5.0);
+
+ cost_function.AddParameter(j0);
+ cost_function.AddParameter(j1);
+
+ std::vector<int> parameter_sizes(2);
+ parameter_sizes[0] = 3;
+ parameter_sizes[1] = 2;
+ std::vector<int> local_parameter_sizes(2);
+ local_parameter_sizes[0] = 2;
+ local_parameter_sizes[1] = 2;
+
+ // Test cost function for correctness.
+ Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j1_out;
+ Eigen::Matrix<double, 3, 2, Eigen::RowMajor> j2_out;
+ Eigen::Vector3d residual;
+ std::vector<const double*> parameters(2);
+ parameters[0] = param0.data();
+ parameters[1] = param1.data();
+ std::vector<double*> jacobians(2);
+ jacobians[0] = j1_out.data();
+ jacobians[1] = j2_out.data();
+ cost_function.Evaluate(parameters.data(), residual.data(), jacobians.data());
+
+ Matrix residual_expected = residual_offset + j0 * param0 + j1 * param1;
+
+ ExpectMatricesClose(j1_out, j0, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(j2_out, j1, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(residual, residual_expected, kTolerance);
+
+ // Create local parameterization.
+ Eigen::Matrix<double, 3, 2, Eigen::RowMajor> global_J_local;
+ global_J_local.row(0) << 1.5, 2.5;
+ global_J_local.row(1) << 3.5, 4.5;
+ global_J_local.row(2) << 5.5, 6.5;
+
+ MatrixParameterization parameterization;
+ parameterization.global_J_local = global_J_local;
+
+ // Test local parameterization for correctness.
+ Eigen::Vector3d x(7.0, 8.0, 9.0);
+ Eigen::Vector2d delta(10.0, 11.0);
+
+ Eigen::Matrix<double, 3, 2, Eigen::RowMajor> global_J_local_out;
+ parameterization.ComputeJacobian(x.data(), global_J_local_out.data());
+ ExpectMatricesClose(global_J_local_out,
+ global_J_local,
+ std::numeric_limits<double>::epsilon());
+
+ Eigen::Vector3d x_plus_delta;
+ parameterization.Plus(x.data(), delta.data(), x_plus_delta.data());
+ Eigen::Vector3d x_plus_delta_expected = x + (global_J_local * delta);
+ ExpectMatricesClose(x_plus_delta, x_plus_delta_expected, kTolerance);
+
+ // Now test GradientChecker.
+ std::vector<const LocalParameterization*> parameterizations(2);
+ parameterizations[0] = ¶meterization;
+ parameterizations[1] = NULL;
+ NumericDiffOptions numeric_diff_options;
+ GradientChecker::ProbeResults results;
+ GradientChecker gradient_checker(
+ &cost_function, ¶meterizations, numeric_diff_options);
+
+ Problem::Options problem_options;
+ problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+ problem_options.local_parameterization_ownership = DO_NOT_TAKE_OWNERSHIP;
+ Problem problem(problem_options);
+ Eigen::Vector3d param0_solver;
+ Eigen::Vector2d param1_solver;
+ problem.AddParameterBlock(param0_solver.data(), 3, ¶meterization);
+ problem.AddParameterBlock(param1_solver.data(), 2);
+ problem.AddResidualBlock(
+ &cost_function, NULL, param0_solver.data(), param1_solver.data());
+ Solver::Options solver_options;
+ solver_options.check_gradients = true;
+ solver_options.initial_trust_region_radius = 1e10;
+ Solver solver;
+ Solver::Summary summary;
+
+ // First test case: everything is correct.
+ EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, NULL));
+ EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+ << results.error_log;
+
+ // Check that results contain correct data.
+ ASSERT_EQ(results.return_value, true);
+ ExpectMatricesClose(
+ results.residuals, residual, std::numeric_limits<double>::epsilon());
+ CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+ ExpectMatricesClose(
+ results.local_jacobians.at(0), j0 * global_J_local, kTolerance);
+ ExpectMatricesClose(results.local_jacobians.at(1),
+ j1,
+ std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(
+ results.local_numeric_jacobians.at(0), j0 * global_J_local, kTolerance);
+ ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+ ExpectMatricesClose(
+ results.jacobians.at(0), j0, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(
+ results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+ ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+ EXPECT_GE(results.maximum_relative_error, 0.0);
+ EXPECT_TRUE(results.error_log.empty());
+
+ // Test interaction with the 'check_gradients' option in Solver.
+ param0_solver = param0;
+ param1_solver = param1;
+ solver.Solve(solver_options, &problem, &summary);
+ EXPECT_EQ(CONVERGENCE, summary.termination_type);
+ EXPECT_LE(summary.final_cost, 1e-12);
+
+ // Second test case: Mess up reported derivatives with respect to 3rd
+ // component of 1st parameter. Check should fail.
+ Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j0_offset;
+ j0_offset.setZero();
+ j0_offset.col(2).setConstant(0.001);
+ cost_function.SetJacobianOffset(0, j0_offset);
+ EXPECT_FALSE(gradient_checker.Probe(parameters.data(), kTolerance, NULL));
+ EXPECT_FALSE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+ << results.error_log;
+
+ // Check that results contain correct data.
+ ASSERT_EQ(results.return_value, true);
+ ExpectMatricesClose(
+ results.residuals, residual, std::numeric_limits<double>::epsilon());
+ CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+ ASSERT_EQ(results.local_jacobians.size(), 2);
+ ASSERT_EQ(results.local_numeric_jacobians.size(), 2);
+ ExpectMatricesClose(results.local_jacobians.at(0),
+ (j0 + j0_offset) * global_J_local,
+ kTolerance);
+ ExpectMatricesClose(results.local_jacobians.at(1),
+ j1,
+ std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(
+ results.local_numeric_jacobians.at(0), j0 * global_J_local, kTolerance);
+ ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+ ExpectMatricesClose(results.jacobians.at(0), j0 + j0_offset, kTolerance);
+ ExpectMatricesClose(
+ results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+ ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+ EXPECT_GT(results.maximum_relative_error, 0.0);
+ EXPECT_FALSE(results.error_log.empty());
+
+ // Test interaction with the 'check_gradients' option in Solver.
+ param0_solver = param0;
+ param1_solver = param1;
+ solver.Solve(solver_options, &problem, &summary);
+ EXPECT_EQ(FAILURE, summary.termination_type);
+
+ // Now, zero out the local parameterization Jacobian of the 1st parameter
+ // with respect to the 3rd component. This makes the combination of
+ // cost function and local parameterization return correct values again.
+ parameterization.global_J_local.row(2).setZero();
+
+ // Verify that the gradient checker does not treat this as an error.
+ EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+ << results.error_log;
+
+ // Check that results contain correct data.
+ ASSERT_EQ(results.return_value, true);
+ ExpectMatricesClose(
+ results.residuals, residual, std::numeric_limits<double>::epsilon());
+ CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+ ASSERT_EQ(results.local_jacobians.size(), 2);
+ ASSERT_EQ(results.local_numeric_jacobians.size(), 2);
+ ExpectMatricesClose(results.local_jacobians.at(0),
+ (j0 + j0_offset) * parameterization.global_J_local,
+ kTolerance);
+ ExpectMatricesClose(results.local_jacobians.at(1),
+ j1,
+ std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(results.local_numeric_jacobians.at(0),
+ j0 * parameterization.global_J_local,
+ kTolerance);
+ ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+ ExpectMatricesClose(results.jacobians.at(0), j0 + j0_offset, kTolerance);
+ ExpectMatricesClose(
+ results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+ ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+ ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+ EXPECT_GE(results.maximum_relative_error, 0.0);
+ EXPECT_TRUE(results.error_log.empty());
+
+ // Test interaction with the 'check_gradients' option in Solver.
+ param0_solver = param0;
+ param1_solver = param1;
+ solver.Solve(solver_options, &problem, &summary);
+ EXPECT_EQ(CONVERGENCE, summary.termination_type);
+ EXPECT_LE(summary.final_cost, 1e-12);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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.
+//
+// Authors: keir@google.com (Keir Mierle),
+// dgossow@google.com (David Gossow)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "ceres/gradient_checker.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::abs;
+using std::max;
+using std::string;
+using std::vector;
+
+namespace {
+
+class GradientCheckingCostFunction : public CostFunction {
+ public:
+ GradientCheckingCostFunction(
+ const CostFunction* function,
+ const std::vector<const LocalParameterization*>* local_parameterizations,
+ const NumericDiffOptions& options,
+ double relative_precision,
+ const string& extra_info,
+ GradientCheckingIterationCallback* callback)
+ : function_(function),
+ gradient_checker_(function, local_parameterizations, options),
+ relative_precision_(relative_precision),
+ extra_info_(extra_info),
+ callback_(callback) {
+ CHECK_NOTNULL(callback_);
+ const vector<int32>& parameter_block_sizes =
+ function->parameter_block_sizes();
+ *mutable_parameter_block_sizes() = parameter_block_sizes;
+ set_num_residuals(function->num_residuals());
+ }
+
+ virtual ~GradientCheckingCostFunction() { }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ // Nothing to check in this case; just forward.
+ return function_->Evaluate(parameters, residuals, NULL);
+ }
+
+ GradientChecker::ProbeResults results;
+ bool okay = gradient_checker_.Probe(parameters,
+ relative_precision_,
+ &results);
+
+ // If the cost function returned false, there's nothing we can say about
+ // the gradients.
+ if (results.return_value == false) {
+ return false;
+ }
+
+ // Copy the residuals.
+ const int num_residuals = function_->num_residuals();
+ MatrixRef(residuals, num_residuals, 1) = results.residuals;
+
+ // Copy the original jacobian blocks into the jacobians array.
+ const vector<int32>& block_sizes = function_->parameter_block_sizes();
+ for (int k = 0; k < block_sizes.size(); k++) {
+ if (jacobians[k] != NULL) {
+ MatrixRef(jacobians[k],
+ results.jacobians[k].rows(),
+ results.jacobians[k].cols()) = results.jacobians[k];
+ }
+ }
+
+ if (!okay) {
+ std::string error_log = "Gradient Error detected!\nExtra info for "
+ "this residual: " + extra_info_ + "\n" + results.error_log;
+ callback_->SetGradientErrorDetected(error_log);
+ }
+ return true;
+ }
+
+ private:
+ const CostFunction* function_;
+ GradientChecker gradient_checker_;
+ double relative_precision_;
+ string extra_info_;
+ GradientCheckingIterationCallback* callback_;
+};
+
+} // namespace
+
+GradientCheckingIterationCallback::GradientCheckingIterationCallback()
+ : gradient_error_detected_(false) {
+}
+
+CallbackReturnType GradientCheckingIterationCallback::operator()(
+ const IterationSummary& summary) {
+ if (gradient_error_detected_) {
+ LOG(ERROR)<< "Gradient error detected. Terminating solver.";
+ return SOLVER_ABORT;
+ }
+ return SOLVER_CONTINUE;
+}
+void GradientCheckingIterationCallback::SetGradientErrorDetected(
+ std::string& error_log) {
+ mutex_.Lock();
+ gradient_error_detected_ = true;
+ error_log_ += "\n" + error_log;
+ mutex_.Unlock();
+}
+
+CostFunction* CreateGradientCheckingCostFunction(
+ const CostFunction* cost_function,
+ const std::vector<const LocalParameterization*>* local_parameterizations,
+ double relative_step_size,
+ double relative_precision,
+ const std::string& extra_info,
+ GradientCheckingIterationCallback* callback) {
+ NumericDiffOptions numeric_diff_options;
+ numeric_diff_options.relative_step_size = relative_step_size;
+
+ return new GradientCheckingCostFunction(cost_function,
+ local_parameterizations,
+ numeric_diff_options,
+ relative_precision, extra_info,
+ callback);
+}
+
+ProblemImpl* CreateGradientCheckingProblemImpl(
+ ProblemImpl* problem_impl,
+ double relative_step_size,
+ double relative_precision,
+ GradientCheckingIterationCallback* callback) {
+ CHECK_NOTNULL(callback);
+ // We create new CostFunctions by wrapping the original CostFunction
+ // in a gradient checking CostFunction. So its okay for the
+ // ProblemImpl to take ownership of it and destroy it. The
+ // LossFunctions and LocalParameterizations are reused and since
+ // they are owned by problem_impl, gradient_checking_problem_impl
+ // should not take ownership of it.
+ Problem::Options gradient_checking_problem_options;
+ gradient_checking_problem_options.cost_function_ownership = TAKE_OWNERSHIP;
+ gradient_checking_problem_options.loss_function_ownership =
+ DO_NOT_TAKE_OWNERSHIP;
+ gradient_checking_problem_options.local_parameterization_ownership =
+ DO_NOT_TAKE_OWNERSHIP;
+
+ NumericDiffOptions numeric_diff_options;
+ numeric_diff_options.relative_step_size = relative_step_size;
+
+ ProblemImpl* gradient_checking_problem_impl = new ProblemImpl(
+ gradient_checking_problem_options);
+
+ Program* program = problem_impl->mutable_program();
+
+ // For every ParameterBlock in problem_impl, create a new parameter
+ // block with the same local parameterization and constancy.
+ const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ gradient_checking_problem_impl->AddParameterBlock(
+ parameter_block->mutable_user_state(),
+ parameter_block->Size(),
+ parameter_block->mutable_local_parameterization());
+
+ if (parameter_block->IsConstant()) {
+ gradient_checking_problem_impl->SetParameterBlockConstant(
+ parameter_block->mutable_user_state());
+ }
+ }
+
+ // For every ResidualBlock in problem_impl, create a new
+ // ResidualBlock by wrapping its CostFunction inside a
+ // GradientCheckingCostFunction.
+ const vector<ResidualBlock*>& residual_blocks = program->residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+
+ // Build a human readable string which identifies the
+ // ResidualBlock. This is used by the GradientCheckingCostFunction
+ // when logging debugging information.
+ string extra_info = StringPrintf(
+ "Residual block id %d; depends on parameters [", i);
+ vector<double*> parameter_blocks;
+ vector<const LocalParameterization*> local_parameterizations;
+ parameter_blocks.reserve(residual_block->NumParameterBlocks());
+ local_parameterizations.reserve(residual_block->NumParameterBlocks());
+ for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ parameter_blocks.push_back(parameter_block->mutable_user_state());
+ StringAppendF(&extra_info, "%p", parameter_block->mutable_user_state());
+ extra_info += (j < residual_block->NumParameterBlocks() - 1) ? ", " : "]";
+ local_parameterizations.push_back(problem_impl->GetParameterization(
+ parameter_block->mutable_user_state()));
+ }
+
+ // Wrap the original CostFunction in a GradientCheckingCostFunction.
+ CostFunction* gradient_checking_cost_function =
+ new GradientCheckingCostFunction(residual_block->cost_function(),
+ &local_parameterizations,
+ numeric_diff_options,
+ relative_precision,
+ extra_info,
+ callback);
+
+ // The const_cast is necessary because
+ // ProblemImpl::AddResidualBlock can potentially take ownership of
+ // the LossFunction, but in this case we are guaranteed that this
+ // will not be the case, so this const_cast is harmless.
+ gradient_checking_problem_impl->AddResidualBlock(
+ gradient_checking_cost_function,
+ const_cast<LossFunction*>(residual_block->loss_function()),
+ parameter_blocks);
+ }
+
+ // Normally, when a problem is given to the solver, we guarantee
+ // that the state pointers for each parameter block point to the
+ // user provided data. Since we are creating this new problem from a
+ // problem given to us at an arbitrary stage of the solve, we cannot
+ // depend on this being the case, so we explicitly call
+ // SetParameterBlockStatePtrsToUserStatePtrs to ensure that this is
+ // the case.
+ gradient_checking_problem_impl
+ ->mutable_program()
+ ->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ return gradient_checking_problem_impl;
+}
+
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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.
+//
+// Authors: keir@google.com (Keir Mierle),
+// dgossow@google.com (David Gossow)
+
+#ifndef CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+#define CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+
+#include <string>
+
+#include "ceres/cost_function.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+
+// Callback that collects information about gradient checking errors, and
+// will abort the solve as soon as an error occurs.
+class GradientCheckingIterationCallback : public IterationCallback {
+ public:
+ GradientCheckingIterationCallback();
+
+ // Will return SOLVER_CONTINUE until a gradient error has been detected,
+ // then return SOLVER_ABORT.
+ virtual CallbackReturnType operator()(const IterationSummary& summary);
+
+ // Notify this that a gradient error has occurred (thread safe).
+ void SetGradientErrorDetected(std::string& error_log);
+
+ // Retrieve error status (not thread safe).
+ bool gradient_error_detected() const { return gradient_error_detected_; }
+ const std::string& error_log() const { return error_log_; }
+ private:
+ bool gradient_error_detected_;
+ std::string error_log_;
+ // Mutex protecting member variables.
+ ceres::internal::Mutex mutex_;
+};
+
+// Creates a CostFunction that checks the Jacobians that cost_function computes
+// with finite differences. This API is only intended for unit tests that intend
+// to check the functionality of the GradientCheckingCostFunction
+// implementation directly.
+CostFunction* CreateGradientCheckingCostFunction(
+ const CostFunction* cost_function,
+ const std::vector<const LocalParameterization*>* local_parameterizations,
+ double relative_step_size,
+ double relative_precision,
+ const std::string& extra_info,
+ GradientCheckingIterationCallback* callback);
+
+// Create a new ProblemImpl object from the input problem_impl, where all
+// cost functions are wrapped so that each time their Evaluate method is called,
+// an additional check is performed that compares the Jacobians computed by
+// the original cost function with alternative Jacobians computed using
+// numerical differentiation. If local parameterizations are given for any
+// parameters, the Jacobians will be compared in the local space instead of the
+// ambient space. For details on the gradient checking procedure, see the
+// documentation of the GradientChecker class. If an error is detected in any
+// iteration, the respective cost function will notify the
+// GradientCheckingIterationCallback.
+//
+// The caller owns the returned ProblemImpl object.
+//
+// Note: This is quite inefficient and is intended only for debugging.
+//
+// relative_step_size and relative_precision are parameters to control
+// the numeric differentiation and the relative tolerance between the
+// jacobian computed by the CostFunctions in problem_impl and
+// jacobians obtained by numerically differentiating them. See the
+// documentation of 'numeric_derivative_relative_step_size' in solver.h for a
+// better explanation.
+ProblemImpl* CreateGradientCheckingProblemImpl(
+ ProblemImpl* problem_impl,
+ double relative_step_size,
+ double relative_precision,
+ GradientCheckingIterationCallback* callback);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <cmath>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/random.h"
+#include "ceres/residual_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::_;
+
+// Pick a (non-quadratic) function whose derivative are easy:
+//
+// f = exp(- a' x).
+// df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+template<int bad_block = 1, int bad_variable = 2>
+class TestTerm : public CostFunction {
+ public:
+ // The constructor of this function needs to know the number
+ // of blocks desired, and the size of each block.
+ TestTerm(int arity, int const *dim) : arity_(arity) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = - f * a_[j][u];
+
+ if (bad_block == j && bad_variable == u) {
+ // Whoopsiedoopsie! Deliberately introduce a faulty jacobian entry
+ // like what happens when users make an error in their jacobian
+ // computations. This should get detected.
+ LOG(INFO) << "Poisoning jacobian for parameter block " << j
+ << ", row 0, column " << u;
+ jacobians[j][u] += 500;
+ }
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int arity_;
+ vector<vector<double> > a_;
+};
+
+TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const arity = 3;
+ int const dim[arity] = { 2, 3, 4 };
+
+ // Make a random set of blocks.
+ vector<double*> parameters(arity);
+ for (int j = 0; j < arity; ++j) {
+ parameters[j] = new double[dim[j]];
+ for (int u = 0; u < dim[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ double original_residual;
+ double residual;
+ vector<double*> original_jacobians(arity);
+ vector<double*> jacobians(arity);
+
+ for (int j = 0; j < arity; ++j) {
+ // Since residual is one dimensional the jacobians have the same
+ // size as the parameter blocks.
+ jacobians[j] = new double[dim[j]];
+ original_jacobians[j] = new double[dim[j]];
+ }
+
+ const double kRelativeStepSize = 1e-6;
+ const double kRelativePrecision = 1e-4;
+
+ TestTerm<-1, -1> term(arity, dim);
+ GradientCheckingIterationCallback callback;
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term, NULL,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Ignored.", &callback));
+ term.Evaluate(¶meters[0],
+ &original_residual,
+ &original_jacobians[0]);
+
+ gradient_checking_cost_function->Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]);
+ EXPECT_EQ(original_residual, residual);
+
+ for (int j = 0; j < arity; j++) {
+ for (int k = 0; k < dim[j]; ++k) {
+ EXPECT_EQ(original_jacobians[j][k], jacobians[j][k]);
+ }
+
+ delete[] parameters[j];
+ delete[] jacobians[j];
+ delete[] original_jacobians[j];
+ }
+}
+
+TEST(GradientCheckingCostFunction, SmokeTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const arity = 3;
+ int const dim[arity] = { 2, 3, 4 };
+
+ // Make a random set of blocks.
+ vector<double*> parameters(arity);
+ for (int j = 0; j < arity; ++j) {
+ parameters[j] = new double[dim[j]];
+ for (int u = 0; u < dim[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ double residual;
+ vector<double*> jacobians(arity);
+ for (int j = 0; j < arity; ++j) {
+ // Since residual is one dimensional the jacobians have the same size as the
+ // parameter blocks.
+ jacobians[j] = new double[dim[j]];
+ }
+
+ const double kRelativeStepSize = 1e-6;
+ const double kRelativePrecision = 1e-4;
+
+ // Should have one term that's bad, causing everything to get dumped.
+ LOG(INFO) << "Bad gradient";
+ {
+ TestTerm<1, 2> term(arity, dim);
+ GradientCheckingIterationCallback callback;
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term, NULL,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Fuzzy banana", &callback));
+ EXPECT_TRUE(
+ gradient_checking_cost_function->Evaluate(¶meters[0], &residual,
+ &jacobians[0]));
+ EXPECT_TRUE(callback.gradient_error_detected());
+ EXPECT_TRUE(callback.error_log().find("Fuzzy banana") != std::string::npos);
+ EXPECT_TRUE(callback.error_log().find("(1,0,2) Relative error worse than")
+ != std::string::npos);
+ }
+
+ // The gradient is correct, so no errors are reported.
+ LOG(INFO) << "Good gradient";
+ {
+ TestTerm<-1, -1> term(arity, dim);
+ GradientCheckingIterationCallback callback;
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term, NULL,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Fuzzy banana", &callback));
+ EXPECT_TRUE(
+ gradient_checking_cost_function->Evaluate(¶meters[0], &residual,
+ &jacobians[0]));
+ EXPECT_FALSE(callback.gradient_error_detected());
+ }
+
+ for (int j = 0; j < arity; j++) {
+ delete[] parameters[j];
+ delete[] jacobians[j];
+ }
+}
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+ UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+ virtual ~UnaryCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(int num_residuals,
+ int32 parameter_block1_size,
+ int32 parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int32 parameter_block1_size,
+ int32 parameter_block2_size,
+ int32 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 3;
+ }
+ return true;
+ }
+};
+
+// Verify that the two ParameterBlocks are formed from the same user
+// array and have the same LocalParameterization object.
+void ParameterBlocksAreEquivalent(const ParameterBlock* left,
+ const ParameterBlock* right) {
+ CHECK_NOTNULL(left);
+ CHECK_NOTNULL(right);
+ EXPECT_EQ(left->user_state(), right->user_state());
+ EXPECT_EQ(left->Size(), right->Size());
+ EXPECT_EQ(left->Size(), right->Size());
+ EXPECT_EQ(left->LocalSize(), right->LocalSize());
+ EXPECT_EQ(left->local_parameterization(), right->local_parameterization());
+ EXPECT_EQ(left->IsConstant(), right->IsConstant());
+}
+
+TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
+ // Parameter blocks with arbitrarily chosen initial values.
+ double x[] = {1.0, 2.0, 3.0};
+ double y[] = {4.0, 5.0, 6.0, 7.0};
+ double z[] = {8.0, 9.0, 10.0, 11.0, 12.0};
+ double w[] = {13.0, 14.0, 15.0, 16.0};
+
+ ProblemImpl problem_impl;
+ problem_impl.AddParameterBlock(x, 3);
+ problem_impl.AddParameterBlock(y, 4);
+ problem_impl.SetParameterBlockConstant(y);
+ problem_impl.AddParameterBlock(z, 5);
+ problem_impl.AddParameterBlock(w, 4, new QuaternionParameterization);
+ problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(6, 5, 4) ,
+ NULL, z, y);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(3, 3, 5),
+ new TrivialLoss, x, z);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(7, 5, 3),
+ NULL, z, x);
+ problem_impl.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4),
+ NULL, z, x, y);
+
+ GradientCheckingIterationCallback callback;
+ scoped_ptr<ProblemImpl> gradient_checking_problem_impl(
+ CreateGradientCheckingProblemImpl(&problem_impl, 1.0, 1.0, &callback));
+
+ // The dimensions of the two problems match.
+ EXPECT_EQ(problem_impl.NumParameterBlocks(),
+ gradient_checking_problem_impl->NumParameterBlocks());
+ EXPECT_EQ(problem_impl.NumResidualBlocks(),
+ gradient_checking_problem_impl->NumResidualBlocks());
+
+ EXPECT_EQ(problem_impl.NumParameters(),
+ gradient_checking_problem_impl->NumParameters());
+ EXPECT_EQ(problem_impl.NumResiduals(),
+ gradient_checking_problem_impl->NumResiduals());
+
+ const Program& program = problem_impl.program();
+ const Program& gradient_checking_program =
+ gradient_checking_problem_impl->program();
+
+ // Since we added the ParameterBlocks and ResidualBlocks explicitly,
+ // they should be in the same order in the two programs. It is
+ // possible that may change due to implementation changes to
+ // Program. This is not expected to be the case and writing code to
+ // anticipate that possibility not worth the extra complexity in
+ // this test.
+ for (int i = 0; i < program.parameter_blocks().size(); ++i) {
+ ParameterBlocksAreEquivalent(
+ program.parameter_blocks()[i],
+ gradient_checking_program.parameter_blocks()[i]);
+ }
+
+ for (int i = 0; i < program.residual_blocks().size(); ++i) {
+ // Compare the sizes of the two ResidualBlocks.
+ const ResidualBlock* original_residual_block =
+ program.residual_blocks()[i];
+ const ResidualBlock* new_residual_block =
+ gradient_checking_program.residual_blocks()[i];
+ EXPECT_EQ(original_residual_block->NumParameterBlocks(),
+ new_residual_block->NumParameterBlocks());
+ EXPECT_EQ(original_residual_block->NumResiduals(),
+ new_residual_block->NumResiduals());
+ EXPECT_EQ(original_residual_block->NumScratchDoublesForEvaluate(),
+ new_residual_block->NumScratchDoublesForEvaluate());
+
+ // Verify that the ParameterBlocks for the two residuals are equivalent.
+ for (int j = 0; j < original_residual_block->NumParameterBlocks(); ++j) {
+ ParameterBlocksAreEquivalent(
+ original_residual_block->parameter_blocks()[j],
+ new_residual_block->parameter_blocks()[j]);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/gradient_problem.h"
+#include "ceres/local_parameterization.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+GradientProblem::GradientProblem(FirstOrderFunction* function)
+ : function_(function),
+ parameterization_(
+ new IdentityParameterization(function_->NumParameters())),
+ scratch_(new double[function_->NumParameters()]) {
+}
+
+GradientProblem::GradientProblem(FirstOrderFunction* function,
+ LocalParameterization* parameterization)
+ : function_(function),
+ parameterization_(parameterization),
+ scratch_(new double[function_->NumParameters()]) {
+ CHECK_EQ(function_->NumParameters(), parameterization_->GlobalSize());
+}
+
+int GradientProblem::NumParameters() const {
+ return function_->NumParameters();
+}
+
+int GradientProblem::NumLocalParameters() const {
+ return parameterization_->LocalSize();
+}
+
+
+bool GradientProblem::Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ if (gradient == NULL) {
+ return function_->Evaluate(parameters, cost, NULL);
+ }
+
+ return (function_->Evaluate(parameters, cost, scratch_.get()) &&
+ parameterization_->MultiplyByJacobian(parameters,
+ 1,
+ scratch_.get(),
+ gradient));
+}
+
+bool GradientProblem::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ return parameterization_->Plus(x, delta, x_plus_delta);
+}
+
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
+#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
+
+#include <map>
+#include <string>
+
+#include "ceres/evaluator.h"
+#include "ceres/execution_summary.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/internal/port.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+class GradientProblemEvaluator : public Evaluator {
+ public:
+ explicit GradientProblemEvaluator(const GradientProblem& problem)
+ : problem_(problem) {}
+ virtual ~GradientProblemEvaluator() {}
+ virtual SparseMatrix* CreateJacobian() const { return NULL; }
+ virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+ const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) {
+ CHECK(jacobian == NULL);
+ ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
+ // The reason we use Residual and Jacobian here even when we are
+ // only computing the cost and gradient has to do with the fact
+ // that the line search minimizer code is used by both the
+ // GradientProblemSolver and the main CeresSolver coder where the
+ // Evaluator evaluates the Jacobian, and these magic strings need
+ // to be consistent across the code base for the time accounting
+ // to work.
+ ScopedExecutionTimer call_type_timer(
+ gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
+ &execution_summary_);
+ execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Residual"
+ : "Evaluator::Jacobian");
+ return problem_.Evaluate(state, cost, gradient);
+ }
+
+ virtual bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ return problem_.Plus(state, delta, state_plus_delta);
+ }
+
+ virtual int NumParameters() const {
+ return problem_.NumParameters();
+ }
+
+ virtual int NumEffectiveParameters() const {
+ return problem_.NumLocalParameters();
+ }
+
+ virtual int NumResiduals() const { return 1; }
+
+ virtual std::map<std::string, int> CallStatistics() const {
+ return execution_summary_.calls();
+ }
+
+ virtual std::map<std::string, double> TimeStatistics() const {
+ return execution_summary_.times();
+ }
+
+ private:
+ const GradientProblem& problem_;
+ ::ceres::internal::ExecutionSummary execution_summary_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
--- /dev/null
+// 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/gradient_problem_solver.h"
+
+#include "ceres/callbacks.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/map_util.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/solver_utils.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+using internal::StringPrintf;
+using internal::StringAppendF;
+using std::string;
+
+namespace {
+
+Solver::Options GradientProblemSolverOptionsToSolverOptions(
+ const GradientProblemSolver::Options& options) {
+#define COPY_OPTION(x) solver_options.x = options.x
+
+ Solver::Options solver_options;
+ solver_options.minimizer_type = LINE_SEARCH;
+ COPY_OPTION(line_search_direction_type);
+ COPY_OPTION(line_search_type);
+ COPY_OPTION(nonlinear_conjugate_gradient_type);
+ COPY_OPTION(max_lbfgs_rank);
+ COPY_OPTION(use_approximate_eigenvalue_bfgs_scaling);
+ COPY_OPTION(line_search_interpolation_type);
+ COPY_OPTION(min_line_search_step_size);
+ COPY_OPTION(line_search_sufficient_function_decrease);
+ COPY_OPTION(max_line_search_step_contraction);
+ COPY_OPTION(min_line_search_step_contraction);
+ COPY_OPTION(max_num_line_search_step_size_iterations);
+ COPY_OPTION(max_num_line_search_direction_restarts);
+ COPY_OPTION(line_search_sufficient_curvature_decrease);
+ COPY_OPTION(max_line_search_step_expansion);
+ COPY_OPTION(max_num_iterations);
+ COPY_OPTION(max_solver_time_in_seconds);
+ COPY_OPTION(parameter_tolerance);
+ COPY_OPTION(function_tolerance);
+ COPY_OPTION(gradient_tolerance);
+ COPY_OPTION(logging_type);
+ COPY_OPTION(minimizer_progress_to_stdout);
+ COPY_OPTION(callbacks);
+ return solver_options;
+#undef COPY_OPTION
+}
+
+
+} // namespace
+
+bool GradientProblemSolver::Options::IsValid(std::string* error) const {
+ const Solver::Options solver_options =
+ GradientProblemSolverOptionsToSolverOptions(*this);
+ return solver_options.IsValid(error);
+}
+
+GradientProblemSolver::~GradientProblemSolver() {
+}
+
+void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options,
+ const GradientProblem& problem,
+ double* parameters_ptr,
+ GradientProblemSolver::Summary* summary) {
+ using internal::scoped_ptr;
+ using internal::WallTimeInSeconds;
+ using internal::Minimizer;
+ using internal::GradientProblemEvaluator;
+ using internal::LoggingCallback;
+ using internal::SetSummaryFinalCost;
+
+ double start_time = WallTimeInSeconds();
+
+ *CHECK_NOTNULL(summary) = Summary();
+ summary->num_parameters = problem.NumParameters();
+ summary->num_local_parameters = problem.NumLocalParameters();
+ summary->line_search_direction_type = options.line_search_direction_type; // NOLINT
+ summary->line_search_interpolation_type = options.line_search_interpolation_type; // NOLINT
+ summary->line_search_type = options.line_search_type;
+ summary->max_lbfgs_rank = options.max_lbfgs_rank;
+ summary->nonlinear_conjugate_gradient_type = options.nonlinear_conjugate_gradient_type; // NOLINT
+
+ // Check validity
+ if (!options.IsValid(&summary->message)) {
+ LOG(ERROR) << "Terminating: " << summary->message;
+ return;
+ }
+
+ // TODO(sameeragarwal): This is a bit convoluted, we should be able
+ // to convert to minimizer options directly, but this will do for
+ // now.
+ Minimizer::Options minimizer_options =
+ Minimizer::Options(GradientProblemSolverOptionsToSolverOptions(options));
+ minimizer_options.evaluator.reset(new GradientProblemEvaluator(problem));
+
+ scoped_ptr<IterationCallback> logging_callback;
+ if (options.logging_type != SILENT) {
+ logging_callback.reset(
+ new LoggingCallback(LINE_SEARCH, options.minimizer_progress_to_stdout));
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ logging_callback.get());
+ }
+
+ scoped_ptr<Minimizer> minimizer(Minimizer::Create(LINE_SEARCH));
+ Vector solution(problem.NumParameters());
+ VectorRef parameters(parameters_ptr, problem.NumParameters());
+ solution = parameters;
+
+ Solver::Summary solver_summary;
+ solver_summary.fixed_cost = 0.0;
+ solver_summary.preprocessor_time_in_seconds = 0.0;
+ solver_summary.postprocessor_time_in_seconds = 0.0;
+ solver_summary.line_search_polynomial_minimization_time_in_seconds = 0.0;
+
+ minimizer->Minimize(minimizer_options, solution.data(), &solver_summary);
+
+ summary->termination_type = solver_summary.termination_type;
+ summary->message = solver_summary.message;
+ summary->initial_cost = solver_summary.initial_cost;
+ summary->final_cost = solver_summary.final_cost;
+ summary->iterations = solver_summary.iterations;
+ summary->line_search_polynomial_minimization_time_in_seconds =
+ solver_summary.line_search_polynomial_minimization_time_in_seconds;
+
+ if (summary->IsSolutionUsable()) {
+ parameters = solution;
+ SetSummaryFinalCost(summary);
+ }
+
+ const std::map<string, double>& evaluator_time_statistics =
+ minimizer_options.evaluator->TimeStatistics();
+ summary->cost_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+ summary->gradient_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+ const std::map<string, int>& evaluator_call_statistics =
+ minimizer_options.evaluator->CallStatistics();
+ summary->num_cost_evaluations =
+ FindWithDefault(evaluator_call_statistics, "Evaluator::Residual", 0);
+ summary->num_gradient_evaluations =
+ FindWithDefault(evaluator_call_statistics, "Evaluator::Jacobian", 0);
+ summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+// Invalid values for most fields, to ensure that we are not
+// accidentally reporting default values.
+GradientProblemSolver::Summary::Summary()
+ : termination_type(FAILURE),
+ message("ceres::GradientProblemSolve was not called."),
+ initial_cost(-1.0),
+ final_cost(-1.0),
+ total_time_in_seconds(-1.0),
+ cost_evaluation_time_in_seconds(-1.0),
+ gradient_evaluation_time_in_seconds(-1.0),
+ line_search_polynomial_minimization_time_in_seconds(-1.0),
+ num_parameters(-1),
+ num_local_parameters(-1),
+ line_search_direction_type(LBFGS),
+ line_search_type(ARMIJO),
+ line_search_interpolation_type(BISECTION),
+ nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+ max_lbfgs_rank(-1) {
+}
+
+bool GradientProblemSolver::Summary::IsSolutionUsable() const {
+ return internal::IsSolutionUsable(*this);
+}
+
+string GradientProblemSolver::Summary::BriefReport() const {
+ return StringPrintf("Ceres GradientProblemSolver Report: "
+ "Iterations: %d, "
+ "Initial cost: %e, "
+ "Final cost: %e, "
+ "Termination: %s",
+ static_cast<int>(iterations.size()),
+ initial_cost,
+ final_cost,
+ TerminationTypeToString(termination_type));
+}
+
+string GradientProblemSolver::Summary::FullReport() const {
+ using internal::VersionString;
+
+ string report = string("\nSolver Summary (v " + VersionString() + ")\n\n");
+
+ StringAppendF(&report, "Parameters % 25d\n", num_parameters);
+ if (num_local_parameters != num_parameters) {
+ StringAppendF(&report, "Local parameters % 25d\n",
+ num_local_parameters);
+ }
+
+ string line_search_direction_string;
+ if (line_search_direction_type == LBFGS) {
+ line_search_direction_string = StringPrintf("LBFGS (%d)", max_lbfgs_rank);
+ } else if (line_search_direction_type == NONLINEAR_CONJUGATE_GRADIENT) {
+ line_search_direction_string =
+ NonlinearConjugateGradientTypeToString(
+ nonlinear_conjugate_gradient_type);
+ } else {
+ line_search_direction_string =
+ LineSearchDirectionTypeToString(line_search_direction_type);
+ }
+
+ StringAppendF(&report, "Line search direction %19s\n",
+ line_search_direction_string.c_str());
+
+ const string line_search_type_string =
+ StringPrintf("%s %s",
+ LineSearchInterpolationTypeToString(
+ line_search_interpolation_type),
+ LineSearchTypeToString(line_search_type));
+ StringAppendF(&report, "Line search type %19s\n",
+ line_search_type_string.c_str());
+ StringAppendF(&report, "\n");
+
+ StringAppendF(&report, "\nCost:\n");
+ StringAppendF(&report, "Initial % 30e\n", initial_cost);
+ if (termination_type != FAILURE &&
+ termination_type != USER_FAILURE) {
+ StringAppendF(&report, "Final % 30e\n", final_cost);
+ StringAppendF(&report, "Change % 30e\n",
+ initial_cost - final_cost);
+ }
+
+ StringAppendF(&report, "\nMinimizer iterations % 16d\n",
+ static_cast<int>(iterations.size()));
+
+ StringAppendF(&report, "\nTime (in seconds):\n");
+ StringAppendF(&report, "\n Cost evaluation %23.4f (%d)\n",
+ cost_evaluation_time_in_seconds,
+ num_cost_evaluations);
+ StringAppendF(&report, " Gradient evaluation %23.4f (%d)\n",
+ gradient_evaluation_time_in_seconds,
+ num_gradient_evaluations);
+ StringAppendF(&report, " Polynomial minimization %17.4f\n",
+ line_search_polynomial_minimization_time_in_seconds);
+ StringAppendF(&report, "Total %25.4f\n\n",
+ total_time_in_seconds);
+
+ StringAppendF(&report, "Termination: %25s (%s)\n",
+ TerminationTypeToString(termination_type), message.c_str());
+ return report;
+}
+
+void Solve(const GradientProblemSolver::Options& options,
+ const GradientProblem& problem,
+ double* parameters,
+ GradientProblemSolver::Summary* summary) {
+ GradientProblemSolver solver;
+ solver.Solve(options, problem, parameters, summary);
+}
+
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_solver.h"
+
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Rosenbrock function; see http://en.wikipedia.org/wiki/Rosenbrock_function .
+class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+ virtual ~Rosenbrock() {}
+
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ const double x = parameters[0];
+ const double y = parameters[1];
+
+ cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+ if (gradient != NULL) {
+ gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+ gradient[1] = 200.0 * (y - x * x);
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 2; }
+};
+
+TEST(GradientProblemSolver, SolvesRosenbrockWithDefaultOptions) {
+ const double expected_tolerance = 1e-9;
+ double parameters[2] = {-1.2, 0.0};
+
+ ceres::GradientProblemSolver::Options options;
+ ceres::GradientProblemSolver::Summary summary;
+ ceres::GradientProblem problem(new Rosenbrock());
+ ceres::Solve(options, problem, parameters, &summary);
+
+ EXPECT_EQ(CONVERGENCE, summary.termination_type);
+ EXPECT_NEAR(1.0, parameters[0], expected_tolerance);
+ EXPECT_NEAR(1.0, parameters[1], expected_tolerance);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/gradient_problem.h"
+
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class QuadraticTestFunction : public ceres::FirstOrderFunction {
+ public:
+ explicit QuadraticTestFunction(bool* flag_to_set_on_destruction = NULL)
+ : flag_to_set_on_destruction_(flag_to_set_on_destruction) {}
+
+ virtual ~QuadraticTestFunction() {
+ if (flag_to_set_on_destruction_) {
+ *flag_to_set_on_destruction_ = true;
+ }
+ }
+
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ const double x = parameters[0];
+ cost[0] = x * x;
+ if (gradient != NULL) {
+ gradient[0] = 2.0 * x;
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 1; }
+
+ private:
+ bool* flag_to_set_on_destruction_;
+};
+
+TEST(GradientProblem, TakesOwnershipOfFirstOrderFunction) {
+ bool is_destructed = false;
+ {
+ ceres::GradientProblem problem(new QuadraticTestFunction(&is_destructed));
+ }
+ EXPECT_TRUE(is_destructed);
+}
+
+TEST(GradientProblem, EvaluationWithoutParameterizationOrGradient) {
+ ceres::GradientProblem problem(new QuadraticTestFunction());
+ double x = 7.0;
+ double cost = 0;
+ problem.Evaluate(&x, &cost, NULL);
+ EXPECT_EQ(x * x, cost);
+}
+
+TEST(GradientProblem, EvalutaionWithParameterizationAndNoGradient) {
+ ceres::GradientProblem problem(new QuadraticTestFunction(),
+ new IdentityParameterization(1));
+ double x = 7.0;
+ double cost = 0;
+ problem.Evaluate(&x, &cost, NULL);
+ EXPECT_EQ(x * x, cost);
+}
+
+TEST(GradientProblem, EvaluationWithoutParameterizationAndWithGradient) {
+ ceres::GradientProblem problem(new QuadraticTestFunction());
+ double x = 7.0;
+ double cost = 0;
+ double gradient = 0;
+ problem.Evaluate(&x, &cost, &gradient);
+ EXPECT_EQ(2.0 * x, gradient);
+}
+
+TEST(GradientProblem, EvaluationWithParameterizationAndWithGradient) {
+ ceres::GradientProblem problem(new QuadraticTestFunction(),
+ new IdentityParameterization(1));
+ double x = 7.0;
+ double cost = 0;
+ double gradient = 0;
+ problem.Evaluate(&x, &cost, &gradient);
+ EXPECT_EQ(2.0 * x, gradient);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_GRAPH_H_
+#define CERES_INTERNAL_GRAPH_H_
+
+#include <limits>
+#include <utility>
+#include "ceres/integral_types.h"
+#include "ceres/map_util.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/macros.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// A unweighted undirected graph templated over the vertex ids. Vertex
+// should be hashable.
+template <typename Vertex>
+class Graph {
+ public:
+ Graph() {}
+
+ // Add a vertex.
+ void AddVertex(const Vertex& vertex) {
+ if (vertices_.insert(vertex).second) {
+ edges_[vertex] = HashSet<Vertex>();
+ }
+ }
+
+ bool RemoveVertex(const Vertex& vertex) {
+ if (vertices_.find(vertex) == vertices_.end()) {
+ return false;
+ }
+
+ vertices_.erase(vertex);
+ const HashSet<Vertex>& sinks = edges_[vertex];
+ for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
+ it != sinks.end(); ++it) {
+ edges_[*it].erase(vertex);
+ }
+
+ edges_.erase(vertex);
+ return true;
+ }
+
+ // Add an edge between the vertex1 and vertex2. Calling AddEdge on a
+ // pair of vertices which do not exist in the graph yet will result
+ // in undefined behavior.
+ //
+ // It is legal to call this method repeatedly for the same set of
+ // vertices.
+ void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
+ DCHECK(vertices_.find(vertex1) != vertices_.end());
+ DCHECK(vertices_.find(vertex2) != vertices_.end());
+
+ if (edges_[vertex1].insert(vertex2).second) {
+ edges_[vertex2].insert(vertex1);
+ }
+ }
+
+ // Calling Neighbors on a vertex not in the graph will result in
+ // undefined behaviour.
+ const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+ return FindOrDie(edges_, vertex);
+ }
+
+ const HashSet<Vertex>& vertices() const {
+ return vertices_;
+ }
+
+ private:
+ HashSet<Vertex> vertices_;
+ HashMap<Vertex, HashSet<Vertex> > edges_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(Graph);
+};
+
+// A weighted undirected graph templated over the vertex ids. Vertex
+// should be hashable and comparable.
+template <typename Vertex>
+class WeightedGraph {
+ public:
+ WeightedGraph() {}
+
+ // Add a weighted vertex. If the vertex already exists in the graph,
+ // its weight is set to the new weight.
+ void AddVertex(const Vertex& vertex, double weight) {
+ if (vertices_.find(vertex) == vertices_.end()) {
+ vertices_.insert(vertex);
+ edges_[vertex] = HashSet<Vertex>();
+ }
+ vertex_weights_[vertex] = weight;
+ }
+
+ // Uses weight = 1.0. If vertex already exists, its weight is set to
+ // 1.0.
+ void AddVertex(const Vertex& vertex) {
+ AddVertex(vertex, 1.0);
+ }
+
+ bool RemoveVertex(const Vertex& vertex) {
+ if (vertices_.find(vertex) == vertices_.end()) {
+ return false;
+ }
+
+ vertices_.erase(vertex);
+ vertex_weights_.erase(vertex);
+ const HashSet<Vertex>& sinks = edges_[vertex];
+ for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
+ it != sinks.end(); ++it) {
+ if (vertex < *it) {
+ edge_weights_.erase(std::make_pair(vertex, *it));
+ } else {
+ edge_weights_.erase(std::make_pair(*it, vertex));
+ }
+ edges_[*it].erase(vertex);
+ }
+
+ edges_.erase(vertex);
+ return true;
+ }
+
+ // Add a weighted edge between the vertex1 and vertex2. Calling
+ // AddEdge on a pair of vertices which do not exist in the graph yet
+ // will result in undefined behavior.
+ //
+ // It is legal to call this method repeatedly for the same set of
+ // vertices.
+ void AddEdge(const Vertex& vertex1, const Vertex& vertex2, double weight) {
+ DCHECK(vertices_.find(vertex1) != vertices_.end());
+ DCHECK(vertices_.find(vertex2) != vertices_.end());
+
+ if (edges_[vertex1].insert(vertex2).second) {
+ edges_[vertex2].insert(vertex1);
+ }
+
+ if (vertex1 < vertex2) {
+ edge_weights_[std::make_pair(vertex1, vertex2)] = weight;
+ } else {
+ edge_weights_[std::make_pair(vertex2, vertex1)] = weight;
+ }
+ }
+
+ // Uses weight = 1.0.
+ void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
+ AddEdge(vertex1, vertex2, 1.0);
+ }
+
+ // Calling VertexWeight on a vertex not in the graph will result in
+ // undefined behavior.
+ double VertexWeight(const Vertex& vertex) const {
+ return FindOrDie(vertex_weights_, vertex);
+ }
+
+ // Calling EdgeWeight on a pair of vertices where either one of the
+ // vertices is not present in the graph will result in undefined
+ // behaviour. If there is no edge connecting vertex1 and vertex2,
+ // the edge weight is zero.
+ double EdgeWeight(const Vertex& vertex1, const Vertex& vertex2) const {
+ if (vertex1 < vertex2) {
+ return FindWithDefault(edge_weights_,
+ std::make_pair(vertex1, vertex2), 0.0);
+ } else {
+ return FindWithDefault(edge_weights_,
+ std::make_pair(vertex2, vertex1), 0.0);
+ }
+ }
+
+ // Calling Neighbors on a vertex not in the graph will result in
+ // undefined behaviour.
+ const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+ return FindOrDie(edges_, vertex);
+ }
+
+ const HashSet<Vertex>& vertices() const {
+ return vertices_;
+ }
+
+ static double InvalidWeight() {
+ return std::numeric_limits<double>::quiet_NaN();
+ }
+
+ private:
+ HashSet<Vertex> vertices_;
+ HashMap<Vertex, double> vertex_weights_;
+ HashMap<Vertex, HashSet<Vertex> > edges_;
+ HashMap<std::pair<Vertex, Vertex>, double> edge_weights_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(WeightedGraph);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRAPH_H_
--- /dev/null
+// 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)
+//
+// Various algorithms that operate on undirected graphs.
+
+#ifndef CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+#define CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+
+#include <algorithm>
+#include <vector>
+#include <utility>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Compare two vertices of a graph by their degrees, if the degrees
+// are equal then order them by their ids.
+template <typename Vertex>
+class VertexTotalOrdering {
+ public:
+ explicit VertexTotalOrdering(const Graph<Vertex>& graph)
+ : graph_(graph) {}
+
+ bool operator()(const Vertex& lhs, const Vertex& rhs) const {
+ if (graph_.Neighbors(lhs).size() == graph_.Neighbors(rhs).size()) {
+ return lhs < rhs;
+ }
+ return graph_.Neighbors(lhs).size() < graph_.Neighbors(rhs).size();
+ }
+
+ private:
+ const Graph<Vertex>& graph_;
+};
+
+template <typename Vertex>
+class VertexDegreeLessThan {
+ public:
+ explicit VertexDegreeLessThan(const Graph<Vertex>& graph)
+ : graph_(graph) {}
+
+ bool operator()(const Vertex& lhs, const Vertex& rhs) const {
+ return graph_.Neighbors(lhs).size() < graph_.Neighbors(rhs).size();
+ }
+
+ private:
+ const Graph<Vertex>& graph_;
+};
+
+// Order the vertices of a graph using its (approximately) largest
+// independent set, where an independent set of a graph is a set of
+// vertices that have no edges connecting them. The maximum
+// independent set problem is NP-Hard, but there are effective
+// approximation algorithms available. The implementation here uses a
+// breadth first search that explores the vertices in order of
+// increasing degree. The same idea is used by Saad & Li in "MIQR: A
+// multilevel incomplete QR preconditioner for large sparse
+// least-squares problems", SIMAX, 2007.
+//
+// Given a undirected graph G(V,E), the algorithm is a greedy BFS
+// search where the vertices are explored in increasing order of their
+// degree. The output vector ordering contains elements of S in
+// increasing order of their degree, followed by elements of V - S in
+// increasing order of degree. The return value of the function is the
+// cardinality of S.
+template <typename Vertex>
+int IndependentSetOrdering(const Graph<Vertex>& graph,
+ std::vector<Vertex>* ordering) {
+ const HashSet<Vertex>& vertices = graph.vertices();
+ const int num_vertices = vertices.size();
+
+ CHECK_NOTNULL(ordering);
+ ordering->clear();
+ ordering->reserve(num_vertices);
+
+ // Colors for labeling the graph during the BFS.
+ const char kWhite = 0;
+ const char kGrey = 1;
+ const char kBlack = 2;
+
+ // Mark all vertices white.
+ HashMap<Vertex, char> vertex_color;
+ std::vector<Vertex> vertex_queue;
+ for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ vertex_color[*it] = kWhite;
+ vertex_queue.push_back(*it);
+ }
+
+
+ std::sort(vertex_queue.begin(), vertex_queue.end(),
+ VertexTotalOrdering<Vertex>(graph));
+
+ // Iterate over vertex_queue. Pick the first white vertex, add it
+ // to the independent set. Mark it black and its neighbors grey.
+ for (int i = 0; i < vertex_queue.size(); ++i) {
+ const Vertex& vertex = vertex_queue[i];
+ if (vertex_color[vertex] != kWhite) {
+ continue;
+ }
+
+ ordering->push_back(vertex);
+ vertex_color[vertex] = kBlack;
+ const HashSet<Vertex>& neighbors = graph.Neighbors(vertex);
+ for (typename HashSet<Vertex>::const_iterator it = neighbors.begin();
+ it != neighbors.end();
+ ++it) {
+ vertex_color[*it] = kGrey;
+ }
+ }
+
+ int independent_set_size = ordering->size();
+
+ // Iterate over the vertices and add all the grey vertices to the
+ // ordering. At this stage there should only be black or grey
+ // vertices in the graph.
+ for (typename std::vector<Vertex>::const_iterator it = vertex_queue.begin();
+ it != vertex_queue.end();
+ ++it) {
+ const Vertex vertex = *it;
+ DCHECK(vertex_color[vertex] != kWhite);
+ if (vertex_color[vertex] != kBlack) {
+ ordering->push_back(vertex);
+ }
+ }
+
+ CHECK_EQ(ordering->size(), num_vertices);
+ return independent_set_size;
+}
+
+// Same as above with one important difference. The ordering parameter
+// is an input/output parameter which carries an initial ordering of
+// the vertices of the graph. The greedy independent set algorithm
+// starts by sorting the vertices in increasing order of their
+// degree. The input ordering is used to stabilize this sort, i.e., if
+// two vertices have the same degree then they are ordered in the same
+// order in which they occur in "ordering".
+//
+// This is useful in eliminating non-determinism from the Schur
+// ordering algorithm over all.
+template <typename Vertex>
+int StableIndependentSetOrdering(const Graph<Vertex>& graph,
+ std::vector<Vertex>* ordering) {
+ CHECK_NOTNULL(ordering);
+ const HashSet<Vertex>& vertices = graph.vertices();
+ const int num_vertices = vertices.size();
+ CHECK_EQ(vertices.size(), ordering->size());
+
+ // Colors for labeling the graph during the BFS.
+ const char kWhite = 0;
+ const char kGrey = 1;
+ const char kBlack = 2;
+
+ std::vector<Vertex> vertex_queue(*ordering);
+
+ std::stable_sort(vertex_queue.begin(), vertex_queue.end(),
+ VertexDegreeLessThan<Vertex>(graph));
+
+ // Mark all vertices white.
+ HashMap<Vertex, char> vertex_color;
+ for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ vertex_color[*it] = kWhite;
+ }
+
+ ordering->clear();
+ ordering->reserve(num_vertices);
+ // Iterate over vertex_queue. Pick the first white vertex, add it
+ // to the independent set. Mark it black and its neighbors grey.
+ for (int i = 0; i < vertex_queue.size(); ++i) {
+ const Vertex& vertex = vertex_queue[i];
+ if (vertex_color[vertex] != kWhite) {
+ continue;
+ }
+
+ ordering->push_back(vertex);
+ vertex_color[vertex] = kBlack;
+ const HashSet<Vertex>& neighbors = graph.Neighbors(vertex);
+ for (typename HashSet<Vertex>::const_iterator it = neighbors.begin();
+ it != neighbors.end();
+ ++it) {
+ vertex_color[*it] = kGrey;
+ }
+ }
+
+ int independent_set_size = ordering->size();
+
+ // Iterate over the vertices and add all the grey vertices to the
+ // ordering. At this stage there should only be black or grey
+ // vertices in the graph.
+ for (typename std::vector<Vertex>::const_iterator it = vertex_queue.begin();
+ it != vertex_queue.end();
+ ++it) {
+ const Vertex vertex = *it;
+ DCHECK(vertex_color[vertex] != kWhite);
+ if (vertex_color[vertex] != kBlack) {
+ ordering->push_back(vertex);
+ }
+ }
+
+ CHECK_EQ(ordering->size(), num_vertices);
+ return independent_set_size;
+}
+
+// Find the connected component for a vertex implemented using the
+// find and update operation for disjoint-set. Recursively traverse
+// the disjoint set structure till you reach a vertex whose connected
+// component has the same id as the vertex itself. Along the way
+// update the connected components of all the vertices. This updating
+// is what gives this data structure its efficiency.
+template <typename Vertex>
+Vertex FindConnectedComponent(const Vertex& vertex,
+ HashMap<Vertex, Vertex>* union_find) {
+ typename HashMap<Vertex, Vertex>::iterator it = union_find->find(vertex);
+ DCHECK(it != union_find->end());
+ if (it->second != vertex) {
+ it->second = FindConnectedComponent(it->second, union_find);
+ }
+
+ return it->second;
+}
+
+// Compute a degree two constrained Maximum Spanning Tree/forest of
+// the input graph. Caller owns the result.
+//
+// Finding degree 2 spanning tree of a graph is not always
+// possible. For example a star graph, i.e. a graph with n-nodes
+// where one node is connected to the other n-1 nodes does not have
+// a any spanning trees of degree less than n-1.Even if such a tree
+// exists, finding such a tree is NP-Hard.
+
+// We get around both of these problems by using a greedy, degree
+// constrained variant of Kruskal's algorithm. We start with a graph
+// G_T with the same vertex set V as the input graph G(V,E) but an
+// empty edge set. We then iterate over the edges of G in decreasing
+// order of weight, adding them to G_T if doing so does not create a
+// cycle in G_T} and the degree of all the vertices in G_T remains
+// bounded by two. This O(|E|) algorithm results in a degree-2
+// spanning forest, or a collection of linear paths that span the
+// graph G.
+template <typename Vertex>
+WeightedGraph<Vertex>*
+Degree2MaximumSpanningForest(const WeightedGraph<Vertex>& graph) {
+ // Array of edges sorted in decreasing order of their weights.
+ std::vector<std::pair<double, std::pair<Vertex, Vertex> > > weighted_edges;
+ WeightedGraph<Vertex>* forest = new WeightedGraph<Vertex>();
+
+ // Disjoint-set to keep track of the connected components in the
+ // maximum spanning tree.
+ HashMap<Vertex, Vertex> disjoint_set;
+
+ // Sort of the edges in the graph in decreasing order of their
+ // weight. Also add the vertices of the graph to the Maximum
+ // Spanning Tree graph and set each vertex to be its own connected
+ // component in the disjoint_set structure.
+ const HashSet<Vertex>& vertices = graph.vertices();
+ for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ const Vertex vertex1 = *it;
+ forest->AddVertex(vertex1, graph.VertexWeight(vertex1));
+ disjoint_set[vertex1] = vertex1;
+
+ const HashSet<Vertex>& neighbors = graph.Neighbors(vertex1);
+ for (typename HashSet<Vertex>::const_iterator it2 = neighbors.begin();
+ it2 != neighbors.end();
+ ++it2) {
+ const Vertex vertex2 = *it2;
+ if (vertex1 >= vertex2) {
+ continue;
+ }
+ const double weight = graph.EdgeWeight(vertex1, vertex2);
+ weighted_edges.push_back(
+ std::make_pair(weight, std::make_pair(vertex1, vertex2)));
+ }
+ }
+
+ // The elements of this vector, are pairs<edge_weight,
+ // edge>. Sorting it using the reverse iterators gives us the edges
+ // in decreasing order of edges.
+ std::sort(weighted_edges.rbegin(), weighted_edges.rend());
+
+ // Greedily add edges to the spanning tree/forest as long as they do
+ // not violate the degree/cycle constraint.
+ for (int i =0; i < weighted_edges.size(); ++i) {
+ const std::pair<Vertex, Vertex>& edge = weighted_edges[i].second;
+ const Vertex vertex1 = edge.first;
+ const Vertex vertex2 = edge.second;
+
+ // Check if either of the vertices are of degree 2 already, in
+ // which case adding this edge will violate the degree 2
+ // constraint.
+ if ((forest->Neighbors(vertex1).size() == 2) ||
+ (forest->Neighbors(vertex2).size() == 2)) {
+ continue;
+ }
+
+ // Find the id of the connected component to which the two
+ // vertices belong to. If the id is the same, it means that the
+ // two of them are already connected to each other via some other
+ // vertex, and adding this edge will create a cycle.
+ Vertex root1 = FindConnectedComponent(vertex1, &disjoint_set);
+ Vertex root2 = FindConnectedComponent(vertex2, &disjoint_set);
+
+ if (root1 == root2) {
+ continue;
+ }
+
+ // This edge can be added, add an edge in either direction with
+ // the same weight as the original graph.
+ const double edge_weight = graph.EdgeWeight(vertex1, vertex2);
+ forest->AddEdge(vertex1, vertex2, edge_weight);
+ forest->AddEdge(vertex2, vertex1, edge_weight);
+
+ // Connected the two connected components by updating the
+ // disjoint_set structure. Always connect the connected component
+ // with the greater index with the connected component with the
+ // smaller index. This should ensure shallower trees, for quicker
+ // lookup.
+ if (root2 < root1) {
+ std::swap(root1, root2);
+ }
+
+ disjoint_set[root2] = root1;
+ }
+ return forest;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRAPH_ALGORITHMS_H_
--- /dev/null
+// 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/graph_algorithms.h"
+
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(IndependentSetOrdering, Chain) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1);
+ graph.AddEdge(1, 2);
+ graph.AddEdge(2, 3);
+ graph.AddEdge(3, 4);
+
+ // 0-1-2-3-4
+ // 0, 2, 4 should be in the independent set.
+ vector<int> ordering;
+ int independent_set_size = IndependentSetOrdering(graph, &ordering);
+
+ sort(ordering.begin(), ordering.begin() + 3);
+ sort(ordering.begin() + 3, ordering.end());
+
+ EXPECT_EQ(independent_set_size, 3);
+ EXPECT_EQ(ordering.size(), 5);
+ EXPECT_EQ(ordering[0], 0);
+ EXPECT_EQ(ordering[1], 2);
+ EXPECT_EQ(ordering[2], 4);
+ EXPECT_EQ(ordering[3], 1);
+ EXPECT_EQ(ordering[4], 3);
+}
+
+TEST(IndependentSetOrdering, Star) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1);
+ graph.AddEdge(0, 2);
+ graph.AddEdge(0, 3);
+ graph.AddEdge(0, 4);
+
+ // 1
+ // |
+ // 4-0-2
+ // |
+ // 3
+ // 1, 2, 3, 4 should be in the independent set.
+ vector<int> ordering;
+ int independent_set_size = IndependentSetOrdering(graph, &ordering);
+ EXPECT_EQ(independent_set_size, 4);
+ EXPECT_EQ(ordering.size(), 5);
+ EXPECT_EQ(ordering[4], 0);
+ sort(ordering.begin(), ordering.begin() + 4);
+ EXPECT_EQ(ordering[0], 1);
+ EXPECT_EQ(ordering[1], 2);
+ EXPECT_EQ(ordering[2], 3);
+ EXPECT_EQ(ordering[3], 4);
+}
+
+TEST(Degree2MaximumSpanningForest, PreserveWeights) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+ graph.AddEdge(1, 0, 0.5);
+
+ scoped_ptr<WeightedGraph<int> > forest(Degree2MaximumSpanningForest(graph));
+
+ const HashSet<int>& vertices = forest->vertices();
+ EXPECT_EQ(vertices.size(), 2);
+ EXPECT_EQ(forest->VertexWeight(0), 1.0);
+ EXPECT_EQ(forest->VertexWeight(1), 2.0);
+ EXPECT_EQ(forest->Neighbors(0).size(), 1.0);
+ EXPECT_EQ(forest->EdgeWeight(0, 1), 0.5);
+}
+
+TEST(Degree2MaximumSpanningForest, StarGraph) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(0, 2, 2.0);
+ graph.AddEdge(0, 3, 3.0);
+ graph.AddEdge(0, 4, 4.0);
+
+ scoped_ptr<WeightedGraph<int> > forest(Degree2MaximumSpanningForest(graph));
+ const HashSet<int>& vertices = forest->vertices();
+ EXPECT_EQ(vertices.size(), 5);
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(0);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(4) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(3) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(3);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(4);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(1);
+ EXPECT_EQ(neighbors.size(), 0);
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(2);
+ EXPECT_EQ(neighbors.size(), 0);
+ }
+}
+
+TEST(VertexTotalOrdering, TotalOrdering) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+
+ // 0-1
+ // |
+ // 2-3
+ // 0,1 and 2 have degree 1 and 3 has degree 2.
+ graph.AddEdge(0, 1);
+ graph.AddEdge(2, 3);
+ VertexTotalOrdering<int> less_than(graph);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_FALSE(less_than(i, i)) << "Failing vertex: " << i;
+ for (int j = 0; j < 4; ++j) {
+ if (i != j) {
+ EXPECT_TRUE(less_than(i, j) ^ less_than(j, i))
+ << "Failing vertex pair: " << i << " " << j;
+ }
+ }
+ }
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_TRUE(less_than(i, 3));
+ EXPECT_FALSE(less_than(3, i));
+ }
+}
+
+
+TEST(StableIndependentSet, BreakTies) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+
+ graph.AddEdge(0, 1);
+ graph.AddEdge(0, 2);
+ graph.AddEdge(0, 3);
+ graph.AddEdge(1, 2);
+ graph.AddEdge(1, 3);
+ graph.AddEdge(2, 3);
+
+ // Since this is a completely connected graph, the independent set
+ // contains exactly one vertex. StableIndependentSetOrdering
+ // guarantees that it will always be the first vertex in the
+ // ordering vector.
+ {
+ vector<int> ordering;
+ ordering.push_back(0);
+ ordering.push_back(1);
+ ordering.push_back(2);
+ ordering.push_back(3);
+ const int independent_set_size =
+ StableIndependentSetOrdering(graph, &ordering);
+ EXPECT_EQ(independent_set_size, 1);
+ EXPECT_EQ(ordering[0], 0);
+ }
+
+ {
+ vector<int> ordering;
+ ordering.push_back(1);
+ ordering.push_back(0);
+ ordering.push_back(2);
+ ordering.push_back(3);
+ const int independent_set_size =
+ StableIndependentSetOrdering(graph, &ordering);
+ EXPECT_EQ(independent_set_size, 1);
+ EXPECT_EQ(ordering[0], 1);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/graph.h"
+
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(Graph, EmptyGraph) {
+ Graph<int> graph;
+ EXPECT_EQ(graph.vertices().size(), 0);
+}
+
+TEST(Graph, AddVertexAndEdge) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddEdge(0, 1);
+
+ const HashSet<int>& vertices = graph.vertices();
+ EXPECT_EQ(vertices.size(), 2);
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+}
+
+TEST(Graph, AddVertexIdempotence) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddEdge(0, 1);
+
+ const HashSet<int>& vertices = graph.vertices();
+
+ EXPECT_EQ(vertices.size(), 2);
+
+ // Try adding the vertex again with a new weight.
+ graph.AddVertex(0);
+ EXPECT_EQ(vertices.size(), 2);
+
+ // Rest of the graph remains the same.
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+}
+
+TEST(Graph, DieOnNonExistentVertex) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddEdge(0, 1);
+
+ EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
+}
+
+TEST(WeightedGraph, EmptyGraph) {
+ WeightedGraph<int> graph;
+ EXPECT_EQ(graph.vertices().size(), 0);
+}
+
+TEST(WeightedGraph, AddVertexAndEdge) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ const HashSet<int>& vertices = graph.vertices();
+ EXPECT_EQ(vertices.size(), 2);
+ EXPECT_EQ(graph.VertexWeight(0), 1.0);
+ EXPECT_EQ(graph.VertexWeight(1), 2.0);
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+ EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+ EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(WeightedGraph, AddVertexIdempotence) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ const HashSet<int>& vertices = graph.vertices();
+
+ EXPECT_EQ(vertices.size(), 2);
+
+ // Try adding the vertex again with a new weight.
+ graph.AddVertex(0, 3.0);
+ EXPECT_EQ(vertices.size(), 2);
+
+ // The vertex weight is reset.
+ EXPECT_EQ(graph.VertexWeight(0), 3.0);
+
+ // Rest of the graph remains the same.
+ EXPECT_EQ(graph.VertexWeight(1), 2.0);
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+ EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+ EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(WeightedGraph, DieOnNonExistentVertex) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ EXPECT_DEATH_IF_SUPPORTED(graph.VertexWeight(2), "key not found");
+ EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
+}
+
+TEST(WeightedGraph, NonExistentEdge) {
+ WeightedGraph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ // Default value for non-existent edges is 0.
+ EXPECT_EQ(graph.EdgeWeight(2, 3), 0);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for Google Test. It should be
+// included by any test program that uses Google Test.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
+// program!
+//
+// Acknowledgment: Google Test borrowed the idea of automatic test
+// registration from Barthelemy Dagenais' (barthelemy@prologique.com)
+// easyUnit framework.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_H_
+
+#include <limits>
+#include <ostream>
+#include <vector>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares functions and macros used internally by
+// Google Test. They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: wan@google.com (Zhanyong Wan)
+//
+// Low-level types and utilities for porting Google Test to various
+// platforms. All macros ending with _ and symbols defined in an
+// internal namespace are subject to change without notice. Code
+// outside Google Test MUST NOT USE THEM DIRECTLY. Macros that don't
+// end with _ are part of Google Test's public API and can be used by
+// code outside Google Test.
+//
+// This file is fundamental to Google Test. All other Google Test source
+// files are expected to #include this. Therefore, it cannot #include
+// any other Google Test header.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+// Environment-describing macros
+// -----------------------------
+//
+// Google Test can be used in many different environments. Macros in
+// this section tell Google Test what kind of environment it is being
+// used in, such that Google Test can provide environment-specific
+// features and implementations.
+//
+// Google Test tries to automatically detect the properties of its
+// environment, so users usually don't need to worry about these
+// macros. However, the automatic detection is not perfect.
+// Sometimes it's necessary for a user to define some of the following
+// macros in the build script to override Google Test's decisions.
+//
+// If the user doesn't define a macro in the list, Google Test will
+// provide a default definition. After this header is #included, all
+// macros in this list will be defined to either 1 or 0.
+//
+// Notes to maintainers:
+// - Each macro here is a user-tweakable knob; do not grow the list
+// lightly.
+// - Use #if to key off these macros. Don't use #ifdef or "#if
+// defined(...)", which will not work as these macros are ALWAYS
+// defined.
+//
+// GTEST_HAS_CLONE - Define it to 1/0 to indicate that clone(2)
+// is/isn't available.
+// GTEST_HAS_EXCEPTIONS - Define it to 1/0 to indicate that exceptions
+// are enabled.
+// GTEST_HAS_GLOBAL_STRING - Define it to 1/0 to indicate that ::string
+// is/isn't available (some systems define
+// ::string, which is different to std::string).
+// GTEST_HAS_GLOBAL_WSTRING - Define it to 1/0 to indicate that ::string
+// is/isn't available (some systems define
+// ::wstring, which is different to std::wstring).
+// GTEST_HAS_POSIX_RE - Define it to 1/0 to indicate that POSIX regular
+// expressions are/aren't available.
+// GTEST_HAS_PTHREAD - Define it to 1/0 to indicate that <pthread.h>
+// is/isn't available.
+// GTEST_HAS_RTTI - Define it to 1/0 to indicate that RTTI is/isn't
+// enabled.
+// GTEST_HAS_STD_WSTRING - Define it to 1/0 to indicate that
+// std::wstring does/doesn't work (Google Test can
+// be used where std::wstring is unavailable).
+// GTEST_HAS_TR1_TUPLE - Define it to 1/0 to indicate tr1::tuple
+// is/isn't available.
+// GTEST_HAS_SEH - Define it to 1/0 to indicate whether the
+// compiler supports Microsoft's "Structured
+// Exception Handling".
+// GTEST_HAS_STREAM_REDIRECTION
+// - Define it to 1/0 to indicate whether the
+// platform supports I/O stream redirection using
+// dup() and dup2().
+// GTEST_USE_OWN_TR1_TUPLE - Define it to 1/0 to indicate whether Google
+// Test's own tr1 tuple implementation should be
+// used. Unused when the user sets
+// GTEST_HAS_TR1_TUPLE to 0.
+// GTEST_LANG_CXX11 - Define it to 1/0 to indicate that Google Test
+// is building in C++11/C++98 mode.
+// GTEST_LINKED_AS_SHARED_LIBRARY
+// - Define to 1 when compiling tests that use
+// Google Test as a shared library (known as
+// DLL on Windows).
+// GTEST_CREATE_SHARED_LIBRARY
+// - Define to 1 when compiling Google Test itself
+// as a shared library.
+
+// Platform-indicating macros
+// --------------------------
+//
+// Macros indicating the platform on which Google Test is being used
+// (a macro is defined to 1 if compiled on the given platform;
+// otherwise UNDEFINED -- it's never defined to 0.). Google Test
+// defines these macros automatically. Code outside Google Test MUST
+// NOT define them.
+//
+// GTEST_OS_AIX - IBM AIX
+// GTEST_OS_CYGWIN - Cygwin
+// GTEST_OS_FREEBSD - FreeBSD
+// GTEST_OS_HPUX - HP-UX
+// GTEST_OS_LINUX - Linux
+// GTEST_OS_LINUX_ANDROID - Google Android
+// GTEST_OS_MAC - Mac OS X
+// GTEST_OS_IOS - iOS
+// GTEST_OS_NACL - Google Native Client (NaCl)
+// GTEST_OS_OPENBSD - OpenBSD
+// GTEST_OS_QNX - QNX
+// GTEST_OS_SOLARIS - Sun Solaris
+// GTEST_OS_SYMBIAN - Symbian
+// GTEST_OS_WINDOWS - Windows (Desktop, MinGW, or Mobile)
+// GTEST_OS_WINDOWS_DESKTOP - Windows Desktop
+// GTEST_OS_WINDOWS_MINGW - MinGW
+// GTEST_OS_WINDOWS_MOBILE - Windows Mobile
+// GTEST_OS_WINDOWS_PHONE - Windows Phone
+// GTEST_OS_WINDOWS_RT - Windows Store App/WinRT
+// GTEST_OS_ZOS - z/OS
+//
+// Among the platforms, Cygwin, Linux, Max OS X, and Windows have the
+// most stable support. Since core members of the Google Test project
+// don't have access to other platforms, support for them may be less
+// stable. If you notice any problems on your platform, please notify
+// googletestframework@googlegroups.com (patches for fixing them are
+// even more welcome!).
+//
+// It is possible that none of the GTEST_OS_* macros are defined.
+
+// Feature-indicating macros
+// -------------------------
+//
+// Macros indicating which Google Test features are available (a macro
+// is defined to 1 if the corresponding feature is supported;
+// otherwise UNDEFINED -- it's never defined to 0.). Google Test
+// defines these macros automatically. Code outside Google Test MUST
+// NOT define them.
+//
+// These macros are public so that portable tests can be written.
+// Such tests typically surround code using a feature with an #if
+// which controls that code. For example:
+//
+// #if GTEST_HAS_DEATH_TEST
+// EXPECT_DEATH(DoSomethingDeadly());
+// #endif
+//
+// GTEST_HAS_COMBINE - the Combine() function (for value-parameterized
+// tests)
+// GTEST_HAS_DEATH_TEST - death tests
+// GTEST_HAS_PARAM_TEST - value-parameterized tests
+// GTEST_HAS_TYPED_TEST - typed tests
+// GTEST_HAS_TYPED_TEST_P - type-parameterized tests
+// GTEST_IS_THREADSAFE - Google Test is thread-safe.
+// GTEST_USES_POSIX_RE - enhanced POSIX regex is used. Do not confuse with
+// GTEST_HAS_POSIX_RE (see above) which users can
+// define themselves.
+// GTEST_USES_SIMPLE_RE - our own simple regex is used;
+// the above two are mutually exclusive.
+// GTEST_CAN_COMPARE_NULL - accepts untyped NULL in EXPECT_EQ().
+
+// Misc public macros
+// ------------------
+//
+// GTEST_FLAG(flag_name) - references the variable corresponding to
+// the given Google Test flag.
+
+// Internal utilities
+// ------------------
+//
+// The following macros and utilities are for Google Test's INTERNAL
+// use only. Code outside Google Test MUST NOT USE THEM DIRECTLY.
+//
+// Macros for basic C++ coding:
+// GTEST_AMBIGUOUS_ELSE_BLOCKER_ - for disabling a gcc warning.
+// GTEST_ATTRIBUTE_UNUSED_ - declares that a class' instances or a
+// variable don't have to be used.
+// GTEST_DISALLOW_ASSIGN_ - disables operator=.
+// GTEST_DISALLOW_COPY_AND_ASSIGN_ - disables copy ctor and operator=.
+// GTEST_MUST_USE_RESULT_ - declares that a function's result must be used.
+// GTEST_INTENTIONAL_CONST_COND_PUSH_ - start code section where MSVC C4127 is
+// suppressed (constant conditional).
+// GTEST_INTENTIONAL_CONST_COND_POP_ - finish code section where MSVC C4127
+// is suppressed.
+//
+// C++11 feature wrappers:
+//
+// testing::internal::move - portability wrapper for std::move.
+//
+// Synchronization:
+// Mutex, MutexLock, ThreadLocal, GetThreadCount()
+// - synchronization primitives.
+//
+// Template meta programming:
+// is_pointer - as in TR1; needed on Symbian and IBM XL C/C++ only.
+// IteratorTraits - partial implementation of std::iterator_traits, which
+// is not available in libCstd when compiled with Sun C++.
+//
+// Smart pointers:
+// scoped_ptr - as in TR2.
+//
+// Regular expressions:
+// RE - a simple regular expression class using the POSIX
+// Extended Regular Expression syntax on UNIX-like
+// platforms, or a reduced regular exception syntax on
+// other platforms, including Windows.
+//
+// Logging:
+// GTEST_LOG_() - logs messages at the specified severity level.
+// LogToStderr() - directs all log messages to stderr.
+// FlushInfoLog() - flushes informational log messages.
+//
+// Stdout and stderr capturing:
+// CaptureStdout() - starts capturing stdout.
+// GetCapturedStdout() - stops capturing stdout and returns the captured
+// string.
+// CaptureStderr() - starts capturing stderr.
+// GetCapturedStderr() - stops capturing stderr and returns the captured
+// string.
+//
+// Integer types:
+// TypeWithSize - maps an integer to a int type.
+// Int32, UInt32, Int64, UInt64, TimeInMillis
+// - integers of known sizes.
+// BiggestInt - the biggest signed integer type.
+//
+// Command-line utilities:
+// GTEST_DECLARE_*() - declares a flag.
+// GTEST_DEFINE_*() - defines a flag.
+// GetInjectableArgvs() - returns the command line as a vector of strings.
+//
+// Environment variable utilities:
+// GetEnv() - gets the value of an environment variable.
+// BoolFromGTestEnv() - parses a bool environment variable.
+// Int32FromGTestEnv() - parses an Int32 environment variable.
+// StringFromGTestEnv() - parses a string environment variable.
+
+#include <ctype.h> // for isspace, etc
+#include <stddef.h> // for ptrdiff_t
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#ifndef _WIN32_WCE
+# include <sys/types.h>
+# include <sys/stat.h>
+#endif // !_WIN32_WCE
+
+#if defined __APPLE__
+# include <AvailabilityMacros.h>
+# include <TargetConditionals.h>
+#endif
+
+#include <algorithm> // NOLINT
+#include <iostream> // NOLINT
+#include <sstream> // NOLINT
+#include <string> // NOLINT
+#include <utility>
+#include <vector> // NOLINT
+
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the GTEST_OS_* macro.
+// It is separate from gtest-port.h so that custom/gtest-port.h can include it.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+
+// Determines the platform on which Google Test is compiled.
+#ifdef __CYGWIN__
+# define GTEST_OS_CYGWIN 1
+#elif defined __SYMBIAN32__
+# define GTEST_OS_SYMBIAN 1
+#elif defined _WIN32
+# define GTEST_OS_WINDOWS 1
+# ifdef _WIN32_WCE
+# define GTEST_OS_WINDOWS_MOBILE 1
+# elif defined(__MINGW__) || defined(__MINGW32__)
+# define GTEST_OS_WINDOWS_MINGW 1
+# elif defined(WINAPI_FAMILY)
+# include <winapifamily.h>
+# if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
+# define GTEST_OS_WINDOWS_DESKTOP 1
+# elif WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_PHONE_APP)
+# define GTEST_OS_WINDOWS_PHONE 1
+# elif WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)
+# define GTEST_OS_WINDOWS_RT 1
+# else
+ // WINAPI_FAMILY defined but no known partition matched.
+ // Default to desktop.
+# define GTEST_OS_WINDOWS_DESKTOP 1
+# endif
+# else
+# define GTEST_OS_WINDOWS_DESKTOP 1
+# endif // _WIN32_WCE
+#elif defined __APPLE__
+# define GTEST_OS_MAC 1
+# if TARGET_OS_IPHONE
+# define GTEST_OS_IOS 1
+# endif
+#elif defined __FreeBSD__
+# define GTEST_OS_FREEBSD 1
+#elif defined __linux__
+# define GTEST_OS_LINUX 1
+# if defined __ANDROID__
+# define GTEST_OS_LINUX_ANDROID 1
+# endif
+#elif defined __MVS__
+# define GTEST_OS_ZOS 1
+#elif defined(__sun) && defined(__SVR4)
+# define GTEST_OS_SOLARIS 1
+#elif defined(_AIX)
+# define GTEST_OS_AIX 1
+#elif defined(__hpux)
+# define GTEST_OS_HPUX 1
+#elif defined __native_client__
+# define GTEST_OS_NACL 1
+#elif defined __OpenBSD__
+# define GTEST_OS_OPENBSD 1
+#elif defined __QNX__
+# define GTEST_OS_QNX 1
+#endif // __CYGWIN__
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Injection point for custom user configurations.
+// The following macros can be defined:
+//
+// Flag related macros:
+// GTEST_FLAG(flag_name)
+// GTEST_USE_OWN_FLAGFILE_FLAG_ - Define to 0 when the system provides its
+// own flagfile flag parsing.
+// GTEST_DECLARE_bool_(name)
+// GTEST_DECLARE_int32_(name)
+// GTEST_DECLARE_string_(name)
+// GTEST_DEFINE_bool_(name, default_val, doc)
+// GTEST_DEFINE_int32_(name, default_val, doc)
+// GTEST_DEFINE_string_(name, default_val, doc)
+//
+// Test filtering:
+// GTEST_TEST_FILTER_ENV_VAR_ - The name of an environment variable that
+// will be used if --GTEST_FLAG(test_filter)
+// is not provided.
+//
+// Logging:
+// GTEST_LOG_(severity)
+// GTEST_CHECK_(condition)
+// Functions LogToStderr() and FlushInfoLog() have to be provided too.
+//
+// Threading:
+// GTEST_HAS_NOTIFICATION_ - Enabled if Notification is already provided.
+// GTEST_HAS_MUTEX_AND_THREAD_LOCAL_ - Enabled if Mutex and ThreadLocal are
+// already provided.
+// Must also provide GTEST_DECLARE_STATIC_MUTEX_(mutex) and
+// GTEST_DEFINE_STATIC_MUTEX_(mutex)
+//
+// GTEST_EXCLUSIVE_LOCK_REQUIRED_(locks)
+// GTEST_LOCK_EXCLUDED_(locks)
+//
+// ** Custom implementation starts here **
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+
+#if !defined(GTEST_DEV_EMAIL_)
+# define GTEST_DEV_EMAIL_ "googletestframework@@googlegroups.com"
+# define GTEST_FLAG_PREFIX_ "gtest_"
+# define GTEST_FLAG_PREFIX_DASH_ "gtest-"
+# define GTEST_FLAG_PREFIX_UPPER_ "GTEST_"
+# define GTEST_NAME_ "Google Test"
+# define GTEST_PROJECT_URL_ "https://github.com/google/googletest/"
+#endif // !defined(GTEST_DEV_EMAIL_)
+
+#if !defined(GTEST_INIT_GOOGLE_TEST_NAME_)
+# define GTEST_INIT_GOOGLE_TEST_NAME_ "testing::InitGoogleTest"
+#endif // !defined(GTEST_INIT_GOOGLE_TEST_NAME_)
+
+// Determines the version of gcc that is used to compile this.
+#ifdef __GNUC__
+// 40302 means version 4.3.2.
+# define GTEST_GCC_VER_ \
+ (__GNUC__*10000 + __GNUC_MINOR__*100 + __GNUC_PATCHLEVEL__)
+#endif // __GNUC__
+
+// Macros for disabling Microsoft Visual C++ warnings.
+//
+// GTEST_DISABLE_MSC_WARNINGS_PUSH_(4800 4385)
+// /* code that triggers warnings C4800 and C4385 */
+// GTEST_DISABLE_MSC_WARNINGS_POP_()
+#if _MSC_VER >= 1500
+# define GTEST_DISABLE_MSC_WARNINGS_PUSH_(warnings) \
+ __pragma(warning(push)) \
+ __pragma(warning(disable: warnings))
+# define GTEST_DISABLE_MSC_WARNINGS_POP_() \
+ __pragma(warning(pop))
+#else
+// Older versions of MSVC don't have __pragma.
+# define GTEST_DISABLE_MSC_WARNINGS_PUSH_(warnings)
+# define GTEST_DISABLE_MSC_WARNINGS_POP_()
+#endif
+
+#ifndef GTEST_LANG_CXX11
+// gcc and clang define __GXX_EXPERIMENTAL_CXX0X__ when
+// -std={c,gnu}++{0x,11} is passed. The C++11 standard specifies a
+// value for __cplusplus, and recent versions of clang, gcc, and
+// probably other compilers set that too in C++11 mode.
+# if __GXX_EXPERIMENTAL_CXX0X__ || __cplusplus >= 201103L
+// Compiling in at least C++11 mode.
+# define GTEST_LANG_CXX11 1
+# else
+# define GTEST_LANG_CXX11 0
+# endif
+#endif
+
+// Distinct from C++11 language support, some environments don't provide
+// proper C++11 library support. Notably, it's possible to build in
+// C++11 mode when targeting Mac OS X 10.6, which has an old libstdc++
+// with no C++11 support.
+//
+// libstdc++ has sufficient C++11 support as of GCC 4.6.0, __GLIBCXX__
+// 20110325, but maintenance releases in the 4.4 and 4.5 series followed
+// this date, so check for those versions by their date stamps.
+// https://gcc.gnu.org/onlinedocs/libstdc++/manual/abi.html#abi.versioning
+#if GTEST_LANG_CXX11 && \
+ (!defined(__GLIBCXX__) || ( \
+ __GLIBCXX__ >= 20110325ul && /* GCC >= 4.6.0 */ \
+ /* Blacklist of patch releases of older branches: */ \
+ __GLIBCXX__ != 20110416ul && /* GCC 4.4.6 */ \
+ __GLIBCXX__ != 20120313ul && /* GCC 4.4.7 */ \
+ __GLIBCXX__ != 20110428ul && /* GCC 4.5.3 */ \
+ __GLIBCXX__ != 20120702ul)) /* GCC 4.5.4 */
+# define GTEST_STDLIB_CXX11 1
+#endif
+
+// Only use C++11 library features if the library provides them.
+#if GTEST_STDLIB_CXX11
+# define GTEST_HAS_STD_BEGIN_AND_END_ 1
+# define GTEST_HAS_STD_FORWARD_LIST_ 1
+# define GTEST_HAS_STD_FUNCTION_ 1
+# define GTEST_HAS_STD_INITIALIZER_LIST_ 1
+# define GTEST_HAS_STD_MOVE_ 1
+# define GTEST_HAS_STD_SHARED_PTR_ 1
+# define GTEST_HAS_STD_TYPE_TRAITS_ 1
+# define GTEST_HAS_STD_UNIQUE_PTR_ 1
+#endif
+
+// C++11 specifies that <tuple> provides std::tuple.
+// Some platforms still might not have it, however.
+#if GTEST_LANG_CXX11
+# define GTEST_HAS_STD_TUPLE_ 1
+# if defined(__clang__)
+// Inspired by http://clang.llvm.org/docs/LanguageExtensions.html#__has_include
+# if defined(__has_include) && !__has_include(<tuple>)
+# undef GTEST_HAS_STD_TUPLE_
+# endif
+# elif defined(_MSC_VER)
+// Inspired by boost/config/stdlib/dinkumware.hpp
+# if defined(_CPPLIB_VER) && _CPPLIB_VER < 520
+# undef GTEST_HAS_STD_TUPLE_
+# endif
+# elif defined(__GLIBCXX__)
+// Inspired by boost/config/stdlib/libstdcpp3.hpp,
+// http://gcc.gnu.org/gcc-4.2/changes.html and
+// http://gcc.gnu.org/onlinedocs/libstdc++/manual/bk01pt01ch01.html#manual.intro.status.standard.200x
+# if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 2)
+# undef GTEST_HAS_STD_TUPLE_
+# endif
+# endif
+#endif
+
+// Brings in definitions for functions used in the testing::internal::posix
+// namespace (read, write, close, chdir, isatty, stat). We do not currently
+// use them on Windows Mobile.
+#if GTEST_OS_WINDOWS
+# if !GTEST_OS_WINDOWS_MOBILE
+# include <direct.h>
+# include <io.h>
+# endif
+// In order to avoid having to include <windows.h>, use forward declaration
+#if GTEST_OS_WINDOWS_MINGW && !defined(__MINGW64_VERSION_MAJOR)
+// MinGW defined _CRITICAL_SECTION and _RTL_CRITICAL_SECTION as two
+// separate (equivalent) structs, instead of using typedef
+typedef struct _CRITICAL_SECTION GTEST_CRITICAL_SECTION;
+#else
+// Assume CRITICAL_SECTION is a typedef of _RTL_CRITICAL_SECTION.
+// This assumption is verified by
+// WindowsTypesTest.CRITICAL_SECTIONIs_RTL_CRITICAL_SECTION.
+typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
+#endif
+#else
+// This assumes that non-Windows OSes provide unistd.h. For OSes where this
+// is not the case, we need to include headers that provide the functions
+// mentioned above.
+# include <unistd.h>
+# include <strings.h>
+#endif // GTEST_OS_WINDOWS
+
+#if GTEST_OS_LINUX_ANDROID
+// Used to define __ANDROID_API__ matching the target NDK API level.
+# include <android/api-level.h> // NOLINT
+#endif
+
+// Defines this to true iff Google Test can use POSIX regular expressions.
+#ifndef GTEST_HAS_POSIX_RE
+# if GTEST_OS_LINUX_ANDROID
+// On Android, <regex.h> is only available starting with Gingerbread.
+# define GTEST_HAS_POSIX_RE (__ANDROID_API__ >= 9)
+# else
+# define GTEST_HAS_POSIX_RE (!GTEST_OS_WINDOWS)
+# endif
+#endif
+
+#if GTEST_USES_PCRE
+// The appropriate headers have already been included.
+
+#elif GTEST_HAS_POSIX_RE
+
+// On some platforms, <regex.h> needs someone to define size_t, and
+// won't compile otherwise. We can #include it here as we already
+// included <stdlib.h>, which is guaranteed to define size_t through
+// <stddef.h>.
+# include <regex.h> // NOLINT
+
+# define GTEST_USES_POSIX_RE 1
+
+#elif GTEST_OS_WINDOWS
+
+// <regex.h> is not available on Windows. Use our own simple regex
+// implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#else
+
+// <regex.h> may not be available on this platform. Use our own
+// simple regex implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#endif // GTEST_USES_PCRE
+
+#ifndef GTEST_HAS_EXCEPTIONS
+// The user didn't tell us whether exceptions are enabled, so we need
+// to figure it out.
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC's and C++Builder's implementations of the STL use the _HAS_EXCEPTIONS
+// macro to enable exceptions, so we'll do the same.
+// Assumes that exceptions are enabled by default.
+# ifndef _HAS_EXCEPTIONS
+# define _HAS_EXCEPTIONS 1
+# endif // _HAS_EXCEPTIONS
+# define GTEST_HAS_EXCEPTIONS _HAS_EXCEPTIONS
+# elif defined(__clang__)
+// clang defines __EXCEPTIONS iff exceptions are enabled before clang 220714,
+// but iff cleanups are enabled after that. In Obj-C++ files, there can be
+// cleanups for ObjC exceptions which also need cleanups, even if C++ exceptions
+// are disabled. clang has __has_feature(cxx_exceptions) which checks for C++
+// exceptions starting at clang r206352, but which checked for cleanups prior to
+// that. To reliably check for C++ exception availability with clang, check for
+// __EXCEPTIONS && __has_feature(cxx_exceptions).
+# define GTEST_HAS_EXCEPTIONS (__EXCEPTIONS && __has_feature(cxx_exceptions))
+# elif defined(__GNUC__) && __EXCEPTIONS
+// gcc defines __EXCEPTIONS to 1 iff exceptions are enabled.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__SUNPRO_CC)
+// Sun Pro CC supports exceptions. However, there is no compile-time way of
+// detecting whether they are enabled or not. Therefore, we assume that
+// they are enabled unless the user tells us otherwise.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__IBMCPP__) && __EXCEPTIONS
+// xlC defines __EXCEPTIONS to 1 iff exceptions are enabled.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__HP_aCC)
+// Exception handling is in effect by default in HP aCC compiler. It has to
+// be turned of by +noeh compiler option if desired.
+# define GTEST_HAS_EXCEPTIONS 1
+# else
+// For other compilers, we assume exceptions are disabled to be
+// conservative.
+# define GTEST_HAS_EXCEPTIONS 0
+# endif // defined(_MSC_VER) || defined(__BORLANDC__)
+#endif // GTEST_HAS_EXCEPTIONS
+
+#if !defined(GTEST_HAS_STD_STRING)
+// Even though we don't use this macro any longer, we keep it in case
+// some clients still depend on it.
+# define GTEST_HAS_STD_STRING 1
+#elif !GTEST_HAS_STD_STRING
+// The user told us that ::std::string isn't available.
+# error "Google Test cannot be used where ::std::string isn't available."
+#endif // !defined(GTEST_HAS_STD_STRING)
+
+#ifndef GTEST_HAS_GLOBAL_STRING
+// The user didn't tell us whether ::string is available, so we need
+// to figure it out.
+
+# define GTEST_HAS_GLOBAL_STRING 0
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+#ifndef GTEST_HAS_STD_WSTRING
+// The user didn't tell us whether ::std::wstring is available, so we need
+// to figure it out.
+// TODO(wan@google.com): uses autoconf to detect whether ::std::wstring
+// is available.
+
+// Cygwin 1.7 and below doesn't support ::std::wstring.
+// Solaris' libc++ doesn't support it either. Android has
+// no support for it at least as recent as Froyo (2.2).
+# define GTEST_HAS_STD_WSTRING \
+ (!(GTEST_OS_LINUX_ANDROID || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS))
+
+#endif // GTEST_HAS_STD_WSTRING
+
+#ifndef GTEST_HAS_GLOBAL_WSTRING
+// The user didn't tell us whether ::wstring is available, so we need
+// to figure it out.
+# define GTEST_HAS_GLOBAL_WSTRING \
+ (GTEST_HAS_STD_WSTRING && GTEST_HAS_GLOBAL_STRING)
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// Determines whether RTTI is available.
+#ifndef GTEST_HAS_RTTI
+// The user didn't tell us whether RTTI is enabled, so we need to
+// figure it out.
+
+# ifdef _MSC_VER
+
+# ifdef _CPPRTTI // MSVC defines this macro iff RTTI is enabled.
+# define GTEST_HAS_RTTI 1
+# else
+# define GTEST_HAS_RTTI 0
+# endif
+
+// Starting with version 4.3.2, gcc defines __GXX_RTTI iff RTTI is enabled.
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40302)
+
+# ifdef __GXX_RTTI
+// When building against STLport with the Android NDK and with
+// -frtti -fno-exceptions, the build fails at link time with undefined
+// references to __cxa_bad_typeid. Note sure if STL or toolchain bug,
+// so disable RTTI when detected.
+# if GTEST_OS_LINUX_ANDROID && defined(_STLPORT_MAJOR) && \
+ !defined(__EXCEPTIONS)
+# define GTEST_HAS_RTTI 0
+# else
+# define GTEST_HAS_RTTI 1
+# endif // GTEST_OS_LINUX_ANDROID && __STLPORT_MAJOR && !__EXCEPTIONS
+# else
+# define GTEST_HAS_RTTI 0
+# endif // __GXX_RTTI
+
+// Clang defines __GXX_RTTI starting with version 3.0, but its manual recommends
+// using has_feature instead. has_feature(cxx_rtti) is supported since 2.7, the
+// first version with C++ support.
+# elif defined(__clang__)
+
+# define GTEST_HAS_RTTI __has_feature(cxx_rtti)
+
+// Starting with version 9.0 IBM Visual Age defines __RTTI_ALL__ to 1 if
+// both the typeid and dynamic_cast features are present.
+# elif defined(__IBMCPP__) && (__IBMCPP__ >= 900)
+
+# ifdef __RTTI_ALL__
+# define GTEST_HAS_RTTI 1
+# else
+# define GTEST_HAS_RTTI 0
+# endif
+
+# else
+
+// For all other compilers, we assume RTTI is enabled.
+# define GTEST_HAS_RTTI 1
+
+# endif // _MSC_VER
+
+#endif // GTEST_HAS_RTTI
+
+// It's this header's responsibility to #include <typeinfo> when RTTI
+// is enabled.
+#if GTEST_HAS_RTTI
+# include <typeinfo>
+#endif
+
+// Determines whether Google Test can use the pthreads library.
+#ifndef GTEST_HAS_PTHREAD
+// The user didn't tell us explicitly, so we make reasonable assumptions about
+// which platforms have pthreads support.
+//
+// To disable threading support in Google Test, add -DGTEST_HAS_PTHREAD=0
+// to your compiler flags.
+# define GTEST_HAS_PTHREAD (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_HPUX \
+ || GTEST_OS_QNX || GTEST_OS_FREEBSD || GTEST_OS_NACL)
+#endif // GTEST_HAS_PTHREAD
+
+#if GTEST_HAS_PTHREAD
+// gtest-port.h guarantees to #include <pthread.h> when GTEST_HAS_PTHREAD is
+// true.
+# include <pthread.h> // NOLINT
+
+// For timespec and nanosleep, used below.
+# include <time.h> // NOLINT
+#endif
+
+// Determines if hash_map/hash_set are available.
+// Only used for testing against those containers.
+#if !defined(GTEST_HAS_HASH_MAP_)
+# if _MSC_VER
+# define GTEST_HAS_HASH_MAP_ 1 // Indicates that hash_map is available.
+# define GTEST_HAS_HASH_SET_ 1 // Indicates that hash_set is available.
+# endif // _MSC_VER
+#endif // !defined(GTEST_HAS_HASH_MAP_)
+
+// Determines whether Google Test can use tr1/tuple. You can define
+// this macro to 0 to prevent Google Test from using tuple (any
+// feature depending on tuple with be disabled in this mode).
+#ifndef GTEST_HAS_TR1_TUPLE
+# if GTEST_OS_LINUX_ANDROID && defined(_STLPORT_MAJOR)
+// STLport, provided with the Android NDK, has neither <tr1/tuple> or <tuple>.
+# define GTEST_HAS_TR1_TUPLE 0
+# else
+// The user didn't tell us not to do it, so we assume it's OK.
+# define GTEST_HAS_TR1_TUPLE 1
+# endif
+#endif // GTEST_HAS_TR1_TUPLE
+
+// Determines whether Google Test's own tr1 tuple implementation
+// should be used.
+#ifndef GTEST_USE_OWN_TR1_TUPLE
+// The user didn't tell us, so we need to figure it out.
+
+// We use our own TR1 tuple if we aren't sure the user has an
+// implementation of it already. At this time, libstdc++ 4.0.0+ and
+// MSVC 2010 are the only mainstream standard libraries that come
+// with a TR1 tuple implementation. NVIDIA's CUDA NVCC compiler
+// pretends to be GCC by defining __GNUC__ and friends, but cannot
+// compile GCC's tuple implementation. MSVC 2008 (9.0) provides TR1
+// tuple in a 323 MB Feature Pack download, which we cannot assume the
+// user has. QNX's QCC compiler is a modified GCC but it doesn't
+// support TR1 tuple. libc++ only provides std::tuple, in C++11 mode,
+// and it can be used with some compilers that define __GNUC__.
+# if (defined(__GNUC__) && !defined(__CUDACC__) && (GTEST_GCC_VER_ >= 40000) \
+ && !GTEST_OS_QNX && !defined(_LIBCPP_VERSION)) || _MSC_VER >= 1600
+# define GTEST_ENV_HAS_TR1_TUPLE_ 1
+# endif
+
+// C++11 specifies that <tuple> provides std::tuple. Use that if gtest is used
+// in C++11 mode and libstdc++ isn't very old (binaries targeting OS X 10.6
+// can build with clang but need to use gcc4.2's libstdc++).
+# if GTEST_LANG_CXX11 && (!defined(__GLIBCXX__) || __GLIBCXX__ > 20110325)
+# define GTEST_ENV_HAS_STD_TUPLE_ 1
+# endif
+
+# if GTEST_ENV_HAS_TR1_TUPLE_ || GTEST_ENV_HAS_STD_TUPLE_
+# define GTEST_USE_OWN_TR1_TUPLE 0
+# else
+# define GTEST_USE_OWN_TR1_TUPLE 1
+# endif
+
+#endif // GTEST_USE_OWN_TR1_TUPLE
+
+// To avoid conditional compilation everywhere, we make it
+// gtest-port.h's responsibility to #include the header implementing
+// tuple.
+#if GTEST_HAS_STD_TUPLE_
+# include <tuple> // IWYU pragma: export
+# define GTEST_TUPLE_NAMESPACE_ ::std
+#endif // GTEST_HAS_STD_TUPLE_
+
+// We include tr1::tuple even if std::tuple is available to define printers for
+// them.
+#if GTEST_HAS_TR1_TUPLE
+# ifndef GTEST_TUPLE_NAMESPACE_
+# define GTEST_TUPLE_NAMESPACE_ ::std::tr1
+# endif // GTEST_TUPLE_NAMESPACE_
+
+# if GTEST_USE_OWN_TR1_TUPLE
+// This file was GENERATED by command:
+// pump.py gtest-tuple.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2009 Google Inc.
+// All Rights Reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Implements a subset of TR1 tuple needed by Google Test and Google Mock.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+
+#include <utility> // For ::std::pair.
+
+// The compiler used in Symbian has a bug that prevents us from declaring the
+// tuple template as a friend (it complains that tuple is redefined). This
+// hack bypasses the bug by declaring the members that should otherwise be
+// private as public.
+// Sun Studio versions < 12 also have the above bug.
+#if defined(__SYMBIAN32__) || (defined(__SUNPRO_CC) && __SUNPRO_CC < 0x590)
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ public:
+#else
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ \
+ template <GTEST_10_TYPENAMES_(U)> friend class tuple; \
+ private:
+#endif
+
+// Visual Studio 2010, 2012, and 2013 define symbols in std::tr1 that conflict
+// with our own definitions. Therefore using our own tuple does not work on
+// those compilers.
+#if defined(_MSC_VER) && _MSC_VER >= 1600 /* 1600 is Visual Studio 2010 */
+# error "gtest's tuple doesn't compile on Visual Studio 2010 or later. \
+GTEST_USE_OWN_TR1_TUPLE must be set to 0 on those compilers."
+#endif
+
+// GTEST_n_TUPLE_(T) is the type of an n-tuple.
+#define GTEST_0_TUPLE_(T) tuple<>
+#define GTEST_1_TUPLE_(T) tuple<T##0, void, void, void, void, void, void, \
+ void, void, void>
+#define GTEST_2_TUPLE_(T) tuple<T##0, T##1, void, void, void, void, void, \
+ void, void, void>
+#define GTEST_3_TUPLE_(T) tuple<T##0, T##1, T##2, void, void, void, void, \
+ void, void, void>
+#define GTEST_4_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, void, void, void, \
+ void, void, void>
+#define GTEST_5_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, void, void, \
+ void, void, void>
+#define GTEST_6_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, void, \
+ void, void, void>
+#define GTEST_7_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ void, void, void>
+#define GTEST_8_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, void, void>
+#define GTEST_9_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, T##8, void>
+#define GTEST_10_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, T##8, T##9>
+
+// GTEST_n_TYPENAMES_(T) declares a list of n typenames.
+#define GTEST_0_TYPENAMES_(T)
+#define GTEST_1_TYPENAMES_(T) typename T##0
+#define GTEST_2_TYPENAMES_(T) typename T##0, typename T##1
+#define GTEST_3_TYPENAMES_(T) typename T##0, typename T##1, typename T##2
+#define GTEST_4_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3
+#define GTEST_5_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4
+#define GTEST_6_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5
+#define GTEST_7_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6
+#define GTEST_8_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, typename T##7
+#define GTEST_9_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, \
+ typename T##7, typename T##8
+#define GTEST_10_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, \
+ typename T##7, typename T##8, typename T##9
+
+// In theory, defining stuff in the ::std namespace is undefined
+// behavior. We can do this as we are playing the role of a standard
+// library vendor.
+namespace std {
+namespace tr1 {
+
+template <typename T0 = void, typename T1 = void, typename T2 = void,
+ typename T3 = void, typename T4 = void, typename T5 = void,
+ typename T6 = void, typename T7 = void, typename T8 = void,
+ typename T9 = void>
+class tuple;
+
+// Anything in namespace gtest_internal is Google Test's INTERNAL
+// IMPLEMENTATION DETAIL and MUST NOT BE USED DIRECTLY in user code.
+namespace gtest_internal {
+
+// ByRef<T>::type is T if T is a reference; otherwise it's const T&.
+template <typename T>
+struct ByRef { typedef const T& type; }; // NOLINT
+template <typename T>
+struct ByRef<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper for ByRef.
+#define GTEST_BY_REF_(T) typename ::std::tr1::gtest_internal::ByRef<T>::type
+
+// AddRef<T>::type is T if T is a reference; otherwise it's T&. This
+// is the same as tr1::add_reference<T>::type.
+template <typename T>
+struct AddRef { typedef T& type; }; // NOLINT
+template <typename T>
+struct AddRef<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper for AddRef.
+#define GTEST_ADD_REF_(T) typename ::std::tr1::gtest_internal::AddRef<T>::type
+
+// A helper for implementing get<k>().
+template <int k> class Get;
+
+// A helper for implementing tuple_element<k, T>. kIndexValid is true
+// iff k < the number of fields in tuple type T.
+template <bool kIndexValid, int kIndex, class Tuple>
+struct TupleElement;
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 0, GTEST_10_TUPLE_(T) > {
+ typedef T0 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 1, GTEST_10_TUPLE_(T) > {
+ typedef T1 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 2, GTEST_10_TUPLE_(T) > {
+ typedef T2 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 3, GTEST_10_TUPLE_(T) > {
+ typedef T3 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 4, GTEST_10_TUPLE_(T) > {
+ typedef T4 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 5, GTEST_10_TUPLE_(T) > {
+ typedef T5 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 6, GTEST_10_TUPLE_(T) > {
+ typedef T6 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 7, GTEST_10_TUPLE_(T) > {
+ typedef T7 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 8, GTEST_10_TUPLE_(T) > {
+ typedef T8 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 9, GTEST_10_TUPLE_(T) > {
+ typedef T9 type;
+};
+
+} // namespace gtest_internal
+
+template <>
+class tuple<> {
+ public:
+ tuple() {}
+ tuple(const tuple& /* t */) {}
+ tuple& operator=(const tuple& /* t */) { return *this; }
+};
+
+template <GTEST_1_TYPENAMES_(T)>
+class GTEST_1_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0) : f0_(f0) {}
+
+ tuple(const tuple& t) : f0_(t.f0_) {}
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple(const GTEST_1_TUPLE_(U)& t) : f0_(t.f0_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_1_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_1_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ return *this;
+ }
+
+ T0 f0_;
+};
+
+template <GTEST_2_TYPENAMES_(T)>
+class GTEST_2_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1) : f0_(f0),
+ f1_(f1) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_) {}
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple(const GTEST_2_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_) {}
+ template <typename U0, typename U1>
+ tuple(const ::std::pair<U0, U1>& p) : f0_(p.first), f1_(p.second) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_2_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+ template <typename U0, typename U1>
+ tuple& operator=(const ::std::pair<U0, U1>& p) {
+ f0_ = p.first;
+ f1_ = p.second;
+ return *this;
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_2_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+};
+
+template <GTEST_3_TYPENAMES_(T)>
+class GTEST_3_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2) : f0_(f0), f1_(f1), f2_(f2) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple(const GTEST_3_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_3_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_3_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+};
+
+template <GTEST_4_TYPENAMES_(T)>
+class GTEST_4_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_) {}
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple(const GTEST_4_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_4_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_4_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+};
+
+template <GTEST_5_TYPENAMES_(T)>
+class GTEST_5_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3,
+ GTEST_BY_REF_(T4) f4) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_) {}
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple(const GTEST_5_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_5_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_5_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+};
+
+template <GTEST_6_TYPENAMES_(T)>
+class GTEST_6_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_) {}
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple(const GTEST_6_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_6_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_6_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+};
+
+template <GTEST_7_TYPENAMES_(T)>
+class GTEST_7_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3), f4_(f4), f5_(f5), f6_(f6) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple(const GTEST_7_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_7_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_7_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+};
+
+template <GTEST_8_TYPENAMES_(T)>
+class GTEST_8_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6,
+ GTEST_BY_REF_(T7) f7) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5), f6_(f6), f7_(f7) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple(const GTEST_8_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_8_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_8_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+};
+
+template <GTEST_9_TYPENAMES_(T)>
+class GTEST_9_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+ GTEST_BY_REF_(T8) f8) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5), f6_(f6), f7_(f7), f8_(f8) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple(const GTEST_9_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_9_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_9_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ f8_ = t.f8_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+ T8 f8_;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+class tuple {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_(),
+ f9_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+ GTEST_BY_REF_(T8) f8, GTEST_BY_REF_(T9) f9) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3), f4_(f4), f5_(f5), f6_(f6), f7_(f7), f8_(f8), f9_(f9) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_), f9_(t.f9_) {}
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple(const GTEST_10_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_),
+ f9_(t.f9_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_10_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_10_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ f8_ = t.f8_;
+ f9_ = t.f9_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+ T8 f8_;
+ T9 f9_;
+};
+
+// 6.1.3.2 Tuple creation functions.
+
+// Known limitations: we don't support passing an
+// std::tr1::reference_wrapper<T> to make_tuple(). And we don't
+// implement tie().
+
+inline tuple<> make_tuple() { return tuple<>(); }
+
+template <GTEST_1_TYPENAMES_(T)>
+inline GTEST_1_TUPLE_(T) make_tuple(const T0& f0) {
+ return GTEST_1_TUPLE_(T)(f0);
+}
+
+template <GTEST_2_TYPENAMES_(T)>
+inline GTEST_2_TUPLE_(T) make_tuple(const T0& f0, const T1& f1) {
+ return GTEST_2_TUPLE_(T)(f0, f1);
+}
+
+template <GTEST_3_TYPENAMES_(T)>
+inline GTEST_3_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2) {
+ return GTEST_3_TUPLE_(T)(f0, f1, f2);
+}
+
+template <GTEST_4_TYPENAMES_(T)>
+inline GTEST_4_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3) {
+ return GTEST_4_TUPLE_(T)(f0, f1, f2, f3);
+}
+
+template <GTEST_5_TYPENAMES_(T)>
+inline GTEST_5_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4) {
+ return GTEST_5_TUPLE_(T)(f0, f1, f2, f3, f4);
+}
+
+template <GTEST_6_TYPENAMES_(T)>
+inline GTEST_6_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5) {
+ return GTEST_6_TUPLE_(T)(f0, f1, f2, f3, f4, f5);
+}
+
+template <GTEST_7_TYPENAMES_(T)>
+inline GTEST_7_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6) {
+ return GTEST_7_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6);
+}
+
+template <GTEST_8_TYPENAMES_(T)>
+inline GTEST_8_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7) {
+ return GTEST_8_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7);
+}
+
+template <GTEST_9_TYPENAMES_(T)>
+inline GTEST_9_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+ const T8& f8) {
+ return GTEST_9_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8);
+}
+
+template <GTEST_10_TYPENAMES_(T)>
+inline GTEST_10_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+ const T8& f8, const T9& f9) {
+ return GTEST_10_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8, f9);
+}
+
+// 6.1.3.3 Tuple helper classes.
+
+template <typename Tuple> struct tuple_size;
+
+template <GTEST_0_TYPENAMES_(T)>
+struct tuple_size<GTEST_0_TUPLE_(T) > {
+ static const int value = 0;
+};
+
+template <GTEST_1_TYPENAMES_(T)>
+struct tuple_size<GTEST_1_TUPLE_(T) > {
+ static const int value = 1;
+};
+
+template <GTEST_2_TYPENAMES_(T)>
+struct tuple_size<GTEST_2_TUPLE_(T) > {
+ static const int value = 2;
+};
+
+template <GTEST_3_TYPENAMES_(T)>
+struct tuple_size<GTEST_3_TUPLE_(T) > {
+ static const int value = 3;
+};
+
+template <GTEST_4_TYPENAMES_(T)>
+struct tuple_size<GTEST_4_TUPLE_(T) > {
+ static const int value = 4;
+};
+
+template <GTEST_5_TYPENAMES_(T)>
+struct tuple_size<GTEST_5_TUPLE_(T) > {
+ static const int value = 5;
+};
+
+template <GTEST_6_TYPENAMES_(T)>
+struct tuple_size<GTEST_6_TUPLE_(T) > {
+ static const int value = 6;
+};
+
+template <GTEST_7_TYPENAMES_(T)>
+struct tuple_size<GTEST_7_TUPLE_(T) > {
+ static const int value = 7;
+};
+
+template <GTEST_8_TYPENAMES_(T)>
+struct tuple_size<GTEST_8_TUPLE_(T) > {
+ static const int value = 8;
+};
+
+template <GTEST_9_TYPENAMES_(T)>
+struct tuple_size<GTEST_9_TUPLE_(T) > {
+ static const int value = 9;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct tuple_size<GTEST_10_TUPLE_(T) > {
+ static const int value = 10;
+};
+
+template <int k, class Tuple>
+struct tuple_element {
+ typedef typename gtest_internal::TupleElement<
+ k < (tuple_size<Tuple>::value), k, Tuple>::type type;
+};
+
+#define GTEST_TUPLE_ELEMENT_(k, Tuple) typename tuple_element<k, Tuple >::type
+
+// 6.1.3.4 Element access.
+
+namespace gtest_internal {
+
+template <>
+class Get<0> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+ Field(Tuple& t) { return t.f0_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+ ConstField(const Tuple& t) { return t.f0_; }
+};
+
+template <>
+class Get<1> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+ Field(Tuple& t) { return t.f1_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+ ConstField(const Tuple& t) { return t.f1_; }
+};
+
+template <>
+class Get<2> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+ Field(Tuple& t) { return t.f2_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+ ConstField(const Tuple& t) { return t.f2_; }
+};
+
+template <>
+class Get<3> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+ Field(Tuple& t) { return t.f3_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+ ConstField(const Tuple& t) { return t.f3_; }
+};
+
+template <>
+class Get<4> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+ Field(Tuple& t) { return t.f4_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+ ConstField(const Tuple& t) { return t.f4_; }
+};
+
+template <>
+class Get<5> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+ Field(Tuple& t) { return t.f5_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+ ConstField(const Tuple& t) { return t.f5_; }
+};
+
+template <>
+class Get<6> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+ Field(Tuple& t) { return t.f6_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+ ConstField(const Tuple& t) { return t.f6_; }
+};
+
+template <>
+class Get<7> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+ Field(Tuple& t) { return t.f7_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+ ConstField(const Tuple& t) { return t.f7_; }
+};
+
+template <>
+class Get<8> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+ Field(Tuple& t) { return t.f8_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+ ConstField(const Tuple& t) { return t.f8_; }
+};
+
+template <>
+class Get<9> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+ Field(Tuple& t) { return t.f9_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+ ConstField(const Tuple& t) { return t.f9_; }
+};
+
+} // namespace gtest_internal
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
+get(GTEST_10_TUPLE_(T)& t) {
+ return gtest_internal::Get<k>::Field(t);
+}
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
+get(const GTEST_10_TUPLE_(T)& t) {
+ return gtest_internal::Get<k>::ConstField(t);
+}
+
+// 6.1.3.5 Relational operators
+
+// We only implement == and !=, as we don't have a need for the rest yet.
+
+namespace gtest_internal {
+
+// SameSizeTuplePrefixComparator<k, k>::Eq(t1, t2) returns true if the
+// first k fields of t1 equals the first k fields of t2.
+// SameSizeTuplePrefixComparator(k1, k2) would be a compiler error if
+// k1 != k2.
+template <int kSize1, int kSize2>
+struct SameSizeTuplePrefixComparator;
+
+template <>
+struct SameSizeTuplePrefixComparator<0, 0> {
+ template <class Tuple1, class Tuple2>
+ static bool Eq(const Tuple1& /* t1 */, const Tuple2& /* t2 */) {
+ return true;
+ }
+};
+
+template <int k>
+struct SameSizeTuplePrefixComparator<k, k> {
+ template <class Tuple1, class Tuple2>
+ static bool Eq(const Tuple1& t1, const Tuple2& t2) {
+ return SameSizeTuplePrefixComparator<k - 1, k - 1>::Eq(t1, t2) &&
+ ::std::tr1::get<k - 1>(t1) == ::std::tr1::get<k - 1>(t2);
+ }
+};
+
+} // namespace gtest_internal
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator==(const GTEST_10_TUPLE_(T)& t,
+ const GTEST_10_TUPLE_(U)& u) {
+ return gtest_internal::SameSizeTuplePrefixComparator<
+ tuple_size<GTEST_10_TUPLE_(T) >::value,
+ tuple_size<GTEST_10_TUPLE_(U) >::value>::Eq(t, u);
+}
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator!=(const GTEST_10_TUPLE_(T)& t,
+ const GTEST_10_TUPLE_(U)& u) { return !(t == u); }
+
+// 6.1.4 Pairs.
+// Unimplemented.
+
+} // namespace tr1
+} // namespace std
+
+#undef GTEST_0_TUPLE_
+#undef GTEST_1_TUPLE_
+#undef GTEST_2_TUPLE_
+#undef GTEST_3_TUPLE_
+#undef GTEST_4_TUPLE_
+#undef GTEST_5_TUPLE_
+#undef GTEST_6_TUPLE_
+#undef GTEST_7_TUPLE_
+#undef GTEST_8_TUPLE_
+#undef GTEST_9_TUPLE_
+#undef GTEST_10_TUPLE_
+
+#undef GTEST_0_TYPENAMES_
+#undef GTEST_1_TYPENAMES_
+#undef GTEST_2_TYPENAMES_
+#undef GTEST_3_TYPENAMES_
+#undef GTEST_4_TYPENAMES_
+#undef GTEST_5_TYPENAMES_
+#undef GTEST_6_TYPENAMES_
+#undef GTEST_7_TYPENAMES_
+#undef GTEST_8_TYPENAMES_
+#undef GTEST_9_TYPENAMES_
+#undef GTEST_10_TYPENAMES_
+
+#undef GTEST_DECLARE_TUPLE_AS_FRIEND_
+#undef GTEST_BY_REF_
+#undef GTEST_ADD_REF_
+#undef GTEST_TUPLE_ELEMENT_
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+# elif GTEST_ENV_HAS_STD_TUPLE_
+# include <tuple>
+// C++11 puts its tuple into the ::std namespace rather than
+// ::std::tr1. gtest expects tuple to live in ::std::tr1, so put it there.
+// This causes undefined behavior, but supported compilers react in
+// the way we intend.
+namespace std {
+namespace tr1 {
+using ::std::get;
+using ::std::make_tuple;
+using ::std::tuple;
+using ::std::tuple_element;
+using ::std::tuple_size;
+}
+}
+
+# elif GTEST_OS_SYMBIAN
+
+// On Symbian, BOOST_HAS_TR1_TUPLE causes Boost's TR1 tuple library to
+// use STLport's tuple implementation, which unfortunately doesn't
+// work as the copy of STLport distributed with Symbian is incomplete.
+// By making sure BOOST_HAS_TR1_TUPLE is undefined, we force Boost to
+// use its own tuple implementation.
+# ifdef BOOST_HAS_TR1_TUPLE
+# undef BOOST_HAS_TR1_TUPLE
+# endif // BOOST_HAS_TR1_TUPLE
+
+// This prevents <boost/tr1/detail/config.hpp>, which defines
+// BOOST_HAS_TR1_TUPLE, from being #included by Boost's <tuple>.
+# define BOOST_TR1_DETAIL_CONFIG_HPP_INCLUDED
+# include <tuple> // IWYU pragma: export // NOLINT
+
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40000)
+// GCC 4.0+ implements tr1/tuple in the <tr1/tuple> header. This does
+// not conform to the TR1 spec, which requires the header to be <tuple>.
+
+# if !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+// Until version 4.3.2, gcc has a bug that causes <tr1/functional>,
+// which is #included by <tr1/tuple>, to not compile when RTTI is
+// disabled. _TR1_FUNCTIONAL is the header guard for
+// <tr1/functional>. Hence the following #define is a hack to prevent
+// <tr1/functional> from being included.
+# define _TR1_FUNCTIONAL 1
+# include <tr1/tuple>
+# undef _TR1_FUNCTIONAL // Allows the user to #include
+ // <tr1/functional> if he chooses to.
+# else
+# include <tr1/tuple> // NOLINT
+# endif // !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+
+# else
+// If the compiler is not GCC 4.0+, we assume the user is using a
+// spec-conforming TR1 implementation.
+# include <tuple> // IWYU pragma: export // NOLINT
+# endif // GTEST_USE_OWN_TR1_TUPLE
+
+#endif // GTEST_HAS_TR1_TUPLE
+
+// Determines whether clone(2) is supported.
+// Usually it will only be available on Linux, excluding
+// Linux on the Itanium architecture.
+// Also see http://linux.die.net/man/2/clone.
+#ifndef GTEST_HAS_CLONE
+// The user didn't tell us, so we need to figure it out.
+
+# if GTEST_OS_LINUX && !defined(__ia64__)
+# if GTEST_OS_LINUX_ANDROID
+// On Android, clone() became available at different API levels for each 32-bit
+// architecture.
+# if defined(__LP64__) || \
+ (defined(__arm__) && __ANDROID_API__ >= 9) || \
+ (defined(__mips__) && __ANDROID_API__ >= 12) || \
+ (defined(__i386__) && __ANDROID_API__ >= 17)
+# define GTEST_HAS_CLONE 1
+# else
+# define GTEST_HAS_CLONE 0
+# endif
+# else
+# define GTEST_HAS_CLONE 1
+# endif
+# else
+# define GTEST_HAS_CLONE 0
+# endif // GTEST_OS_LINUX && !defined(__ia64__)
+
+#endif // GTEST_HAS_CLONE
+
+// Determines whether to support stream redirection. This is used to test
+// output correctness and to implement death tests.
+#ifndef GTEST_HAS_STREAM_REDIRECTION
+// By default, we assume that stream redirection is supported on all
+// platforms except known mobile ones.
+# if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || \
+ GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+# define GTEST_HAS_STREAM_REDIRECTION 0
+# else
+# define GTEST_HAS_STREAM_REDIRECTION 1
+# endif // !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_SYMBIAN
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+// Determines whether to support death tests.
+// Google Test does not support death tests for VC 7.1 and earlier as
+// abort() in a VC 7.1 application compiled as GUI in debug config
+// pops up a dialog window that cannot be suppressed programmatically.
+#if (GTEST_OS_LINUX || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS || \
+ (GTEST_OS_MAC && !GTEST_OS_IOS) || \
+ (GTEST_OS_WINDOWS_DESKTOP && _MSC_VER >= 1400) || \
+ GTEST_OS_WINDOWS_MINGW || GTEST_OS_AIX || GTEST_OS_HPUX || \
+ GTEST_OS_OPENBSD || GTEST_OS_QNX || GTEST_OS_FREEBSD)
+# define GTEST_HAS_DEATH_TEST 1
+#endif
+
+// We don't support MSVC 7.1 with exceptions disabled now. Therefore
+// all the compilers we care about are adequate for supporting
+// value-parameterized tests.
+#define GTEST_HAS_PARAM_TEST 1
+
+// Determines whether to support type-driven tests.
+
+// Typed tests need <typeinfo> and variadic macros, which GCC, VC++ 8.0,
+// Sun Pro CC, IBM Visual Age, and HP aCC support.
+#if defined(__GNUC__) || (_MSC_VER >= 1400) || defined(__SUNPRO_CC) || \
+ defined(__IBMCPP__) || defined(__HP_aCC)
+# define GTEST_HAS_TYPED_TEST 1
+# define GTEST_HAS_TYPED_TEST_P 1
+#endif
+
+// Determines whether to support Combine(). This only makes sense when
+// value-parameterized tests are enabled. The implementation doesn't
+// work on Sun Studio since it doesn't understand templated conversion
+// operators.
+#if GTEST_HAS_PARAM_TEST && GTEST_HAS_TR1_TUPLE && !defined(__SUNPRO_CC)
+# define GTEST_HAS_COMBINE 1
+#endif
+
+// Determines whether the system compiler uses UTF-16 for encoding wide strings.
+#define GTEST_WIDE_STRING_USES_UTF16_ \
+ (GTEST_OS_WINDOWS || GTEST_OS_CYGWIN || GTEST_OS_SYMBIAN || GTEST_OS_AIX)
+
+// Determines whether test results can be streamed to a socket.
+#if GTEST_OS_LINUX
+# define GTEST_CAN_STREAM_RESULTS_ 1
+#endif
+
+// Defines some utility macros.
+
+// The GNU compiler emits a warning if nested "if" statements are followed by
+// an "else" statement and braces are not used to explicitly disambiguate the
+// "else" binding. This leads to problems with code like:
+//
+// if (gate)
+// ASSERT_*(condition) << "Some message";
+//
+// The "switch (0) case 0:" idiom is used to suppress this.
+#ifdef __INTEL_COMPILER
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_
+#else
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default: // NOLINT
+#endif
+
+// Use this annotation at the end of a struct/class definition to
+// prevent the compiler from optimizing away instances that are never
+// used. This is useful when all interesting logic happens inside the
+// c'tor and / or d'tor. Example:
+//
+// struct Foo {
+// Foo() { ... }
+// } GTEST_ATTRIBUTE_UNUSED_;
+//
+// Also use it after a variable or parameter declaration to tell the
+// compiler the variable/parameter does not have to be used.
+#if defined(__GNUC__) && !defined(COMPILER_ICC)
+# define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
+#elif defined(__clang__)
+# if __has_attribute(unused)
+# define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
+# endif
+#endif
+#ifndef GTEST_ATTRIBUTE_UNUSED_
+# define GTEST_ATTRIBUTE_UNUSED_
+#endif
+
+// A macro to disallow operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_ASSIGN_(type)\
+ void operator=(type const &)
+
+// A macro to disallow copy constructor and operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_COPY_AND_ASSIGN_(type)\
+ type(type const &);\
+ GTEST_DISALLOW_ASSIGN_(type)
+
+// Tell the compiler to warn about unused return values for functions declared
+// with this macro. The macro should be used on function declarations
+// following the argument list:
+//
+// Sprocket* AllocateSprocket() GTEST_MUST_USE_RESULT_;
+#if defined(__GNUC__) && (GTEST_GCC_VER_ >= 30400) && !defined(COMPILER_ICC)
+# define GTEST_MUST_USE_RESULT_ __attribute__ ((warn_unused_result))
+#else
+# define GTEST_MUST_USE_RESULT_
+#endif // __GNUC__ && (GTEST_GCC_VER_ >= 30400) && !COMPILER_ICC
+
+// MS C++ compiler emits warning when a conditional expression is compile time
+// constant. In some contexts this warning is false positive and needs to be
+// suppressed. Use the following two macros in such cases:
+//
+// GTEST_INTENTIONAL_CONST_COND_PUSH_()
+// while (true) {
+// GTEST_INTENTIONAL_CONST_COND_POP_()
+// }
+# define GTEST_INTENTIONAL_CONST_COND_PUSH_() \
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4127)
+# define GTEST_INTENTIONAL_CONST_COND_POP_() \
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+// Determine whether the compiler supports Microsoft's Structured Exception
+// Handling. This is supported by several Windows compilers but generally
+// does not exist on any other system.
+#ifndef GTEST_HAS_SEH
+// The user didn't tell us, so we need to figure it out.
+
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// These two compilers are known to support SEH.
+# define GTEST_HAS_SEH 1
+# else
+// Assume no SEH.
+# define GTEST_HAS_SEH 0
+# endif
+
+#define GTEST_IS_THREADSAFE \
+ (GTEST_HAS_MUTEX_AND_THREAD_LOCAL_ \
+ || (GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT) \
+ || GTEST_HAS_PTHREAD)
+
+#endif // GTEST_HAS_SEH
+
+#ifdef _MSC_VER
+# if GTEST_LINKED_AS_SHARED_LIBRARY
+# define GTEST_API_ __declspec(dllimport)
+# elif GTEST_CREATE_SHARED_LIBRARY
+# define GTEST_API_ __declspec(dllexport)
+# endif
+#elif __GNUC__ >= 4 || defined(__clang__)
+# define GTEST_API_ __attribute__((visibility ("default")))
+#endif // _MSC_VER
+
+#ifndef GTEST_API_
+# define GTEST_API_
+#endif
+
+#ifdef __GNUC__
+// Ask the compiler to never inline a given function.
+# define GTEST_NO_INLINE_ __attribute__((noinline))
+#else
+# define GTEST_NO_INLINE_
+#endif
+
+// _LIBCPP_VERSION is defined by the libc++ library from the LLVM project.
+#if defined(__GLIBCXX__) || defined(_LIBCPP_VERSION)
+# define GTEST_HAS_CXXABI_H_ 1
+#else
+# define GTEST_HAS_CXXABI_H_ 0
+#endif
+
+// A function level attribute to disable checking for use of uninitialized
+// memory when built with MemorySanitizer.
+#if defined(__clang__)
+# if __has_feature(memory_sanitizer)
+# define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_ \
+ __attribute__((no_sanitize_memory))
+# else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+# endif // __has_feature(memory_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+#endif // __clang__
+
+// A function level attribute to disable AddressSanitizer instrumentation.
+#if defined(__clang__)
+# if __has_feature(address_sanitizer)
+# define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_ \
+ __attribute__((no_sanitize_address))
+# else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+# endif // __has_feature(address_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+#endif // __clang__
+
+// A function level attribute to disable ThreadSanitizer instrumentation.
+#if defined(__clang__)
+# if __has_feature(thread_sanitizer)
+# define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_ \
+ __attribute__((no_sanitize_thread))
+# else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+# endif // __has_feature(thread_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+#endif // __clang__
+
+namespace testing {
+
+class Message;
+
+#if defined(GTEST_TUPLE_NAMESPACE_)
+// Import tuple and friends into the ::testing namespace.
+// It is part of our interface, having them in ::testing allows us to change
+// their types as needed.
+using GTEST_TUPLE_NAMESPACE_::get;
+using GTEST_TUPLE_NAMESPACE_::make_tuple;
+using GTEST_TUPLE_NAMESPACE_::tuple;
+using GTEST_TUPLE_NAMESPACE_::tuple_size;
+using GTEST_TUPLE_NAMESPACE_::tuple_element;
+#endif // defined(GTEST_TUPLE_NAMESPACE_)
+
+namespace internal {
+
+// A secret type that Google Test users don't know about. It has no
+// definition on purpose. Therefore it's impossible to create a
+// Secret object, which is what we want.
+class Secret;
+
+// The GTEST_COMPILE_ASSERT_ macro can be used to verify that a compile time
+// expression is true. For example, you could use it to verify the
+// size of a static array:
+//
+// GTEST_COMPILE_ASSERT_(GTEST_ARRAY_SIZE_(names) == NUM_NAMES,
+// names_incorrect_size);
+//
+// or to make sure a struct is smaller than a certain size:
+//
+// GTEST_COMPILE_ASSERT_(sizeof(foo) < 128, foo_too_large);
+//
+// The second argument to the macro is the name of the variable. If
+// the expression is false, most compilers will issue a warning/error
+// containing the name of the variable.
+
+#if GTEST_LANG_CXX11
+# define GTEST_COMPILE_ASSERT_(expr, msg) static_assert(expr, #msg)
+#else // !GTEST_LANG_CXX11
+template <bool>
+ struct CompileAssert {
+};
+
+# define GTEST_COMPILE_ASSERT_(expr, msg) \
+ typedef ::testing::internal::CompileAssert<(static_cast<bool>(expr))> \
+ msg[static_cast<bool>(expr) ? 1 : -1] GTEST_ATTRIBUTE_UNUSED_
+#endif // !GTEST_LANG_CXX11
+
+// Implementation details of GTEST_COMPILE_ASSERT_:
+//
+// (In C++11, we simply use static_assert instead of the following)
+//
+// - GTEST_COMPILE_ASSERT_ works by defining an array type that has -1
+// elements (and thus is invalid) when the expression is false.
+//
+// - The simpler definition
+//
+// #define GTEST_COMPILE_ASSERT_(expr, msg) typedef char msg[(expr) ? 1 : -1]
+//
+// does not work, as gcc supports variable-length arrays whose sizes
+// are determined at run-time (this is gcc's extension and not part
+// of the C++ standard). As a result, gcc fails to reject the
+// following code with the simple definition:
+//
+// int foo;
+// GTEST_COMPILE_ASSERT_(foo, msg); // not supposed to compile as foo is
+// // not a compile-time constant.
+//
+// - By using the type CompileAssert<(bool(expr))>, we ensures that
+// expr is a compile-time constant. (Template arguments must be
+// determined at compile-time.)
+//
+// - The outter parentheses in CompileAssert<(bool(expr))> are necessary
+// to work around a bug in gcc 3.4.4 and 4.0.1. If we had written
+//
+// CompileAssert<bool(expr)>
+//
+// instead, these compilers will refuse to compile
+//
+// GTEST_COMPILE_ASSERT_(5 > 0, some_message);
+//
+// (They seem to think the ">" in "5 > 0" marks the end of the
+// template argument list.)
+//
+// - The array size is (bool(expr) ? 1 : -1), instead of simply
+//
+// ((expr) ? 1 : -1).
+//
+// This is to avoid running into a bug in MS VC 7.1, which
+// causes ((0.0) ? 1 : -1) to incorrectly evaluate to 1.
+
+// StaticAssertTypeEqHelper is used by StaticAssertTypeEq defined in gtest.h.
+//
+// This template is declared, but intentionally undefined.
+template <typename T1, typename T2>
+struct StaticAssertTypeEqHelper;
+
+template <typename T>
+struct StaticAssertTypeEqHelper<T, T> {
+ enum { value = true };
+};
+
+// Evaluates to the number of elements in 'array'.
+#define GTEST_ARRAY_SIZE_(array) (sizeof(array) / sizeof(array[0]))
+
+#if GTEST_HAS_GLOBAL_STRING
+typedef ::string string;
+#else
+typedef ::std::string string;
+#endif // GTEST_HAS_GLOBAL_STRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+typedef ::wstring wstring;
+#elif GTEST_HAS_STD_WSTRING
+typedef ::std::wstring wstring;
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// A helper for suppressing warnings on constant condition. It just
+// returns 'condition'.
+GTEST_API_ bool IsTrue(bool condition);
+
+// Defines scoped_ptr.
+
+// This implementation of scoped_ptr is PARTIAL - it only contains
+// enough stuff to satisfy Google Test's need.
+template <typename T>
+class scoped_ptr {
+ public:
+ typedef T element_type;
+
+ explicit scoped_ptr(T* p = NULL) : ptr_(p) {}
+ ~scoped_ptr() { reset(); }
+
+ T& operator*() const { return *ptr_; }
+ T* operator->() const { return ptr_; }
+ T* get() const { return ptr_; }
+
+ T* release() {
+ T* const ptr = ptr_;
+ ptr_ = NULL;
+ return ptr;
+ }
+
+ void reset(T* p = NULL) {
+ if (p != ptr_) {
+ if (IsTrue(sizeof(T) > 0)) { // Makes sure T is a complete type.
+ delete ptr_;
+ }
+ ptr_ = p;
+ }
+ }
+
+ friend void swap(scoped_ptr& a, scoped_ptr& b) {
+ using std::swap;
+ swap(a.ptr_, b.ptr_);
+ }
+
+ private:
+ T* ptr_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(scoped_ptr);
+};
+
+// Defines RE.
+
+// A simple C++ wrapper for <regex.h>. It uses the POSIX Extended
+// Regular Expression syntax.
+class GTEST_API_ RE {
+ public:
+ // A copy constructor is required by the Standard to initialize object
+ // references from r-values.
+ RE(const RE& other) { Init(other.pattern()); }
+
+ // Constructs an RE from a string.
+ RE(const ::std::string& regex) { Init(regex.c_str()); } // NOLINT
+
+#if GTEST_HAS_GLOBAL_STRING
+
+ RE(const ::string& regex) { Init(regex.c_str()); } // NOLINT
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+ RE(const char* regex) { Init(regex); } // NOLINT
+ ~RE();
+
+ // Returns the string representation of the regex.
+ const char* pattern() const { return pattern_; }
+
+ // FullMatch(str, re) returns true iff regular expression re matches
+ // the entire str.
+ // PartialMatch(str, re) returns true iff regular expression re
+ // matches a substring of str (including str itself).
+ //
+ // TODO(wan@google.com): make FullMatch() and PartialMatch() work
+ // when str contains NUL characters.
+ static bool FullMatch(const ::std::string& str, const RE& re) {
+ return FullMatch(str.c_str(), re);
+ }
+ static bool PartialMatch(const ::std::string& str, const RE& re) {
+ return PartialMatch(str.c_str(), re);
+ }
+
+#if GTEST_HAS_GLOBAL_STRING
+
+ static bool FullMatch(const ::string& str, const RE& re) {
+ return FullMatch(str.c_str(), re);
+ }
+ static bool PartialMatch(const ::string& str, const RE& re) {
+ return PartialMatch(str.c_str(), re);
+ }
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+ static bool FullMatch(const char* str, const RE& re);
+ static bool PartialMatch(const char* str, const RE& re);
+
+ private:
+ void Init(const char* regex);
+
+ // We use a const char* instead of an std::string, as Google Test used to be
+ // used where std::string is not available. TODO(wan@google.com): change to
+ // std::string.
+ const char* pattern_;
+ bool is_valid_;
+
+#if GTEST_USES_POSIX_RE
+
+ regex_t full_regex_; // For FullMatch().
+ regex_t partial_regex_; // For PartialMatch().
+
+#else // GTEST_USES_SIMPLE_RE
+
+ const char* full_pattern_; // For FullMatch();
+
+#endif
+
+ GTEST_DISALLOW_ASSIGN_(RE);
+};
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line);
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(const char* file,
+ int line);
+
+// Defines logging utilities:
+// GTEST_LOG_(severity) - logs messages at the specified severity level. The
+// message itself is streamed into the macro.
+// LogToStderr() - directs all log messages to stderr.
+// FlushInfoLog() - flushes informational log messages.
+
+enum GTestLogSeverity {
+ GTEST_INFO,
+ GTEST_WARNING,
+ GTEST_ERROR,
+ GTEST_FATAL
+};
+
+// Formats log entry severity, provides a stream object for streaming the
+// log message, and terminates the message with a newline when going out of
+// scope.
+class GTEST_API_ GTestLog {
+ public:
+ GTestLog(GTestLogSeverity severity, const char* file, int line);
+
+ // Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+ ~GTestLog();
+
+ ::std::ostream& GetStream() { return ::std::cerr; }
+
+ private:
+ const GTestLogSeverity severity_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestLog);
+};
+
+#if !defined(GTEST_LOG_)
+
+# define GTEST_LOG_(severity) \
+ ::testing::internal::GTestLog(::testing::internal::GTEST_##severity, \
+ __FILE__, __LINE__).GetStream()
+
+inline void LogToStderr() {}
+inline void FlushInfoLog() { fflush(NULL); }
+
+#endif // !defined(GTEST_LOG_)
+
+#if !defined(GTEST_CHECK_)
+// INTERNAL IMPLEMENTATION - DO NOT USE.
+//
+// GTEST_CHECK_ is an all-mode assert. It aborts the program if the condition
+// is not satisfied.
+// Synopsys:
+// GTEST_CHECK_(boolean_condition);
+// or
+// GTEST_CHECK_(boolean_condition) << "Additional message";
+//
+// This checks the condition and if the condition is not satisfied
+// it prints message about the condition violation, including the
+// condition itself, plus additional message streamed into it, if any,
+// and then it aborts the program. It aborts the program irrespective of
+// whether it is built in the debug mode or not.
+# define GTEST_CHECK_(condition) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::IsTrue(condition)) \
+ ; \
+ else \
+ GTEST_LOG_(FATAL) << "Condition " #condition " failed. "
+#endif // !defined(GTEST_CHECK_)
+
+// An all-mode assert to verify that the given POSIX-style function
+// call returns 0 (indicating success). Known limitation: this
+// doesn't expand to a balanced 'if' statement, so enclose the macro
+// in {} if you need to use it as the only statement in an 'if'
+// branch.
+#define GTEST_CHECK_POSIX_SUCCESS_(posix_call) \
+ if (const int gtest_error = (posix_call)) \
+ GTEST_LOG_(FATAL) << #posix_call << "failed with error " \
+ << gtest_error
+
+#if GTEST_HAS_STD_MOVE_
+using std::move;
+#else // GTEST_HAS_STD_MOVE_
+template <typename T>
+const T& move(const T& t) {
+ return t;
+}
+#endif // GTEST_HAS_STD_MOVE_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Use ImplicitCast_ as a safe version of static_cast for upcasting in
+// the type hierarchy (e.g. casting a Foo* to a SuperclassOfFoo* or a
+// const Foo*). When you use ImplicitCast_, the compiler checks that
+// the cast is safe. Such explicit ImplicitCast_s are necessary in
+// surprisingly many situations where C++ demands an exact type match
+// instead of an argument type convertable to a target type.
+//
+// The syntax for using ImplicitCast_ is the same as for static_cast:
+//
+// ImplicitCast_<ToType>(expr)
+//
+// ImplicitCast_ would have been part of the C++ standard library,
+// but the proposal was submitted too late. It will probably make
+// its way into the language in the future.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., implicit_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To>
+inline To ImplicitCast_(To x) { return x; }
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use ImplicitCast_<>, since upcasts
+// always succeed. When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo? It
+// could be a bare Foo, or of type DifferentSubclassOfFoo. Thus,
+// when you downcast, you should use this macro. In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not). In normal mode, we do the efficient static_cast<>
+// instead. Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+// This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+// if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+// if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., down_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To, typename From> // use like this: DownCast_<T*>(foo);
+inline To DownCast_(From* f) { // so we only accept pointers
+ // Ensures that To is a sub-type of From *. This test is here only
+ // for compile-time type checking, and has no overhead in an
+ // optimized build at run-time, as it will be optimized away
+ // completely.
+ GTEST_INTENTIONAL_CONST_COND_PUSH_()
+ if (false) {
+ GTEST_INTENTIONAL_CONST_COND_POP_()
+ const To to = NULL;
+ ::testing::internal::ImplicitCast_<From*>(to);
+ }
+
+#if GTEST_HAS_RTTI
+ // RTTI: debug mode only!
+ GTEST_CHECK_(f == NULL || dynamic_cast<To>(f) != NULL);
+#endif
+ return static_cast<To>(f);
+}
+
+// Downcasts the pointer of type Base to Derived.
+// Derived must be a subclass of Base. The parameter MUST
+// point to a class of type Derived, not any subclass of it.
+// When RTTI is available, the function performs a runtime
+// check to enforce this.
+template <class Derived, class Base>
+Derived* CheckedDowncastToActualType(Base* base) {
+#if GTEST_HAS_RTTI
+ GTEST_CHECK_(typeid(*base) == typeid(Derived));
+#endif
+
+#if GTEST_HAS_DOWNCAST_
+ return ::down_cast<Derived*>(base);
+#elif GTEST_HAS_RTTI
+ return dynamic_cast<Derived*>(base); // NOLINT
+#else
+ return static_cast<Derived*>(base); // Poor man's downcast.
+#endif
+}
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Defines the stderr capturer:
+// CaptureStdout - starts capturing stdout.
+// GetCapturedStdout - stops capturing stdout and returns the captured string.
+// CaptureStderr - starts capturing stderr.
+// GetCapturedStderr - stops capturing stderr and returns the captured string.
+//
+GTEST_API_ void CaptureStdout();
+GTEST_API_ std::string GetCapturedStdout();
+GTEST_API_ void CaptureStderr();
+GTEST_API_ std::string GetCapturedStderr();
+
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+// Returns a path to temporary directory.
+GTEST_API_ std::string TempDir();
+
+// Returns the size (in bytes) of a file.
+GTEST_API_ size_t GetFileSize(FILE* file);
+
+// Reads the entire content of a file as a string.
+GTEST_API_ std::string ReadEntireFile(FILE* file);
+
+// All command line arguments.
+GTEST_API_ const ::std::vector<testing::internal::string>& GetArgvs();
+
+#if GTEST_HAS_DEATH_TEST
+
+const ::std::vector<testing::internal::string>& GetInjectableArgvs();
+void SetInjectableArgvs(const ::std::vector<testing::internal::string>*
+ new_argvs);
+
+
+#endif // GTEST_HAS_DEATH_TEST
+
+// Defines synchronization primitives.
+#if GTEST_IS_THREADSAFE
+# if GTEST_HAS_PTHREAD
+// Sleeps for (roughly) n milliseconds. This function is only for testing
+// Google Test's own constructs. Don't use it in user tests, either
+// directly or indirectly.
+inline void SleepMilliseconds(int n) {
+ const timespec time = {
+ 0, // 0 seconds.
+ n * 1000L * 1000L, // And n ms.
+ };
+ nanosleep(&time, NULL);
+}
+# endif // GTEST_HAS_PTHREAD
+
+# if GTEST_HAS_NOTIFICATION_
+// Notification has already been imported into the namespace.
+// Nothing to do here.
+
+# elif GTEST_HAS_PTHREAD
+// Allows a controller thread to pause execution of newly created
+// threads until notified. Instances of this class must be created
+// and destroyed in the controller thread.
+//
+// This class is only for testing Google Test's own constructs. Do not
+// use it in user tests, either directly or indirectly.
+class Notification {
+ public:
+ Notification() : notified_(false) {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
+ }
+ ~Notification() {
+ pthread_mutex_destroy(&mutex_);
+ }
+
+ // Notifies all threads created with this notification to start. Must
+ // be called from the controller thread.
+ void Notify() {
+ pthread_mutex_lock(&mutex_);
+ notified_ = true;
+ pthread_mutex_unlock(&mutex_);
+ }
+
+ // Blocks until the controller thread notifies. Must be called from a test
+ // thread.
+ void WaitForNotification() {
+ for (;;) {
+ pthread_mutex_lock(&mutex_);
+ const bool notified = notified_;
+ pthread_mutex_unlock(&mutex_);
+ if (notified)
+ break;
+ SleepMilliseconds(10);
+ }
+ }
+
+ private:
+ pthread_mutex_t mutex_;
+ bool notified_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
+};
+
+# elif GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+GTEST_API_ void SleepMilliseconds(int n);
+
+// Provides leak-safe Windows kernel handle ownership.
+// Used in death tests and in threading support.
+class GTEST_API_ AutoHandle {
+ public:
+ // Assume that Win32 HANDLE type is equivalent to void*. Doing so allows us to
+ // avoid including <windows.h> in this header file. Including <windows.h> is
+ // undesirable because it defines a lot of symbols and macros that tend to
+ // conflict with client code. This assumption is verified by
+ // WindowsTypesTest.HANDLEIsVoidStar.
+ typedef void* Handle;
+ AutoHandle();
+ explicit AutoHandle(Handle handle);
+
+ ~AutoHandle();
+
+ Handle Get() const;
+ void Reset();
+ void Reset(Handle handle);
+
+ private:
+ // Returns true iff the handle is a valid handle object that can be closed.
+ bool IsCloseable() const;
+
+ Handle handle_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AutoHandle);
+};
+
+// Allows a controller thread to pause execution of newly created
+// threads until notified. Instances of this class must be created
+// and destroyed in the controller thread.
+//
+// This class is only for testing Google Test's own constructs. Do not
+// use it in user tests, either directly or indirectly.
+class GTEST_API_ Notification {
+ public:
+ Notification();
+ void Notify();
+ void WaitForNotification();
+
+ private:
+ AutoHandle event_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
+};
+# endif // GTEST_HAS_NOTIFICATION_
+
+// On MinGW, we can have both GTEST_OS_WINDOWS and GTEST_HAS_PTHREAD
+// defined, but we don't want to use MinGW's pthreads implementation, which
+// has conformance problems with some versions of the POSIX standard.
+# if GTEST_HAS_PTHREAD && !GTEST_OS_WINDOWS_MINGW
+
+// As a C-function, ThreadFuncWithCLinkage cannot be templated itself.
+// Consequently, it cannot select a correct instantiation of ThreadWithParam
+// in order to call its Run(). Introducing ThreadWithParamBase as a
+// non-templated base class for ThreadWithParam allows us to bypass this
+// problem.
+class ThreadWithParamBase {
+ public:
+ virtual ~ThreadWithParamBase() {}
+ virtual void Run() = 0;
+};
+
+// pthread_create() accepts a pointer to a function type with the C linkage.
+// According to the Standard (7.5/1), function types with different linkages
+// are different even if they are otherwise identical. Some compilers (for
+// example, SunStudio) treat them as different types. Since class methods
+// cannot be defined with C-linkage we need to define a free C-function to
+// pass into pthread_create().
+extern "C" inline void* ThreadFuncWithCLinkage(void* thread) {
+ static_cast<ThreadWithParamBase*>(thread)->Run();
+ return NULL;
+}
+
+// Helper class for testing Google Test's multi-threading constructs.
+// To use it, write:
+//
+// void ThreadFunc(int param) { /* Do things with param */ }
+// Notification thread_can_start;
+// ...
+// // The thread_can_start parameter is optional; you can supply NULL.
+// ThreadWithParam<int> thread(&ThreadFunc, 5, &thread_can_start);
+// thread_can_start.Notify();
+//
+// These classes are only for testing Google Test's own constructs. Do
+// not use them in user tests, either directly or indirectly.
+template <typename T>
+class ThreadWithParam : public ThreadWithParamBase {
+ public:
+ typedef void UserThreadFunc(T);
+
+ ThreadWithParam(UserThreadFunc* func, T param, Notification* thread_can_start)
+ : func_(func),
+ param_(param),
+ thread_can_start_(thread_can_start),
+ finished_(false) {
+ ThreadWithParamBase* const base = this;
+ // The thread can be created only after all fields except thread_
+ // have been initialized.
+ GTEST_CHECK_POSIX_SUCCESS_(
+ pthread_create(&thread_, 0, &ThreadFuncWithCLinkage, base));
+ }
+ ~ThreadWithParam() { Join(); }
+
+ void Join() {
+ if (!finished_) {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_join(thread_, 0));
+ finished_ = true;
+ }
+ }
+
+ virtual void Run() {
+ if (thread_can_start_ != NULL)
+ thread_can_start_->WaitForNotification();
+ func_(param_);
+ }
+
+ private:
+ UserThreadFunc* const func_; // User-supplied thread function.
+ const T param_; // User-supplied parameter to the thread function.
+ // When non-NULL, used to block execution until the controller thread
+ // notifies.
+ Notification* const thread_can_start_;
+ bool finished_; // true iff we know that the thread function has finished.
+ pthread_t thread_; // The native thread object.
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
+};
+# endif // !GTEST_OS_WINDOWS && GTEST_HAS_PTHREAD ||
+ // GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+
+# if GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+// Mutex and ThreadLocal have already been imported into the namespace.
+// Nothing to do here.
+
+# elif GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+// Mutex implements mutex on Windows platforms. It is used in conjunction
+// with class MutexLock:
+//
+// Mutex mutex;
+// ...
+// MutexLock lock(&mutex); // Acquires the mutex and releases it at the
+// // end of the current scope.
+//
+// A static Mutex *must* be defined or declared using one of the following
+// macros:
+// GTEST_DEFINE_STATIC_MUTEX_(g_some_mutex);
+// GTEST_DECLARE_STATIC_MUTEX_(g_some_mutex);
+//
+// (A non-static Mutex is defined/declared in the usual way).
+class GTEST_API_ Mutex {
+ public:
+ enum MutexType { kStatic = 0, kDynamic = 1 };
+ // We rely on kStaticMutex being 0 as it is to what the linker initializes
+ // type_ in static mutexes. critical_section_ will be initialized lazily
+ // in ThreadSafeLazyInit().
+ enum StaticConstructorSelector { kStaticMutex = 0 };
+
+ // This constructor intentionally does nothing. It relies on type_ being
+ // statically initialized to 0 (effectively setting it to kStatic) and on
+ // ThreadSafeLazyInit() to lazily initialize the rest of the members.
+ explicit Mutex(StaticConstructorSelector /*dummy*/) {}
+
+ Mutex();
+ ~Mutex();
+
+ void Lock();
+
+ void Unlock();
+
+ // Does nothing if the current thread holds the mutex. Otherwise, crashes
+ // with high probability.
+ void AssertHeld();
+
+ private:
+ // Initializes owner_thread_id_ and critical_section_ in static mutexes.
+ void ThreadSafeLazyInit();
+
+ // Per http://blogs.msdn.com/b/oldnewthing/archive/2004/02/23/78395.aspx,
+ // we assume that 0 is an invalid value for thread IDs.
+ unsigned int owner_thread_id_;
+
+ // For static mutexes, we rely on these members being initialized to zeros
+ // by the linker.
+ MutexType type_;
+ long critical_section_init_phase_; // NOLINT
+ GTEST_CRITICAL_SECTION* critical_section_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
+};
+
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+ extern ::testing::internal::Mutex mutex
+
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
+ ::testing::internal::Mutex mutex(::testing::internal::Mutex::kStaticMutex)
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)". Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+ explicit GTestMutexLock(Mutex* mutex)
+ : mutex_(mutex) { mutex_->Lock(); }
+
+ ~GTestMutexLock() { mutex_->Unlock(); }
+
+ private:
+ Mutex* const mutex_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
+};
+
+typedef GTestMutexLock MutexLock;
+
+// Base class for ValueHolder<T>. Allows a caller to hold and delete a value
+// without knowing its type.
+class ThreadLocalValueHolderBase {
+ public:
+ virtual ~ThreadLocalValueHolderBase() {}
+};
+
+// Provides a way for a thread to send notifications to a ThreadLocal
+// regardless of its parameter type.
+class ThreadLocalBase {
+ public:
+ // Creates a new ValueHolder<T> object holding a default value passed to
+ // this ThreadLocal<T>'s constructor and returns it. It is the caller's
+ // responsibility not to call this when the ThreadLocal<T> instance already
+ // has a value on the current thread.
+ virtual ThreadLocalValueHolderBase* NewValueForCurrentThread() const = 0;
+
+ protected:
+ ThreadLocalBase() {}
+ virtual ~ThreadLocalBase() {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocalBase);
+};
+
+// Maps a thread to a set of ThreadLocals that have values instantiated on that
+// thread and notifies them when the thread exits. A ThreadLocal instance is
+// expected to persist until all threads it has values on have terminated.
+class GTEST_API_ ThreadLocalRegistry {
+ public:
+ // Registers thread_local_instance as having value on the current thread.
+ // Returns a value that can be used to identify the thread from other threads.
+ static ThreadLocalValueHolderBase* GetValueOnCurrentThread(
+ const ThreadLocalBase* thread_local_instance);
+
+ // Invoked when a ThreadLocal instance is destroyed.
+ static void OnThreadLocalDestroyed(
+ const ThreadLocalBase* thread_local_instance);
+};
+
+class GTEST_API_ ThreadWithParamBase {
+ public:
+ void Join();
+
+ protected:
+ class Runnable {
+ public:
+ virtual ~Runnable() {}
+ virtual void Run() = 0;
+ };
+
+ ThreadWithParamBase(Runnable *runnable, Notification* thread_can_start);
+ virtual ~ThreadWithParamBase();
+
+ private:
+ AutoHandle thread_;
+};
+
+// Helper class for testing Google Test's multi-threading constructs.
+template <typename T>
+class ThreadWithParam : public ThreadWithParamBase {
+ public:
+ typedef void UserThreadFunc(T);
+
+ ThreadWithParam(UserThreadFunc* func, T param, Notification* thread_can_start)
+ : ThreadWithParamBase(new RunnableImpl(func, param), thread_can_start) {
+ }
+ virtual ~ThreadWithParam() {}
+
+ private:
+ class RunnableImpl : public Runnable {
+ public:
+ RunnableImpl(UserThreadFunc* func, T param)
+ : func_(func),
+ param_(param) {
+ }
+ virtual ~RunnableImpl() {}
+ virtual void Run() {
+ func_(param_);
+ }
+
+ private:
+ UserThreadFunc* const func_;
+ const T param_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(RunnableImpl);
+ };
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
+};
+
+// Implements thread-local storage on Windows systems.
+//
+// // Thread 1
+// ThreadLocal<int> tl(100); // 100 is the default value for each thread.
+//
+// // Thread 2
+// tl.set(150); // Changes the value for thread 2 only.
+// EXPECT_EQ(150, tl.get());
+//
+// // Thread 1
+// EXPECT_EQ(100, tl.get()); // In thread 1, tl has the original value.
+// tl.set(200);
+// EXPECT_EQ(200, tl.get());
+//
+// The template type argument T must have a public copy constructor.
+// In addition, the default ThreadLocal constructor requires T to have
+// a public default constructor.
+//
+// The users of a TheadLocal instance have to make sure that all but one
+// threads (including the main one) using that instance have exited before
+// destroying it. Otherwise, the per-thread objects managed for them by the
+// ThreadLocal instance are not guaranteed to be destroyed on all platforms.
+//
+// Google Test only uses global ThreadLocal objects. That means they
+// will die after main() has returned. Therefore, no per-thread
+// object managed by Google Test will be leaked as long as all threads
+// using Google Test have exited when main() returns.
+template <typename T>
+class ThreadLocal : public ThreadLocalBase {
+ public:
+ ThreadLocal() : default_factory_(new DefaultValueHolderFactory()) {}
+ explicit ThreadLocal(const T& value)
+ : default_factory_(new InstanceValueHolderFactory(value)) {}
+
+ ~ThreadLocal() { ThreadLocalRegistry::OnThreadLocalDestroyed(this); }
+
+ T* pointer() { return GetOrCreateValue(); }
+ const T* pointer() const { return GetOrCreateValue(); }
+ const T& get() const { return *pointer(); }
+ void set(const T& value) { *pointer() = value; }
+
+ private:
+ // Holds a value of T. Can be deleted via its base class without the caller
+ // knowing the type of T.
+ class ValueHolder : public ThreadLocalValueHolderBase {
+ public:
+ ValueHolder() : value_() {}
+ explicit ValueHolder(const T& value) : value_(value) {}
+
+ T* pointer() { return &value_; }
+
+ private:
+ T value_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
+ };
+
+
+ T* GetOrCreateValue() const {
+ return static_cast<ValueHolder*>(
+ ThreadLocalRegistry::GetValueOnCurrentThread(this))->pointer();
+ }
+
+ virtual ThreadLocalValueHolderBase* NewValueForCurrentThread() const {
+ return default_factory_->MakeNewHolder();
+ }
+
+ class ValueHolderFactory {
+ public:
+ ValueHolderFactory() {}
+ virtual ~ValueHolderFactory() {}
+ virtual ValueHolder* MakeNewHolder() const = 0;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolderFactory);
+ };
+
+ class DefaultValueHolderFactory : public ValueHolderFactory {
+ public:
+ DefaultValueHolderFactory() {}
+ virtual ValueHolder* MakeNewHolder() const { return new ValueHolder(); }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultValueHolderFactory);
+ };
+
+ class InstanceValueHolderFactory : public ValueHolderFactory {
+ public:
+ explicit InstanceValueHolderFactory(const T& value) : value_(value) {}
+ virtual ValueHolder* MakeNewHolder() const {
+ return new ValueHolder(value_);
+ }
+
+ private:
+ const T value_; // The value for each thread.
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InstanceValueHolderFactory);
+ };
+
+ scoped_ptr<ValueHolderFactory> default_factory_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
+};
+
+# elif GTEST_HAS_PTHREAD
+
+// MutexBase and Mutex implement mutex on pthreads-based platforms.
+class MutexBase {
+ public:
+ // Acquires this mutex.
+ void Lock() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_lock(&mutex_));
+ owner_ = pthread_self();
+ has_owner_ = true;
+ }
+
+ // Releases this mutex.
+ void Unlock() {
+ // Since the lock is being released the owner_ field should no longer be
+ // considered valid. We don't protect writing to has_owner_ here, as it's
+ // the caller's responsibility to ensure that the current thread holds the
+ // mutex when this is called.
+ has_owner_ = false;
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_unlock(&mutex_));
+ }
+
+ // Does nothing if the current thread holds the mutex. Otherwise, crashes
+ // with high probability.
+ void AssertHeld() const {
+ GTEST_CHECK_(has_owner_ && pthread_equal(owner_, pthread_self()))
+ << "The current thread is not holding the mutex @" << this;
+ }
+
+ // A static mutex may be used before main() is entered. It may even
+ // be used before the dynamic initialization stage. Therefore we
+ // must be able to initialize a static mutex object at link time.
+ // This means MutexBase has to be a POD and its member variables
+ // have to be public.
+ public:
+ pthread_mutex_t mutex_; // The underlying pthread mutex.
+ // has_owner_ indicates whether the owner_ field below contains a valid thread
+ // ID and is therefore safe to inspect (e.g., to use in pthread_equal()). All
+ // accesses to the owner_ field should be protected by a check of this field.
+ // An alternative might be to memset() owner_ to all zeros, but there's no
+ // guarantee that a zero'd pthread_t is necessarily invalid or even different
+ // from pthread_self().
+ bool has_owner_;
+ pthread_t owner_; // The thread holding the mutex.
+};
+
+// Forward-declares a static mutex.
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+ extern ::testing::internal::MutexBase mutex
+
+// Defines and statically (i.e. at link time) initializes a static mutex.
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
+ ::testing::internal::MutexBase mutex = { PTHREAD_MUTEX_INITIALIZER, false, pthread_t() }
+
+// The Mutex class can only be used for mutexes created at runtime. It
+// shares its API with MutexBase otherwise.
+class Mutex : public MutexBase {
+ public:
+ Mutex() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
+ has_owner_ = false;
+ }
+ ~Mutex() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_destroy(&mutex_));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
+};
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)". Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+ explicit GTestMutexLock(MutexBase* mutex)
+ : mutex_(mutex) { mutex_->Lock(); }
+
+ ~GTestMutexLock() { mutex_->Unlock(); }
+
+ private:
+ MutexBase* const mutex_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
+};
+
+typedef GTestMutexLock MutexLock;
+
+// Helpers for ThreadLocal.
+
+// pthread_key_create() requires DeleteThreadLocalValue() to have
+// C-linkage. Therefore it cannot be templatized to access
+// ThreadLocal<T>. Hence the need for class
+// ThreadLocalValueHolderBase.
+class ThreadLocalValueHolderBase {
+ public:
+ virtual ~ThreadLocalValueHolderBase() {}
+};
+
+// Called by pthread to delete thread-local data stored by
+// pthread_setspecific().
+extern "C" inline void DeleteThreadLocalValue(void* value_holder) {
+ delete static_cast<ThreadLocalValueHolderBase*>(value_holder);
+}
+
+// Implements thread-local storage on pthreads-based systems.
+template <typename T>
+class ThreadLocal {
+ public:
+ ThreadLocal()
+ : key_(CreateKey()), default_factory_(new DefaultValueHolderFactory()) {}
+ explicit ThreadLocal(const T& value)
+ : key_(CreateKey()),
+ default_factory_(new InstanceValueHolderFactory(value)) {}
+
+ ~ThreadLocal() {
+ // Destroys the managed object for the current thread, if any.
+ DeleteThreadLocalValue(pthread_getspecific(key_));
+
+ // Releases resources associated with the key. This will *not*
+ // delete managed objects for other threads.
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_key_delete(key_));
+ }
+
+ T* pointer() { return GetOrCreateValue(); }
+ const T* pointer() const { return GetOrCreateValue(); }
+ const T& get() const { return *pointer(); }
+ void set(const T& value) { *pointer() = value; }
+
+ private:
+ // Holds a value of type T.
+ class ValueHolder : public ThreadLocalValueHolderBase {
+ public:
+ ValueHolder() : value_() {}
+ explicit ValueHolder(const T& value) : value_(value) {}
+
+ T* pointer() { return &value_; }
+
+ private:
+ T value_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
+ };
+
+ static pthread_key_t CreateKey() {
+ pthread_key_t key;
+ // When a thread exits, DeleteThreadLocalValue() will be called on
+ // the object managed for that thread.
+ GTEST_CHECK_POSIX_SUCCESS_(
+ pthread_key_create(&key, &DeleteThreadLocalValue));
+ return key;
+ }
+
+ T* GetOrCreateValue() const {
+ ThreadLocalValueHolderBase* const holder =
+ static_cast<ThreadLocalValueHolderBase*>(pthread_getspecific(key_));
+ if (holder != NULL) {
+ return CheckedDowncastToActualType<ValueHolder>(holder)->pointer();
+ }
+
+ ValueHolder* const new_holder = default_factory_->MakeNewHolder();
+ ThreadLocalValueHolderBase* const holder_base = new_holder;
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_setspecific(key_, holder_base));
+ return new_holder->pointer();
+ }
+
+ class ValueHolderFactory {
+ public:
+ ValueHolderFactory() {}
+ virtual ~ValueHolderFactory() {}
+ virtual ValueHolder* MakeNewHolder() const = 0;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolderFactory);
+ };
+
+ class DefaultValueHolderFactory : public ValueHolderFactory {
+ public:
+ DefaultValueHolderFactory() {}
+ virtual ValueHolder* MakeNewHolder() const { return new ValueHolder(); }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultValueHolderFactory);
+ };
+
+ class InstanceValueHolderFactory : public ValueHolderFactory {
+ public:
+ explicit InstanceValueHolderFactory(const T& value) : value_(value) {}
+ virtual ValueHolder* MakeNewHolder() const {
+ return new ValueHolder(value_);
+ }
+
+ private:
+ const T value_; // The value for each thread.
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InstanceValueHolderFactory);
+ };
+
+ // A key pthreads uses for looking up per-thread values.
+ const pthread_key_t key_;
+ scoped_ptr<ValueHolderFactory> default_factory_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
+};
+
+# endif // GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+
+#else // GTEST_IS_THREADSAFE
+
+// A dummy implementation of synchronization primitives (mutex, lock,
+// and thread-local variable). Necessary for compiling Google Test where
+// mutex is not supported - using Google Test in multiple threads is not
+// supported on such platforms.
+
+class Mutex {
+ public:
+ Mutex() {}
+ void Lock() {}
+ void Unlock() {}
+ void AssertHeld() const {}
+};
+
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+ extern ::testing::internal::Mutex mutex
+
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) ::testing::internal::Mutex mutex
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)". Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+ explicit GTestMutexLock(Mutex*) {} // NOLINT
+};
+
+typedef GTestMutexLock MutexLock;
+
+template <typename T>
+class ThreadLocal {
+ public:
+ ThreadLocal() : value_() {}
+ explicit ThreadLocal(const T& value) : value_(value) {}
+ T* pointer() { return &value_; }
+ const T* pointer() const { return &value_; }
+ const T& get() const { return value_; }
+ void set(const T& value) { value_ = value; }
+ private:
+ T value_;
+};
+
+#endif // GTEST_IS_THREADSAFE
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+GTEST_API_ size_t GetThreadCount();
+
+// Passing non-POD classes through ellipsis (...) crashes the ARM
+// compiler and generates a warning in Sun Studio. The Nokia Symbian
+// and the IBM XL C/C++ compiler try to instantiate a copy constructor
+// for objects passed through ellipsis (...), failing for uncopyable
+// objects. We define this to ensure that only POD is passed through
+// ellipsis on these systems.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__) || defined(__SUNPRO_CC)
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_ELLIPSIS_NEEDS_POD_ 1
+#else
+# define GTEST_CAN_COMPARE_NULL 1
+#endif
+
+// The Nokia Symbian and IBM XL C/C++ compilers cannot decide between
+// const T& and const T* in a function template. These compilers
+// _can_ decide between class template specializations for T and T*,
+// so a tr1::type_traits-like is_pointer works.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__)
+# define GTEST_NEEDS_IS_POINTER_ 1
+#endif
+
+template <bool bool_value>
+struct bool_constant {
+ typedef bool_constant<bool_value> type;
+ static const bool value = bool_value;
+};
+template <bool bool_value> const bool bool_constant<bool_value>::value;
+
+typedef bool_constant<false> false_type;
+typedef bool_constant<true> true_type;
+
+template <typename T>
+struct is_pointer : public false_type {};
+
+template <typename T>
+struct is_pointer<T*> : public true_type {};
+
+template <typename Iterator>
+struct IteratorTraits {
+ typedef typename Iterator::value_type value_type;
+};
+
+template <typename T>
+struct IteratorTraits<T*> {
+ typedef T value_type;
+};
+
+template <typename T>
+struct IteratorTraits<const T*> {
+ typedef T value_type;
+};
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_SEP_ "\\"
+# define GTEST_HAS_ALT_PATH_SEP_ 1
+// The biggest signed integer type the compiler supports.
+typedef __int64 BiggestInt;
+#else
+# define GTEST_PATH_SEP_ "/"
+# define GTEST_HAS_ALT_PATH_SEP_ 0
+typedef long long BiggestInt; // NOLINT
+#endif // GTEST_OS_WINDOWS
+
+// Utilities for char.
+
+// isspace(int ch) and friends accept an unsigned char or EOF. char
+// may be signed, depending on the compiler (or compiler flags).
+// Therefore we need to cast a char to unsigned char before calling
+// isspace(), etc.
+
+inline bool IsAlpha(char ch) {
+ return isalpha(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsAlNum(char ch) {
+ return isalnum(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsDigit(char ch) {
+ return isdigit(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsLower(char ch) {
+ return islower(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsSpace(char ch) {
+ return isspace(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsUpper(char ch) {
+ return isupper(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsXDigit(char ch) {
+ return isxdigit(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsXDigit(wchar_t ch) {
+ const unsigned char low_byte = static_cast<unsigned char>(ch);
+ return ch == low_byte && isxdigit(low_byte) != 0;
+}
+
+inline char ToLower(char ch) {
+ return static_cast<char>(tolower(static_cast<unsigned char>(ch)));
+}
+inline char ToUpper(char ch) {
+ return static_cast<char>(toupper(static_cast<unsigned char>(ch)));
+}
+
+inline std::string StripTrailingSpaces(std::string str) {
+ std::string::iterator it = str.end();
+ while (it != str.begin() && IsSpace(*--it))
+ it = str.erase(it);
+ return str;
+}
+
+// The testing::internal::posix namespace holds wrappers for common
+// POSIX functions. These wrappers hide the differences between
+// Windows/MSVC and POSIX systems. Since some compilers define these
+// standard functions as macros, the wrapper cannot have the same name
+// as the wrapped function.
+
+namespace posix {
+
+// Functions with a different name on Windows.
+
+#if GTEST_OS_WINDOWS
+
+typedef struct _stat StatStruct;
+
+# ifdef __BORLANDC__
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+# else // !__BORLANDC__
+# if GTEST_OS_WINDOWS_MOBILE
+inline int IsATTY(int /* fd */) { return 0; }
+# else
+inline int IsATTY(int fd) { return _isatty(fd); }
+# endif // GTEST_OS_WINDOWS_MOBILE
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return _stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return _strdup(src); }
+# endif // __BORLANDC__
+
+# if GTEST_OS_WINDOWS_MOBILE
+inline int FileNo(FILE* file) { return reinterpret_cast<int>(_fileno(file)); }
+// Stat(), RmDir(), and IsDir() are not needed on Windows CE at this
+// time and thus not defined there.
+# else
+inline int FileNo(FILE* file) { return _fileno(file); }
+inline int Stat(const char* path, StatStruct* buf) { return _stat(path, buf); }
+inline int RmDir(const char* dir) { return _rmdir(dir); }
+inline bool IsDir(const StatStruct& st) {
+ return (_S_IFDIR & st.st_mode) != 0;
+}
+# endif // GTEST_OS_WINDOWS_MOBILE
+
+#else
+
+typedef struct stat StatStruct;
+
+inline int FileNo(FILE* file) { return fileno(file); }
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int Stat(const char* path, StatStruct* buf) { return stat(path, buf); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return strcasecmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+inline int RmDir(const char* dir) { return rmdir(dir); }
+inline bool IsDir(const StatStruct& st) { return S_ISDIR(st.st_mode); }
+
+#endif // GTEST_OS_WINDOWS
+
+// Functions deprecated by MSVC 8.0.
+
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996 /* deprecated function */)
+
+inline const char* StrNCpy(char* dest, const char* src, size_t n) {
+ return strncpy(dest, src, n);
+}
+
+// ChDir(), FReopen(), FDOpen(), Read(), Write(), Close(), and
+// StrError() aren't needed on Windows CE at this time and thus not
+// defined there.
+
+#if !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+inline int ChDir(const char* dir) { return chdir(dir); }
+#endif
+inline FILE* FOpen(const char* path, const char* mode) {
+ return fopen(path, mode);
+}
+#if !GTEST_OS_WINDOWS_MOBILE
+inline FILE *FReopen(const char* path, const char* mode, FILE* stream) {
+ return freopen(path, mode, stream);
+}
+inline FILE* FDOpen(int fd, const char* mode) { return fdopen(fd, mode); }
+#endif
+inline int FClose(FILE* fp) { return fclose(fp); }
+#if !GTEST_OS_WINDOWS_MOBILE
+inline int Read(int fd, void* buf, unsigned int count) {
+ return static_cast<int>(read(fd, buf, count));
+}
+inline int Write(int fd, const void* buf, unsigned int count) {
+ return static_cast<int>(write(fd, buf, count));
+}
+inline int Close(int fd) { return close(fd); }
+inline const char* StrError(int errnum) { return strerror(errnum); }
+#endif
+inline const char* GetEnv(const char* name) {
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_WINDOWS_PHONE | GTEST_OS_WINDOWS_RT
+ // We are on Windows CE, which has no environment variables.
+ static_cast<void>(name); // To prevent 'unused argument' warning.
+ return NULL;
+#elif defined(__BORLANDC__) || defined(__SunOS_5_8) || defined(__SunOS_5_9)
+ // Environment variables which we programmatically clear will be set to the
+ // empty string rather than unset (NULL). Handle that case.
+ const char* const env = getenv(name);
+ return (env != NULL && env[0] != '\0') ? env : NULL;
+#else
+ return getenv(name);
+#endif
+}
+
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Windows CE has no C library. The abort() function is used in
+// several places in Google Test. This implementation provides a reasonable
+// imitation of standard behaviour.
+void Abort();
+#else
+inline void Abort() { abort(); }
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+} // namespace posix
+
+// MSVC "deprecates" snprintf and issues warnings wherever it is used. In
+// order to avoid these warnings, we need to use _snprintf or _snprintf_s on
+// MSVC-based platforms. We map the GTEST_SNPRINTF_ macro to the appropriate
+// function in order to achieve that. We use macro definition here because
+// snprintf is a variadic function.
+#if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
+// MSVC 2005 and above support variadic macros.
+# define GTEST_SNPRINTF_(buffer, size, format, ...) \
+ _snprintf_s(buffer, size, size, format, __VA_ARGS__)
+#elif defined(_MSC_VER)
+// Windows CE does not define _snprintf_s and MSVC prior to 2005 doesn't
+// complain about _snprintf.
+# define GTEST_SNPRINTF_ _snprintf
+#else
+# define GTEST_SNPRINTF_ snprintf
+#endif
+
+// The maximum number a BiggestInt can represent. This definition
+// works no matter BiggestInt is represented in one's complement or
+// two's complement.
+//
+// We cannot rely on numeric_limits in STL, as __int64 and long long
+// are not part of standard C++ and numeric_limits doesn't need to be
+// defined for them.
+const BiggestInt kMaxBiggestInt =
+ ~(static_cast<BiggestInt>(1) << (8*sizeof(BiggestInt) - 1));
+
+// This template class serves as a compile-time function from size to
+// type. It maps a size in bytes to a primitive type with that
+// size. e.g.
+//
+// TypeWithSize<4>::UInt
+//
+// is typedef-ed to be unsigned int (unsigned integer made up of 4
+// bytes).
+//
+// Such functionality should belong to STL, but I cannot find it
+// there.
+//
+// Google Test uses this class in the implementation of floating-point
+// comparison.
+//
+// For now it only handles UInt (unsigned int) as that's all Google Test
+// needs. Other types can be easily added in the future if need
+// arises.
+template <size_t size>
+class TypeWithSize {
+ public:
+ // This prevents the user from using TypeWithSize<N> with incorrect
+ // values of N.
+ typedef void UInt;
+};
+
+// The specialization for size 4.
+template <>
+class TypeWithSize<4> {
+ public:
+ // unsigned int has size 4 in both gcc and MSVC.
+ //
+ // As base/basictypes.h doesn't compile on Windows, we cannot use
+ // uint32, uint64, and etc here.
+ typedef int Int;
+ typedef unsigned int UInt;
+};
+
+// The specialization for size 8.
+template <>
+class TypeWithSize<8> {
+ public:
+#if GTEST_OS_WINDOWS
+ typedef __int64 Int;
+ typedef unsigned __int64 UInt;
+#else
+ typedef long long Int; // NOLINT
+ typedef unsigned long long UInt; // NOLINT
+#endif // GTEST_OS_WINDOWS
+};
+
+// Integer types of known sizes.
+typedef TypeWithSize<4>::Int Int32;
+typedef TypeWithSize<4>::UInt UInt32;
+typedef TypeWithSize<8>::Int Int64;
+typedef TypeWithSize<8>::UInt UInt64;
+typedef TypeWithSize<8>::Int TimeInMillis; // Represents time in milliseconds.
+
+// Utilities for command line flags and environment variables.
+
+// Macro for referencing flags.
+#if !defined(GTEST_FLAG)
+# define GTEST_FLAG(name) FLAGS_gtest_##name
+#endif // !defined(GTEST_FLAG)
+
+#if !defined(GTEST_USE_OWN_FLAGFILE_FLAG_)
+# define GTEST_USE_OWN_FLAGFILE_FLAG_ 1
+#endif // !defined(GTEST_USE_OWN_FLAGFILE_FLAG_)
+
+#if !defined(GTEST_DECLARE_bool_)
+# define GTEST_FLAG_SAVER_ ::testing::internal::GTestFlagSaver
+
+// Macros for declaring flags.
+# define GTEST_DECLARE_bool_(name) GTEST_API_ extern bool GTEST_FLAG(name)
+# define GTEST_DECLARE_int32_(name) \
+ GTEST_API_ extern ::testing::internal::Int32 GTEST_FLAG(name)
+#define GTEST_DECLARE_string_(name) \
+ GTEST_API_ extern ::std::string GTEST_FLAG(name)
+
+// Macros for defining flags.
+#define GTEST_DEFINE_bool_(name, default_val, doc) \
+ GTEST_API_ bool GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_int32_(name, default_val, doc) \
+ GTEST_API_ ::testing::internal::Int32 GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_string_(name, default_val, doc) \
+ GTEST_API_ ::std::string GTEST_FLAG(name) = (default_val)
+
+#endif // !defined(GTEST_DECLARE_bool_)
+
+// Thread annotations
+#if !defined(GTEST_EXCLUSIVE_LOCK_REQUIRED_)
+# define GTEST_EXCLUSIVE_LOCK_REQUIRED_(locks)
+# define GTEST_LOCK_EXCLUDED_(locks)
+#endif // !defined(GTEST_EXCLUSIVE_LOCK_REQUIRED_)
+
+// Parses 'str' for a 32-bit signed integer. If successful, writes the result
+// to *value and returns true; otherwise leaves *value unchanged and returns
+// false.
+// TODO(chandlerc): Find a better way to refactor flag and environment parsing
+// out of both gtest-port.cc and gtest.cc to avoid exporting this utility
+// function.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value);
+
+// Parses a bool/Int32/string from the environment variable
+// corresponding to the given Google Test flag.
+bool BoolFromGTestEnv(const char* flag, bool default_val);
+GTEST_API_ Int32 Int32FromGTestEnv(const char* flag, Int32 default_val);
+std::string StringFromGTestEnv(const char* flag, const char* default_val);
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+#if GTEST_OS_LINUX
+# include <stdlib.h>
+# include <sys/types.h>
+# include <sys/wait.h>
+# include <unistd.h>
+#endif // GTEST_OS_LINUX
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>
+#endif
+
+#include <ctype.h>
+#include <float.h>
+#include <string.h>
+#include <iomanip>
+#include <limits>
+#include <map>
+#include <set>
+#include <string>
+#include <vector>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the Message class.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
+// program!
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+#define GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+
+#include <limits>
+
+
+// Ensures that there is at least one operator<< in the global namespace.
+// See Message& operator<<(...) below for why.
+void operator<<(const testing::internal::Secret&, int);
+
+namespace testing {
+
+// The Message class works like an ostream repeater.
+//
+// Typical usage:
+//
+// 1. You stream a bunch of values to a Message object.
+// It will remember the text in a stringstream.
+// 2. Then you stream the Message object to an ostream.
+// This causes the text in the Message to be streamed
+// to the ostream.
+//
+// For example;
+//
+// testing::Message foo;
+// foo << 1 << " != " << 2;
+// std::cout << foo;
+//
+// will print "1 != 2".
+//
+// Message is not intended to be inherited from. In particular, its
+// destructor is not virtual.
+//
+// Note that stringstream behaves differently in gcc and in MSVC. You
+// can stream a NULL char pointer to it in the former, but not in the
+// latter (it causes an access violation if you do). The Message
+// class hides this difference by treating a NULL char pointer as
+// "(null)".
+class GTEST_API_ Message {
+ private:
+ // The type of basic IO manipulators (endl, ends, and flush) for
+ // narrow streams.
+ typedef std::ostream& (*BasicNarrowIoManip)(std::ostream&);
+
+ public:
+ // Constructs an empty Message.
+ Message();
+
+ // Copy constructor.
+ Message(const Message& msg) : ss_(new ::std::stringstream) { // NOLINT
+ *ss_ << msg.GetString();
+ }
+
+ // Constructs a Message from a C-string.
+ explicit Message(const char* str) : ss_(new ::std::stringstream) {
+ *ss_ << str;
+ }
+
+#if GTEST_OS_SYMBIAN
+ // Streams a value (either a pointer or not) to this object.
+ template <typename T>
+ inline Message& operator <<(const T& value) {
+ StreamHelper(typename internal::is_pointer<T>::type(), value);
+ return *this;
+ }
+#else
+ // Streams a non-pointer value to this object.
+ template <typename T>
+ inline Message& operator <<(const T& val) {
+ // Some libraries overload << for STL containers. These
+ // overloads are defined in the global namespace instead of ::std.
+ //
+ // C++'s symbol lookup rule (i.e. Koenig lookup) says that these
+ // overloads are visible in either the std namespace or the global
+ // namespace, but not other namespaces, including the testing
+ // namespace which Google Test's Message class is in.
+ //
+ // To allow STL containers (and other types that has a << operator
+ // defined in the global namespace) to be used in Google Test
+ // assertions, testing::Message must access the custom << operator
+ // from the global namespace. With this using declaration,
+ // overloads of << defined in the global namespace and those
+ // visible via Koenig lookup are both exposed in this function.
+ using ::operator <<;
+ *ss_ << val;
+ return *this;
+ }
+
+ // Streams a pointer value to this object.
+ //
+ // This function is an overload of the previous one. When you
+ // stream a pointer to a Message, this definition will be used as it
+ // is more specialized. (The C++ Standard, section
+ // [temp.func.order].) If you stream a non-pointer, then the
+ // previous definition will be used.
+ //
+ // The reason for this overload is that streaming a NULL pointer to
+ // ostream is undefined behavior. Depending on the compiler, you
+ // may get "0", "(nil)", "(null)", or an access violation. To
+ // ensure consistent result across compilers, we always treat NULL
+ // as "(null)".
+ template <typename T>
+ inline Message& operator <<(T* const& pointer) { // NOLINT
+ if (pointer == NULL) {
+ *ss_ << "(null)";
+ } else {
+ *ss_ << pointer;
+ }
+ return *this;
+ }
+#endif // GTEST_OS_SYMBIAN
+
+ // Since the basic IO manipulators are overloaded for both narrow
+ // and wide streams, we have to provide this specialized definition
+ // of operator <<, even though its body is the same as the
+ // templatized version above. Without this definition, streaming
+ // endl or other basic IO manipulators to Message will confuse the
+ // compiler.
+ Message& operator <<(BasicNarrowIoManip val) {
+ *ss_ << val;
+ return *this;
+ }
+
+ // Instead of 1/0, we want to see true/false for bool values.
+ Message& operator <<(bool b) {
+ return *this << (b ? "true" : "false");
+ }
+
+ // These two overloads allow streaming a wide C string to a Message
+ // using the UTF-8 encoding.
+ Message& operator <<(const wchar_t* wide_c_str);
+ Message& operator <<(wchar_t* wide_c_str);
+
+#if GTEST_HAS_STD_WSTRING
+ // Converts the given wide string to a narrow string using the UTF-8
+ // encoding, and streams the result to this Message object.
+ Message& operator <<(const ::std::wstring& wstr);
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+ // Converts the given wide string to a narrow string using the UTF-8
+ // encoding, and streams the result to this Message object.
+ Message& operator <<(const ::wstring& wstr);
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+ // Gets the text streamed to this object so far as an std::string.
+ // Each '\0' character in the buffer is replaced with "\\0".
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ std::string GetString() const;
+
+ private:
+
+#if GTEST_OS_SYMBIAN
+ // These are needed as the Nokia Symbian Compiler cannot decide between
+ // const T& and const T* in a function template. The Nokia compiler _can_
+ // decide between class template specializations for T and T*, so a
+ // tr1::type_traits-like is_pointer works, and we can overload on that.
+ template <typename T>
+ inline void StreamHelper(internal::true_type /*is_pointer*/, T* pointer) {
+ if (pointer == NULL) {
+ *ss_ << "(null)";
+ } else {
+ *ss_ << pointer;
+ }
+ }
+ template <typename T>
+ inline void StreamHelper(internal::false_type /*is_pointer*/,
+ const T& value) {
+ // See the comments in Message& operator <<(const T&) above for why
+ // we need this using statement.
+ using ::operator <<;
+ *ss_ << value;
+ }
+#endif // GTEST_OS_SYMBIAN
+
+ // We'll hold the text streamed to this object here.
+ const internal::scoped_ptr< ::std::stringstream> ss_;
+
+ // We declare (but don't implement) this to prevent the compiler
+ // from implementing the assignment operator.
+ void operator=(const Message&);
+};
+
+// Streams a Message to an ostream.
+inline std::ostream& operator <<(std::ostream& os, const Message& sb) {
+ return os << sb.GetString();
+}
+
+namespace internal {
+
+// Converts a streamable value to an std::string. A NULL pointer is
+// converted to "(null)". When the input value is a ::string,
+// ::std::string, ::wstring, or ::std::wstring object, each NUL
+// character in it is replaced with "\\0".
+template <typename T>
+std::string StreamableToString(const T& streamable) {
+ return (Message() << streamable).GetString();
+}
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares the String class and functions used internally by
+// Google Test. They are subject to change without notice. They should not used
+// by code external to Google Test.
+//
+// This header file is #included by <gtest/internal/gtest-internal.h>.
+// It should not be #included by other files.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+
+#ifdef __BORLANDC__
+// string.h is not guaranteed to provide strcpy on C++ Builder.
+# include <mem.h>
+#endif
+
+#include <string.h>
+#include <string>
+
+
+namespace testing {
+namespace internal {
+
+// String - an abstract class holding static string utilities.
+class GTEST_API_ String {
+ public:
+ // Static utility methods
+
+ // Clones a 0-terminated C string, allocating memory using new. The
+ // caller is responsible for deleting the return value using
+ // delete[]. Returns the cloned string, or NULL if the input is
+ // NULL.
+ //
+ // This is different from strdup() in string.h, which allocates
+ // memory using malloc().
+ static const char* CloneCString(const char* c_str);
+
+#if GTEST_OS_WINDOWS_MOBILE
+ // Windows CE does not have the 'ANSI' versions of Win32 APIs. To be
+ // able to pass strings to Win32 APIs on CE we need to convert them
+ // to 'Unicode', UTF-16.
+
+ // Creates a UTF-16 wide string from the given ANSI string, allocating
+ // memory using new. The caller is responsible for deleting the return
+ // value using delete[]. Returns the wide string, or NULL if the
+ // input is NULL.
+ //
+ // The wide string is created using the ANSI codepage (CP_ACP) to
+ // match the behaviour of the ANSI versions of Win32 calls and the
+ // C runtime.
+ static LPCWSTR AnsiToUtf16(const char* c_str);
+
+ // Creates an ANSI string from the given wide string, allocating
+ // memory using new. The caller is responsible for deleting the return
+ // value using delete[]. Returns the ANSI string, or NULL if the
+ // input is NULL.
+ //
+ // The returned string is created using the ANSI codepage (CP_ACP) to
+ // match the behaviour of the ANSI versions of Win32 calls and the
+ // C runtime.
+ static const char* Utf16ToAnsi(LPCWSTR utf16_str);
+#endif
+
+ // Compares two C strings. Returns true iff they have the same content.
+ //
+ // Unlike strcmp(), this function can handle NULL argument(s). A
+ // NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool CStringEquals(const char* lhs, const char* rhs);
+
+ // Converts a wide C string to a String using the UTF-8 encoding.
+ // NULL will be converted to "(null)". If an error occurred during
+ // the conversion, "(failed to convert from wide string)" is
+ // returned.
+ static std::string ShowWideCString(const wchar_t* wide_c_str);
+
+ // Compares two wide C strings. Returns true iff they have the same
+ // content.
+ //
+ // Unlike wcscmp(), this function can handle NULL argument(s). A
+ // NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool WideCStringEquals(const wchar_t* lhs, const wchar_t* rhs);
+
+ // Compares two C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike strcasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool CaseInsensitiveCStringEquals(const char* lhs,
+ const char* rhs);
+
+ // Compares two wide C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike wcscasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL wide C string,
+ // including the empty string.
+ // NB: The implementations on different platforms slightly differ.
+ // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+ // environment variable. On GNU platform this method uses wcscasecmp
+ // which compares according to LC_CTYPE category of the current locale.
+ // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+ // current locale.
+ static bool CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs);
+
+ // Returns true iff the given string ends with the given suffix, ignoring
+ // case. Any string is considered to end with an empty suffix.
+ static bool EndsWithCaseInsensitive(
+ const std::string& str, const std::string& suffix);
+
+ // Formats an int value as "%02d".
+ static std::string FormatIntWidth2(int value); // "%02d" for width == 2
+
+ // Formats an int value as "%X".
+ static std::string FormatHexInt(int value);
+
+ // Formats a byte as "%02X".
+ static std::string FormatByte(unsigned char value);
+
+ private:
+ String(); // Not meant to be instantiated.
+}; // class String
+
+// Gets the content of the stringstream's buffer as an std::string. Each '\0'
+// character in the buffer is replaced with "\\0".
+GTEST_API_ std::string StringStreamToString(::std::stringstream* stream);
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: keith.ray@gmail.com (Keith Ray)
+//
+// Google Test filepath utilities
+//
+// This header file declares classes and functions used internally by
+// Google Test. They are subject to change without notice.
+//
+// This file is #included in <gtest/internal/gtest-internal.h>.
+// Do not include this header file separately!
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+
+
+namespace testing {
+namespace internal {
+
+// FilePath - a class for file and directory pathname manipulation which
+// handles platform-specific conventions (like the pathname separator).
+// Used for helper functions for naming files in a directory for xml output.
+// Except for Set methods, all methods are const or static, which provides an
+// "immutable value object" -- useful for peace of mind.
+// A FilePath with a value ending in a path separator ("like/this/") represents
+// a directory, otherwise it is assumed to represent a file. In either case,
+// it may or may not represent an actual file or directory in the file system.
+// Names are NOT checked for syntax correctness -- no checking for illegal
+// characters, malformed paths, etc.
+
+class GTEST_API_ FilePath {
+ public:
+ FilePath() : pathname_("") { }
+ FilePath(const FilePath& rhs) : pathname_(rhs.pathname_) { }
+
+ explicit FilePath(const std::string& pathname) : pathname_(pathname) {
+ Normalize();
+ }
+
+ FilePath& operator=(const FilePath& rhs) {
+ Set(rhs);
+ return *this;
+ }
+
+ void Set(const FilePath& rhs) {
+ pathname_ = rhs.pathname_;
+ }
+
+ const std::string& string() const { return pathname_; }
+ const char* c_str() const { return pathname_.c_str(); }
+
+ // Returns the current working directory, or "" if unsuccessful.
+ static FilePath GetCurrentDir();
+
+ // Given directory = "dir", base_name = "test", number = 0,
+ // extension = "xml", returns "dir/test.xml". If number is greater
+ // than zero (e.g., 12), returns "dir/test_12.xml".
+ // On Windows platform, uses \ as the separator rather than /.
+ static FilePath MakeFileName(const FilePath& directory,
+ const FilePath& base_name,
+ int number,
+ const char* extension);
+
+ // Given directory = "dir", relative_path = "test.xml",
+ // returns "dir/test.xml".
+ // On Windows, uses \ as the separator rather than /.
+ static FilePath ConcatPaths(const FilePath& directory,
+ const FilePath& relative_path);
+
+ // Returns a pathname for a file that does not currently exist. The pathname
+ // will be directory/base_name.extension or
+ // directory/base_name_<number>.extension if directory/base_name.extension
+ // already exists. The number will be incremented until a pathname is found
+ // that does not already exist.
+ // Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+ // There could be a race condition if two or more processes are calling this
+ // function at the same time -- they could both pick the same filename.
+ static FilePath GenerateUniqueFileName(const FilePath& directory,
+ const FilePath& base_name,
+ const char* extension);
+
+ // Returns true iff the path is "".
+ bool IsEmpty() const { return pathname_.empty(); }
+
+ // If input name has a trailing separator character, removes it and returns
+ // the name, otherwise return the name string unmodified.
+ // On Windows platform, uses \ as the separator, other platforms use /.
+ FilePath RemoveTrailingPathSeparator() const;
+
+ // Returns a copy of the FilePath with the directory part removed.
+ // Example: FilePath("path/to/file").RemoveDirectoryName() returns
+ // FilePath("file"). If there is no directory part ("just_a_file"), it returns
+ // the FilePath unmodified. If there is no file part ("just_a_dir/") it
+ // returns an empty FilePath ("").
+ // On Windows platform, '\' is the path separator, otherwise it is '/'.
+ FilePath RemoveDirectoryName() const;
+
+ // RemoveFileName returns the directory path with the filename removed.
+ // Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+ // If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+ // FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+ // not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+ // On Windows platform, '\' is the path separator, otherwise it is '/'.
+ FilePath RemoveFileName() const;
+
+ // Returns a copy of the FilePath with the case-insensitive extension removed.
+ // Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+ // FilePath("dir/file"). If a case-insensitive extension is not
+ // found, returns a copy of the original FilePath.
+ FilePath RemoveExtension(const char* extension) const;
+
+ // Creates directories so that path exists. Returns true if successful or if
+ // the directories already exist; returns false if unable to create
+ // directories for any reason. Will also return false if the FilePath does
+ // not represent a directory (that is, it doesn't end with a path separator).
+ bool CreateDirectoriesRecursively() const;
+
+ // Create the directory so that path exists. Returns true if successful or
+ // if the directory already exists; returns false if unable to create the
+ // directory for any reason, including if the parent directory does not
+ // exist. Not named "CreateDirectory" because that's a macro on Windows.
+ bool CreateFolder() const;
+
+ // Returns true if FilePath describes something in the file-system,
+ // either a file, directory, or whatever, and that something exists.
+ bool FileOrDirectoryExists() const;
+
+ // Returns true if pathname describes a directory in the file-system
+ // that exists.
+ bool DirectoryExists() const;
+
+ // Returns true if FilePath ends with a path separator, which indicates that
+ // it is intended to represent a directory. Returns false otherwise.
+ // This does NOT check that a directory (or file) actually exists.
+ bool IsDirectory() const;
+
+ // Returns true if pathname describes a root directory. (Windows has one
+ // root directory per disk drive.)
+ bool IsRootDirectory() const;
+
+ // Returns true if pathname describes an absolute path.
+ bool IsAbsolutePath() const;
+
+ private:
+ // Replaces multiple consecutive separators with a single separator.
+ // For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+ // redundancies that might be in a pathname involving "." or "..".
+ //
+ // A pathname with multiple consecutive separators may occur either through
+ // user error or as a result of some scripts or APIs that generate a pathname
+ // with a trailing separator. On other platforms the same API or script
+ // may NOT generate a pathname with a trailing "/". Then elsewhere that
+ // pathname may have another "/" and pathname components added to it,
+ // without checking for the separator already being there.
+ // The script language and operating system may allow paths like "foo//bar"
+ // but some of the functions in FilePath will not handle that correctly. In
+ // particular, RemoveTrailingPathSeparator() only removes one separator, and
+ // it is called in CreateDirectoriesRecursively() assuming that it will change
+ // a pathname from directory syntax (trailing separator) to filename syntax.
+ //
+ // On Windows this method also replaces the alternate path separator '/' with
+ // the primary path separator '\\', so that for example "bar\\/\\foo" becomes
+ // "bar\\foo".
+
+ void Normalize();
+
+ // Returns a pointer to the last occurence of a valid path separator in
+ // the FilePath. On Windows, for example, both '/' and '\' are valid path
+ // separators. Returns NULL if no path separator was found.
+ const char* FindLastPathSeparator() const;
+
+ std::string pathname_;
+}; // class FilePath
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+// This file was GENERATED by command:
+// pump.py gtest-type-util.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Type utilities needed for implementing typed and type-parameterized
+// tests. This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+// Currently we support at most 50 types in a list, and at most 50
+// type-parameterized tests in one type-parameterized test case.
+// Please contact googletestframework@googlegroups.com if you need
+// more.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+
+// #ifdef __GNUC__ is too general here. It is possible to use gcc without using
+// libstdc++ (which is where cxxabi.h comes from).
+# if GTEST_HAS_CXXABI_H_
+# include <cxxabi.h>
+# elif defined(__HP_aCC)
+# include <acxx_demangle.h>
+# endif // GTEST_HASH_CXXABI_H_
+
+namespace testing {
+namespace internal {
+
+// GetTypeName<T>() returns a human-readable name of type T.
+// NB: This function is also used in Google Mock, so don't move it inside of
+// the typed-test-only section below.
+template <typename T>
+std::string GetTypeName() {
+# if GTEST_HAS_RTTI
+
+ const char* const name = typeid(T).name();
+# if GTEST_HAS_CXXABI_H_ || defined(__HP_aCC)
+ int status = 0;
+ // gcc's implementation of typeid(T).name() mangles the type name,
+ // so we have to demangle it.
+# if GTEST_HAS_CXXABI_H_
+ using abi::__cxa_demangle;
+# endif // GTEST_HAS_CXXABI_H_
+ char* const readable_name = __cxa_demangle(name, 0, 0, &status);
+ const std::string name_str(status == 0 ? readable_name : name);
+ free(readable_name);
+ return name_str;
+# else
+ return name;
+# endif // GTEST_HAS_CXXABI_H_ || __HP_aCC
+
+# else
+
+ return "<type>";
+
+# endif // GTEST_HAS_RTTI
+}
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// AssertyTypeEq<T1, T2>::type is defined iff T1 and T2 are the same
+// type. This can be used as a compile-time assertion to ensure that
+// two types are equal.
+
+template <typename T1, typename T2>
+struct AssertTypeEq;
+
+template <typename T>
+struct AssertTypeEq<T, T> {
+ typedef bool type;
+};
+
+// A unique type used as the default value for the arguments of class
+// template Types. This allows us to simulate variadic templates
+// (e.g. Types<int>, Type<int, double>, and etc), which C++ doesn't
+// support directly.
+struct None {};
+
+// The following family of struct and struct templates are used to
+// represent type lists. In particular, TypesN<T1, T2, ..., TN>
+// represents a type list with N types (T1, T2, ..., and TN) in it.
+// Except for Types0, every struct in the family has two member types:
+// Head for the first type in the list, and Tail for the rest of the
+// list.
+
+// The empty type list.
+struct Types0 {};
+
+// Type lists of length 1, 2, 3, and so on.
+
+template <typename T1>
+struct Types1 {
+ typedef T1 Head;
+ typedef Types0 Tail;
+};
+template <typename T1, typename T2>
+struct Types2 {
+ typedef T1 Head;
+ typedef Types1<T2> Tail;
+};
+
+template <typename T1, typename T2, typename T3>
+struct Types3 {
+ typedef T1 Head;
+ typedef Types2<T2, T3> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types4 {
+ typedef T1 Head;
+ typedef Types3<T2, T3, T4> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types5 {
+ typedef T1 Head;
+ typedef Types4<T2, T3, T4, T5> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+struct Types6 {
+ typedef T1 Head;
+ typedef Types5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+struct Types7 {
+ typedef T1 Head;
+ typedef Types6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+struct Types8 {
+ typedef T1 Head;
+ typedef Types7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+struct Types9 {
+ typedef T1 Head;
+ typedef Types8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types10 {
+ typedef T1 Head;
+ typedef Types9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+struct Types11 {
+ typedef T1 Head;
+ typedef Types10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+struct Types12 {
+ typedef T1 Head;
+ typedef Types11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+struct Types13 {
+ typedef T1 Head;
+ typedef Types12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+struct Types14 {
+ typedef T1 Head;
+ typedef Types13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types15 {
+ typedef T1 Head;
+ typedef Types14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+struct Types16 {
+ typedef T1 Head;
+ typedef Types15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+struct Types17 {
+ typedef T1 Head;
+ typedef Types16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+struct Types18 {
+ typedef T1 Head;
+ typedef Types17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+struct Types19 {
+ typedef T1 Head;
+ typedef Types18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types20 {
+ typedef T1 Head;
+ typedef Types19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+struct Types21 {
+ typedef T1 Head;
+ typedef Types20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+struct Types22 {
+ typedef T1 Head;
+ typedef Types21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+struct Types23 {
+ typedef T1 Head;
+ typedef Types22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+struct Types24 {
+ typedef T1 Head;
+ typedef Types23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types25 {
+ typedef T1 Head;
+ typedef Types24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+struct Types26 {
+ typedef T1 Head;
+ typedef Types25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+struct Types27 {
+ typedef T1 Head;
+ typedef Types26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+struct Types28 {
+ typedef T1 Head;
+ typedef Types27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+struct Types29 {
+ typedef T1 Head;
+ typedef Types28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types30 {
+ typedef T1 Head;
+ typedef Types29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+struct Types31 {
+ typedef T1 Head;
+ typedef Types30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+struct Types32 {
+ typedef T1 Head;
+ typedef Types31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+struct Types33 {
+ typedef T1 Head;
+ typedef Types32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+struct Types34 {
+ typedef T1 Head;
+ typedef Types33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types35 {
+ typedef T1 Head;
+ typedef Types34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+struct Types36 {
+ typedef T1 Head;
+ typedef Types35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+struct Types37 {
+ typedef T1 Head;
+ typedef Types36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+struct Types38 {
+ typedef T1 Head;
+ typedef Types37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+struct Types39 {
+ typedef T1 Head;
+ typedef Types38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types40 {
+ typedef T1 Head;
+ typedef Types39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+struct Types41 {
+ typedef T1 Head;
+ typedef Types40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+struct Types42 {
+ typedef T1 Head;
+ typedef Types41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+struct Types43 {
+ typedef T1 Head;
+ typedef Types42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+struct Types44 {
+ typedef T1 Head;
+ typedef Types43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types45 {
+ typedef T1 Head;
+ typedef Types44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+struct Types46 {
+ typedef T1 Head;
+ typedef Types45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+struct Types47 {
+ typedef T1 Head;
+ typedef Types46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+struct Types48 {
+ typedef T1 Head;
+ typedef Types47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+struct Types49 {
+ typedef T1 Head;
+ typedef Types48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+struct Types50 {
+ typedef T1 Head;
+ typedef Types49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+} // namespace internal
+
+// We don't want to require the users to write TypesN<...> directly,
+// as that would require them to count the length. Types<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Types<int>
+// will appear as Types<int, None, None, ..., None> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Types<T1, ..., TN>, and Google Test will translate
+// that to TypesN<T1, ..., TN> internally to make error messages
+// readable. The translation is done by the 'type' member of the
+// Types template.
+template <typename T1 = internal::None, typename T2 = internal::None,
+ typename T3 = internal::None, typename T4 = internal::None,
+ typename T5 = internal::None, typename T6 = internal::None,
+ typename T7 = internal::None, typename T8 = internal::None,
+ typename T9 = internal::None, typename T10 = internal::None,
+ typename T11 = internal::None, typename T12 = internal::None,
+ typename T13 = internal::None, typename T14 = internal::None,
+ typename T15 = internal::None, typename T16 = internal::None,
+ typename T17 = internal::None, typename T18 = internal::None,
+ typename T19 = internal::None, typename T20 = internal::None,
+ typename T21 = internal::None, typename T22 = internal::None,
+ typename T23 = internal::None, typename T24 = internal::None,
+ typename T25 = internal::None, typename T26 = internal::None,
+ typename T27 = internal::None, typename T28 = internal::None,
+ typename T29 = internal::None, typename T30 = internal::None,
+ typename T31 = internal::None, typename T32 = internal::None,
+ typename T33 = internal::None, typename T34 = internal::None,
+ typename T35 = internal::None, typename T36 = internal::None,
+ typename T37 = internal::None, typename T38 = internal::None,
+ typename T39 = internal::None, typename T40 = internal::None,
+ typename T41 = internal::None, typename T42 = internal::None,
+ typename T43 = internal::None, typename T44 = internal::None,
+ typename T45 = internal::None, typename T46 = internal::None,
+ typename T47 = internal::None, typename T48 = internal::None,
+ typename T49 = internal::None, typename T50 = internal::None>
+struct Types {
+ typedef internal::Types50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Types<internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types0 type;
+};
+template <typename T1>
+struct Types<T1, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types1<T1> type;
+};
+template <typename T1, typename T2>
+struct Types<T1, T2, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types2<T1, T2> type;
+};
+template <typename T1, typename T2, typename T3>
+struct Types<T1, T2, T3, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types3<T1, T2, T3> type;
+};
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types<T1, T2, T3, T4, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types4<T1, T2, T3, T4> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types<T1, T2, T3, T4, T5, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types5<T1, T2, T3, T4, T5> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+struct Types<T1, T2, T3, T4, T5, T6, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types6<T1, T2, T3, T4, T5, T6> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+struct Types<T1, T2, T3, T4, T5, T6, T7, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, internal::None, internal::None, internal::None> {
+ typedef internal::Types47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, T48, internal::None, internal::None> {
+ typedef internal::Types48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, T48, T49, internal::None> {
+ typedef internal::Types49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+namespace internal {
+
+# define GTEST_TEMPLATE_ template <typename T> class
+
+// The template "selector" struct TemplateSel<Tmpl> is used to
+// represent Tmpl, which must be a class template with one type
+// parameter, as a type. TemplateSel<Tmpl>::Bind<T>::type is defined
+// as the type Tmpl<T>. This allows us to actually instantiate the
+// template "selected" by TemplateSel<Tmpl>.
+//
+// This trick is necessary for simulating typedef for class templates,
+// which C++ doesn't support directly.
+template <GTEST_TEMPLATE_ Tmpl>
+struct TemplateSel {
+ template <typename T>
+ struct Bind {
+ typedef Tmpl<T> type;
+ };
+};
+
+# define GTEST_BIND_(TmplSel, T) \
+ TmplSel::template Bind<T>::type
+
+// A unique struct template used as the default value for the
+// arguments of class template Templates. This allows us to simulate
+// variadic templates (e.g. Templates<int>, Templates<int, double>,
+// and etc), which C++ doesn't support directly.
+template <typename T>
+struct NoneT {};
+
+// The following family of struct and struct templates are used to
+// represent template lists. In particular, TemplatesN<T1, T2, ...,
+// TN> represents a list of N templates (T1, T2, ..., and TN). Except
+// for Templates0, every struct in the family has two member types:
+// Head for the selector of the first template in the list, and Tail
+// for the rest of the list.
+
+// The empty template list.
+struct Templates0 {};
+
+// Template lists of length 1, 2, 3, and so on.
+
+template <GTEST_TEMPLATE_ T1>
+struct Templates1 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates0 Tail;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates2 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates1<T2> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates3 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates2<T2, T3> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4>
+struct Templates4 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates3<T2, T3, T4> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates5 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates4<T2, T3, T4, T5> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates6 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7>
+struct Templates7 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates8 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates9 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10>
+struct Templates10 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates11 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates12 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13>
+struct Templates13 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates14 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates15 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16>
+struct Templates16 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates17 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates18 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19>
+struct Templates19 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates20 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates21 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22>
+struct Templates22 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates23 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates24 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25>
+struct Templates25 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates26 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates27 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28>
+struct Templates28 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates29 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates30 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31>
+struct Templates31 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates32 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates33 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34>
+struct Templates34 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates35 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates36 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37>
+struct Templates37 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates38 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates39 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40>
+struct Templates40 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates41 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates42 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43>
+struct Templates43 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates44 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates45 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46>
+struct Templates46 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates47 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates48 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49>
+struct Templates49 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49, GTEST_TEMPLATE_ T50>
+struct Templates50 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+// We don't want to require the users to write TemplatesN<...> directly,
+// as that would require them to count the length. Templates<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Templates<list>
+// will appear as Templates<list, NoneT, NoneT, ..., NoneT> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Templates<T1, ..., TN>, and Google Test will translate
+// that to TemplatesN<T1, ..., TN> internally to make error messages
+// readable. The translation is done by the 'type' member of the
+// Templates template.
+template <GTEST_TEMPLATE_ T1 = NoneT, GTEST_TEMPLATE_ T2 = NoneT,
+ GTEST_TEMPLATE_ T3 = NoneT, GTEST_TEMPLATE_ T4 = NoneT,
+ GTEST_TEMPLATE_ T5 = NoneT, GTEST_TEMPLATE_ T6 = NoneT,
+ GTEST_TEMPLATE_ T7 = NoneT, GTEST_TEMPLATE_ T8 = NoneT,
+ GTEST_TEMPLATE_ T9 = NoneT, GTEST_TEMPLATE_ T10 = NoneT,
+ GTEST_TEMPLATE_ T11 = NoneT, GTEST_TEMPLATE_ T12 = NoneT,
+ GTEST_TEMPLATE_ T13 = NoneT, GTEST_TEMPLATE_ T14 = NoneT,
+ GTEST_TEMPLATE_ T15 = NoneT, GTEST_TEMPLATE_ T16 = NoneT,
+ GTEST_TEMPLATE_ T17 = NoneT, GTEST_TEMPLATE_ T18 = NoneT,
+ GTEST_TEMPLATE_ T19 = NoneT, GTEST_TEMPLATE_ T20 = NoneT,
+ GTEST_TEMPLATE_ T21 = NoneT, GTEST_TEMPLATE_ T22 = NoneT,
+ GTEST_TEMPLATE_ T23 = NoneT, GTEST_TEMPLATE_ T24 = NoneT,
+ GTEST_TEMPLATE_ T25 = NoneT, GTEST_TEMPLATE_ T26 = NoneT,
+ GTEST_TEMPLATE_ T27 = NoneT, GTEST_TEMPLATE_ T28 = NoneT,
+ GTEST_TEMPLATE_ T29 = NoneT, GTEST_TEMPLATE_ T30 = NoneT,
+ GTEST_TEMPLATE_ T31 = NoneT, GTEST_TEMPLATE_ T32 = NoneT,
+ GTEST_TEMPLATE_ T33 = NoneT, GTEST_TEMPLATE_ T34 = NoneT,
+ GTEST_TEMPLATE_ T35 = NoneT, GTEST_TEMPLATE_ T36 = NoneT,
+ GTEST_TEMPLATE_ T37 = NoneT, GTEST_TEMPLATE_ T38 = NoneT,
+ GTEST_TEMPLATE_ T39 = NoneT, GTEST_TEMPLATE_ T40 = NoneT,
+ GTEST_TEMPLATE_ T41 = NoneT, GTEST_TEMPLATE_ T42 = NoneT,
+ GTEST_TEMPLATE_ T43 = NoneT, GTEST_TEMPLATE_ T44 = NoneT,
+ GTEST_TEMPLATE_ T45 = NoneT, GTEST_TEMPLATE_ T46 = NoneT,
+ GTEST_TEMPLATE_ T47 = NoneT, GTEST_TEMPLATE_ T48 = NoneT,
+ GTEST_TEMPLATE_ T49 = NoneT, GTEST_TEMPLATE_ T50 = NoneT>
+struct Templates {
+ typedef Templates50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Templates<NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates0 type;
+};
+template <GTEST_TEMPLATE_ T1>
+struct Templates<T1, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates1<T1> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates<T1, T2, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates2<T1, T2> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates<T1, T2, T3, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates3<T1, T2, T3> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4>
+struct Templates<T1, T2, T3, T4, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates4<T1, T2, T3, T4> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates<T1, T2, T3, T4, T5, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates5<T1, T2, T3, T4, T5> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates<T1, T2, T3, T4, T5, T6, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates6<T1, T2, T3, T4, T5, T6> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, NoneT, NoneT, NoneT> {
+ typedef Templates47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, T48, NoneT, NoneT> {
+ typedef Templates48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, T48, T49, NoneT> {
+ typedef Templates49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+// The TypeList template makes it possible to use either a single type
+// or a Types<...> list in TYPED_TEST_CASE() and
+// INSTANTIATE_TYPED_TEST_CASE_P().
+
+template <typename T>
+struct TypeList {
+ typedef Types1<T> type;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+struct TypeList<Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> > {
+ typedef typename Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>::type type;
+};
+
+#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+// Due to C++ preprocessor weirdness, we need double indirection to
+// concatenate two tokens when one of them is __LINE__. Writing
+//
+// foo ## __LINE__
+//
+// will result in the token foo__LINE__, instead of foo followed by
+// the current line number. For more details, see
+// http://www.parashift.com/c++-faq-lite/misc-technical-issues.html#faq-39.6
+#define GTEST_CONCAT_TOKEN_(foo, bar) GTEST_CONCAT_TOKEN_IMPL_(foo, bar)
+#define GTEST_CONCAT_TOKEN_IMPL_(foo, bar) foo ## bar
+
+class ProtocolMessage;
+namespace proto2 { class Message; }
+
+namespace testing {
+
+// Forward declarations.
+
+class AssertionResult; // Result of an assertion.
+class Message; // Represents a failure message.
+class Test; // Represents a test.
+class TestInfo; // Information about a test.
+class TestPartResult; // Result of a test part.
+class UnitTest; // A collection of test cases.
+
+template <typename T>
+::std::string PrintToString(const T& value);
+
+namespace internal {
+
+struct TraceInfo; // Information about a trace point.
+class ScopedTrace; // Implements scoped trace.
+class TestInfoImpl; // Opaque implementation of TestInfo
+class UnitTestImpl; // Opaque implementation of UnitTest
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+GTEST_API_ extern const char kStackTraceMarker[];
+
+// Two overloaded helpers for checking at compile time whether an
+// expression is a null pointer literal (i.e. NULL or any 0-valued
+// compile-time integral constant). Their return values have
+// different sizes, so we can use sizeof() to test which version is
+// picked by the compiler. These helpers have no implementations, as
+// we only need their signatures.
+//
+// Given IsNullLiteralHelper(x), the compiler will pick the first
+// version if x can be implicitly converted to Secret*, and pick the
+// second version otherwise. Since Secret is a secret and incomplete
+// type, the only expression a user can write that has type Secret* is
+// a null pointer literal. Therefore, we know that x is a null
+// pointer literal if and only if the first version is picked by the
+// compiler.
+char IsNullLiteralHelper(Secret* p);
+char (&IsNullLiteralHelper(...))[2]; // NOLINT
+
+// A compile-time bool constant that is true if and only if x is a
+// null pointer literal (i.e. NULL or any 0-valued compile-time
+// integral constant).
+#ifdef GTEST_ELLIPSIS_NEEDS_POD_
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_IS_NULL_LITERAL_(x) false
+#else
+# define GTEST_IS_NULL_LITERAL_(x) \
+ (sizeof(::testing::internal::IsNullLiteralHelper(x)) == 1)
+#endif // GTEST_ELLIPSIS_NEEDS_POD_
+
+// Appends the user-supplied message to the Google-Test-generated message.
+GTEST_API_ std::string AppendUserMessage(
+ const std::string& gtest_msg, const Message& user_msg);
+
+#if GTEST_HAS_EXCEPTIONS
+
+// This exception is thrown by (and only by) a failed Google Test
+// assertion when GTEST_FLAG(throw_on_failure) is true (if exceptions
+// are enabled). We derive it from std::runtime_error, which is for
+// errors presumably detectable only at run time. Since
+// std::runtime_error inherits from std::exception, many testing
+// frameworks know how to extract and print the message inside it.
+class GTEST_API_ GoogleTestFailureException : public ::std::runtime_error {
+ public:
+ explicit GoogleTestFailureException(const TestPartResult& failure);
+};
+
+#endif // GTEST_HAS_EXCEPTIONS
+
+// A helper class for creating scoped traces in user programs.
+class GTEST_API_ ScopedTrace {
+ public:
+ // The c'tor pushes the given source file location and message onto
+ // a trace stack maintained by Google Test.
+ ScopedTrace(const char* file, int line, const Message& message);
+
+ // The d'tor pops the info pushed by the c'tor.
+ //
+ // Note that the d'tor is not virtual in order to be efficient.
+ // Don't inherit from ScopedTrace!
+ ~ScopedTrace();
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedTrace);
+} GTEST_ATTRIBUTE_UNUSED_; // A ScopedTrace object does its job in its
+ // c'tor and d'tor. Therefore it doesn't
+ // need to be used otherwise.
+
+namespace edit_distance {
+// Returns the optimal edits to go from 'left' to 'right'.
+// All edits cost the same, with replace having lower priority than
+// add/remove.
+// Simple implementation of the Wagner–Fischer algorithm.
+// See http://en.wikipedia.org/wiki/Wagner-Fischer_algorithm
+enum EditType { kMatch, kAdd, kRemove, kReplace };
+GTEST_API_ std::vector<EditType> CalculateOptimalEdits(
+ const std::vector<size_t>& left, const std::vector<size_t>& right);
+
+// Same as above, but the input is represented as strings.
+GTEST_API_ std::vector<EditType> CalculateOptimalEdits(
+ const std::vector<std::string>& left,
+ const std::vector<std::string>& right);
+
+// Create a diff of the input strings in Unified diff format.
+GTEST_API_ std::string CreateUnifiedDiff(const std::vector<std::string>& left,
+ const std::vector<std::string>& right,
+ size_t context = 2);
+
+} // namespace edit_distance
+
+// Calculate the diff between 'left' and 'right' and return it in unified diff
+// format.
+// If not null, stores in 'total_line_count' the total number of lines found
+// in left + right.
+GTEST_API_ std::string DiffStrings(const std::string& left,
+ const std::string& right,
+ size_t* total_line_count);
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+// expected_expression: "foo"
+// actual_expression: "bar"
+// expected_value: "5"
+// actual_value: "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*. When it's true, the string " (ignoring case)" will
+// be inserted into the message.
+GTEST_API_ AssertionResult EqFailure(const char* expected_expression,
+ const char* actual_expression,
+ const std::string& expected_value,
+ const std::string& actual_value,
+ bool ignoring_case);
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+GTEST_API_ std::string GetBoolAssertionFailureMessage(
+ const AssertionResult& assertion_result,
+ const char* expression_text,
+ const char* actual_predicate_value,
+ const char* expected_predicate_value);
+
+// This template class represents an IEEE floating-point number
+// (either single-precision or double-precision, depending on the
+// template parameters).
+//
+// The purpose of this class is to do more sophisticated number
+// comparison. (Due to round-off error, etc, it's very unlikely that
+// two floating-points will be equal exactly. Hence a naive
+// comparison by the == operation often doesn't work.)
+//
+// Format of IEEE floating-point:
+//
+// The most-significant bit being the leftmost, an IEEE
+// floating-point looks like
+//
+// sign_bit exponent_bits fraction_bits
+//
+// Here, sign_bit is a single bit that designates the sign of the
+// number.
+//
+// For float, there are 8 exponent bits and 23 fraction bits.
+//
+// For double, there are 11 exponent bits and 52 fraction bits.
+//
+// More details can be found at
+// http://en.wikipedia.org/wiki/IEEE_floating-point_standard.
+//
+// Template parameter:
+//
+// RawType: the raw floating-point type (either float or double)
+template <typename RawType>
+class FloatingPoint {
+ public:
+ // Defines the unsigned integer type that has the same size as the
+ // floating point number.
+ typedef typename TypeWithSize<sizeof(RawType)>::UInt Bits;
+
+ // Constants.
+
+ // # of bits in a number.
+ static const size_t kBitCount = 8*sizeof(RawType);
+
+ // # of fraction bits in a number.
+ static const size_t kFractionBitCount =
+ std::numeric_limits<RawType>::digits - 1;
+
+ // # of exponent bits in a number.
+ static const size_t kExponentBitCount = kBitCount - 1 - kFractionBitCount;
+
+ // The mask for the sign bit.
+ static const Bits kSignBitMask = static_cast<Bits>(1) << (kBitCount - 1);
+
+ // The mask for the fraction bits.
+ static const Bits kFractionBitMask =
+ ~static_cast<Bits>(0) >> (kExponentBitCount + 1);
+
+ // The mask for the exponent bits.
+ static const Bits kExponentBitMask = ~(kSignBitMask | kFractionBitMask);
+
+ // How many ULP's (Units in the Last Place) we want to tolerate when
+ // comparing two numbers. The larger the value, the more error we
+ // allow. A 0 value means that two numbers must be exactly the same
+ // to be considered equal.
+ //
+ // The maximum error of a single floating-point operation is 0.5
+ // units in the last place. On Intel CPU's, all floating-point
+ // calculations are done with 80-bit precision, while double has 64
+ // bits. Therefore, 4 should be enough for ordinary use.
+ //
+ // See the following article for more details on ULP:
+ // http://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
+ static const size_t kMaxUlps = 4;
+
+ // Constructs a FloatingPoint from a raw floating-point number.
+ //
+ // On an Intel CPU, passing a non-normalized NAN (Not a Number)
+ // around may change its bits, although the new value is guaranteed
+ // to be also a NAN. Therefore, don't expect this constructor to
+ // preserve the bits in x when x is a NAN.
+ explicit FloatingPoint(const RawType& x) { u_.value_ = x; }
+
+ // Static methods
+
+ // Reinterprets a bit pattern as a floating-point number.
+ //
+ // This function is needed to test the AlmostEquals() method.
+ static RawType ReinterpretBits(const Bits bits) {
+ FloatingPoint fp(0);
+ fp.u_.bits_ = bits;
+ return fp.u_.value_;
+ }
+
+ // Returns the floating-point number that represent positive infinity.
+ static RawType Infinity() {
+ return ReinterpretBits(kExponentBitMask);
+ }
+
+ // Returns the maximum representable finite floating-point number.
+ static RawType Max();
+
+ // Non-static methods
+
+ // Returns the bits that represents this number.
+ const Bits &bits() const { return u_.bits_; }
+
+ // Returns the exponent bits of this number.
+ Bits exponent_bits() const { return kExponentBitMask & u_.bits_; }
+
+ // Returns the fraction bits of this number.
+ Bits fraction_bits() const { return kFractionBitMask & u_.bits_; }
+
+ // Returns the sign bit of this number.
+ Bits sign_bit() const { return kSignBitMask & u_.bits_; }
+
+ // Returns true iff this is NAN (not a number).
+ bool is_nan() const {
+ // It's a NAN if the exponent bits are all ones and the fraction
+ // bits are not entirely zeros.
+ return (exponent_bits() == kExponentBitMask) && (fraction_bits() != 0);
+ }
+
+ // Returns true iff this number is at most kMaxUlps ULP's away from
+ // rhs. In particular, this function:
+ //
+ // - returns false if either number is (or both are) NAN.
+ // - treats really large numbers as almost equal to infinity.
+ // - thinks +0.0 and -0.0 are 0 DLP's apart.
+ bool AlmostEquals(const FloatingPoint& rhs) const {
+ // The IEEE standard says that any comparison operation involving
+ // a NAN must return false.
+ if (is_nan() || rhs.is_nan()) return false;
+
+ return DistanceBetweenSignAndMagnitudeNumbers(u_.bits_, rhs.u_.bits_)
+ <= kMaxUlps;
+ }
+
+ private:
+ // The data type used to store the actual floating-point number.
+ union FloatingPointUnion {
+ RawType value_; // The raw floating-point number.
+ Bits bits_; // The bits that represent the number.
+ };
+
+ // Converts an integer from the sign-and-magnitude representation to
+ // the biased representation. More precisely, let N be 2 to the
+ // power of (kBitCount - 1), an integer x is represented by the
+ // unsigned number x + N.
+ //
+ // For instance,
+ //
+ // -N + 1 (the most negative number representable using
+ // sign-and-magnitude) is represented by 1;
+ // 0 is represented by N; and
+ // N - 1 (the biggest number representable using
+ // sign-and-magnitude) is represented by 2N - 1.
+ //
+ // Read http://en.wikipedia.org/wiki/Signed_number_representations
+ // for more details on signed number representations.
+ static Bits SignAndMagnitudeToBiased(const Bits &sam) {
+ if (kSignBitMask & sam) {
+ // sam represents a negative number.
+ return ~sam + 1;
+ } else {
+ // sam represents a positive number.
+ return kSignBitMask | sam;
+ }
+ }
+
+ // Given two numbers in the sign-and-magnitude representation,
+ // returns the distance between them as an unsigned number.
+ static Bits DistanceBetweenSignAndMagnitudeNumbers(const Bits &sam1,
+ const Bits &sam2) {
+ const Bits biased1 = SignAndMagnitudeToBiased(sam1);
+ const Bits biased2 = SignAndMagnitudeToBiased(sam2);
+ return (biased1 >= biased2) ? (biased1 - biased2) : (biased2 - biased1);
+ }
+
+ FloatingPointUnion u_;
+};
+
+// We cannot use std::numeric_limits<T>::max() as it clashes with the max()
+// macro defined by <windows.h>.
+template <>
+inline float FloatingPoint<float>::Max() { return FLT_MAX; }
+template <>
+inline double FloatingPoint<double>::Max() { return DBL_MAX; }
+
+// Typedefs the instances of the FloatingPoint template class that we
+// care to use.
+typedef FloatingPoint<float> Float;
+typedef FloatingPoint<double> Double;
+
+// In order to catch the mistake of putting tests that use different
+// test fixture classes in the same test case, we need to assign
+// unique IDs to fixture classes and compare them. The TypeId type is
+// used to hold such IDs. The user should treat TypeId as an opaque
+// type: the only operation allowed on TypeId values is to compare
+// them for equality using the == operator.
+typedef const void* TypeId;
+
+template <typename T>
+class TypeIdHelper {
+ public:
+ // dummy_ must not have a const type. Otherwise an overly eager
+ // compiler (e.g. MSVC 7.1 & 8.0) may try to merge
+ // TypeIdHelper<T>::dummy_ for different Ts as an "optimization".
+ static bool dummy_;
+};
+
+template <typename T>
+bool TypeIdHelper<T>::dummy_ = false;
+
+// GetTypeId<T>() returns the ID of type T. Different values will be
+// returned for different types. Calling the function twice with the
+// same type argument is guaranteed to return the same ID.
+template <typename T>
+TypeId GetTypeId() {
+ // The compiler is required to allocate a different
+ // TypeIdHelper<T>::dummy_ variable for each T used to instantiate
+ // the template. Therefore, the address of dummy_ is guaranteed to
+ // be unique.
+ return &(TypeIdHelper<T>::dummy_);
+}
+
+// Returns the type ID of ::testing::Test. Always call this instead
+// of GetTypeId< ::testing::Test>() to get the type ID of
+// ::testing::Test, as the latter may give the wrong result due to a
+// suspected linker bug when compiling Google Test as a Mac OS X
+// framework.
+GTEST_API_ TypeId GetTestTypeId();
+
+// Defines the abstract factory interface that creates instances
+// of a Test object.
+class TestFactoryBase {
+ public:
+ virtual ~TestFactoryBase() {}
+
+ // Creates a test instance to run. The instance is both created and destroyed
+ // within TestInfoImpl::Run()
+ virtual Test* CreateTest() = 0;
+
+ protected:
+ TestFactoryBase() {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestFactoryBase);
+};
+
+// This class provides implementation of TeastFactoryBase interface.
+// It is used in TEST and TEST_F macros.
+template <class TestClass>
+class TestFactoryImpl : public TestFactoryBase {
+ public:
+ virtual Test* CreateTest() { return new TestClass; }
+};
+
+#if GTEST_OS_WINDOWS
+
+// Predicate-formatters for implementing the HRESULT checking macros
+// {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}
+// We pass a long instead of HRESULT to avoid causing an
+// include dependency for the HRESULT type.
+GTEST_API_ AssertionResult IsHRESULTSuccess(const char* expr,
+ long hr); // NOLINT
+GTEST_API_ AssertionResult IsHRESULTFailure(const char* expr,
+ long hr); // NOLINT
+
+#endif // GTEST_OS_WINDOWS
+
+// Types of SetUpTestCase() and TearDownTestCase() functions.
+typedef void (*SetUpTestCaseFunc)();
+typedef void (*TearDownTestCaseFunc)();
+
+struct CodeLocation {
+ CodeLocation(const string& a_file, int a_line) : file(a_file), line(a_line) {}
+
+ string file;
+ int line;
+};
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// name: name of the test
+// type_param the name of the test's type parameter, or NULL if
+// this is not a typed or a type-parameterized test.
+// value_param text representation of the test's value parameter,
+// or NULL if this is not a type-parameterized test.
+// code_location: code location where the test is defined
+// fixture_class_id: ID of the test fixture class
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+// factory: pointer to the factory that creates a test object.
+// The newly created TestInfo instance will assume
+// ownership of the factory object.
+GTEST_API_ TestInfo* MakeAndRegisterTestInfo(
+ const char* test_case_name,
+ const char* name,
+ const char* type_param,
+ const char* value_param,
+ CodeLocation code_location,
+ TypeId fixture_class_id,
+ SetUpTestCaseFunc set_up_tc,
+ TearDownTestCaseFunc tear_down_tc,
+ TestFactoryBase* factory);
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false. None of pstr, *pstr, and prefix can be NULL.
+GTEST_API_ bool SkipPrefix(const char* prefix, const char** pstr);
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// State of the definition of a type-parameterized test case.
+class GTEST_API_ TypedTestCasePState {
+ public:
+ TypedTestCasePState() : registered_(false) {}
+
+ // Adds the given test name to defined_test_names_ and return true
+ // if the test case hasn't been registered; otherwise aborts the
+ // program.
+ bool AddTestName(const char* file, int line, const char* case_name,
+ const char* test_name) {
+ if (registered_) {
+ fprintf(stderr, "%s Test %s must be defined before "
+ "REGISTER_TYPED_TEST_CASE_P(%s, ...).\n",
+ FormatFileLocation(file, line).c_str(), test_name, case_name);
+ fflush(stderr);
+ posix::Abort();
+ }
+ registered_tests_.insert(
+ ::std::make_pair(test_name, CodeLocation(file, line)));
+ return true;
+ }
+
+ bool TestExists(const std::string& test_name) const {
+ return registered_tests_.count(test_name) > 0;
+ }
+
+ const CodeLocation& GetCodeLocation(const std::string& test_name) const {
+ RegisteredTestsMap::const_iterator it = registered_tests_.find(test_name);
+ GTEST_CHECK_(it != registered_tests_.end());
+ return it->second;
+ }
+
+ // Verifies that registered_tests match the test names in
+ // defined_test_names_; returns registered_tests if successful, or
+ // aborts the program otherwise.
+ const char* VerifyRegisteredTestNames(
+ const char* file, int line, const char* registered_tests);
+
+ private:
+ typedef ::std::map<std::string, CodeLocation> RegisteredTestsMap;
+
+ bool registered_;
+ RegisteredTestsMap registered_tests_;
+};
+
+// Skips to the first non-space char after the first comma in 'str';
+// returns NULL if no comma is found in 'str'.
+inline const char* SkipComma(const char* str) {
+ const char* comma = strchr(str, ',');
+ if (comma == NULL) {
+ return NULL;
+ }
+ while (IsSpace(*(++comma))) {}
+ return comma;
+}
+
+// Returns the prefix of 'str' before the first comma in it; returns
+// the entire string if it contains no comma.
+inline std::string GetPrefixUntilComma(const char* str) {
+ const char* comma = strchr(str, ',');
+ return comma == NULL ? str : std::string(str, comma);
+}
+
+// Splits a given string on a given delimiter, populating a given
+// vector with the fields.
+void SplitString(const ::std::string& str, char delimiter,
+ ::std::vector< ::std::string>* dest);
+
+// TypeParameterizedTest<Fixture, TestSel, Types>::Register()
+// registers a list of type-parameterized tests with Google Test. The
+// return value is insignificant - we just need to return something
+// such that we can call this function in a namespace scope.
+//
+// Implementation note: The GTEST_TEMPLATE_ macro declares a template
+// template parameter. It's defined in gtest-type-util.h.
+template <GTEST_TEMPLATE_ Fixture, class TestSel, typename Types>
+class TypeParameterizedTest {
+ public:
+ // 'index' is the index of the test in the type list 'Types'
+ // specified in INSTANTIATE_TYPED_TEST_CASE_P(Prefix, TestCase,
+ // Types). Valid values for 'index' are [0, N - 1] where N is the
+ // length of Types.
+ static bool Register(const char* prefix,
+ CodeLocation code_location,
+ const char* case_name, const char* test_names,
+ int index) {
+ typedef typename Types::Head Type;
+ typedef Fixture<Type> FixtureClass;
+ typedef typename GTEST_BIND_(TestSel, Type) TestClass;
+
+ // First, registers the first type-parameterized test in the type
+ // list.
+ MakeAndRegisterTestInfo(
+ (std::string(prefix) + (prefix[0] == '\0' ? "" : "/") + case_name + "/"
+ + StreamableToString(index)).c_str(),
+ StripTrailingSpaces(GetPrefixUntilComma(test_names)).c_str(),
+ GetTypeName<Type>().c_str(),
+ NULL, // No value parameter.
+ code_location,
+ GetTypeId<FixtureClass>(),
+ TestClass::SetUpTestCase,
+ TestClass::TearDownTestCase,
+ new TestFactoryImpl<TestClass>);
+
+ // Next, recurses (at compile time) with the tail of the type list.
+ return TypeParameterizedTest<Fixture, TestSel, typename Types::Tail>
+ ::Register(prefix, code_location, case_name, test_names, index + 1);
+ }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, class TestSel>
+class TypeParameterizedTest<Fixture, TestSel, Types0> {
+ public:
+ static bool Register(const char* /*prefix*/, CodeLocation,
+ const char* /*case_name*/, const char* /*test_names*/,
+ int /*index*/) {
+ return true;
+ }
+};
+
+// TypeParameterizedTestCase<Fixture, Tests, Types>::Register()
+// registers *all combinations* of 'Tests' and 'Types' with Google
+// Test. The return value is insignificant - we just need to return
+// something such that we can call this function in a namespace scope.
+template <GTEST_TEMPLATE_ Fixture, typename Tests, typename Types>
+class TypeParameterizedTestCase {
+ public:
+ static bool Register(const char* prefix, CodeLocation code_location,
+ const TypedTestCasePState* state,
+ const char* case_name, const char* test_names) {
+ std::string test_name = StripTrailingSpaces(
+ GetPrefixUntilComma(test_names));
+ if (!state->TestExists(test_name)) {
+ fprintf(stderr, "Failed to get code location for test %s.%s at %s.",
+ case_name, test_name.c_str(),
+ FormatFileLocation(code_location.file.c_str(),
+ code_location.line).c_str());
+ fflush(stderr);
+ posix::Abort();
+ }
+ const CodeLocation& test_location = state->GetCodeLocation(test_name);
+
+ typedef typename Tests::Head Head;
+
+ // First, register the first test in 'Test' for each type in 'Types'.
+ TypeParameterizedTest<Fixture, Head, Types>::Register(
+ prefix, test_location, case_name, test_names, 0);
+
+ // Next, recurses (at compile time) with the tail of the test list.
+ return TypeParameterizedTestCase<Fixture, typename Tests::Tail, Types>
+ ::Register(prefix, code_location, state,
+ case_name, SkipComma(test_names));
+ }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, typename Types>
+class TypeParameterizedTestCase<Fixture, Templates0, Types> {
+ public:
+ static bool Register(const char* /*prefix*/, CodeLocation,
+ const TypedTestCasePState* /*state*/,
+ const char* /*case_name*/, const char* /*test_names*/) {
+ return true;
+ }
+};
+
+#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+GTEST_API_ std::string GetCurrentOsStackTraceExceptTop(
+ UnitTest* unit_test, int skip_count);
+
+// Helpers for suppressing warnings on unreachable code or constant
+// condition.
+
+// Always returns true.
+GTEST_API_ bool AlwaysTrue();
+
+// Always returns false.
+inline bool AlwaysFalse() { return !AlwaysTrue(); }
+
+// Helper for suppressing false warning from Clang on a const char*
+// variable declared in a conditional expression always being NULL in
+// the else branch.
+struct GTEST_API_ ConstCharPtr {
+ ConstCharPtr(const char* str) : value(str) {}
+ operator bool() const { return true; }
+ const char* value;
+};
+
+// A simple Linear Congruential Generator for generating random
+// numbers with a uniform distribution. Unlike rand() and srand(), it
+// doesn't use global state (and therefore can't interfere with user
+// code). Unlike rand_r(), it's portable. An LCG isn't very random,
+// but it's good enough for our purposes.
+class GTEST_API_ Random {
+ public:
+ static const UInt32 kMaxRange = 1u << 31;
+
+ explicit Random(UInt32 seed) : state_(seed) {}
+
+ void Reseed(UInt32 seed) { state_ = seed; }
+
+ // Generates a random number from [0, range). Crashes if 'range' is
+ // 0 or greater than kMaxRange.
+ UInt32 Generate(UInt32 range);
+
+ private:
+ UInt32 state_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Random);
+};
+
+// Defining a variable of type CompileAssertTypesEqual<T1, T2> will cause a
+// compiler error iff T1 and T2 are different types.
+template <typename T1, typename T2>
+struct CompileAssertTypesEqual;
+
+template <typename T>
+struct CompileAssertTypesEqual<T, T> {
+};
+
+// Removes the reference from a type if it is a reference type,
+// otherwise leaves it unchanged. This is the same as
+// tr1::remove_reference, which is not widely available yet.
+template <typename T>
+struct RemoveReference { typedef T type; }; // NOLINT
+template <typename T>
+struct RemoveReference<T&> { typedef T type; }; // NOLINT
+
+// A handy wrapper around RemoveReference that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_REFERENCE_(T) \
+ typename ::testing::internal::RemoveReference<T>::type
+
+// Removes const from a type if it is a const type, otherwise leaves
+// it unchanged. This is the same as tr1::remove_const, which is not
+// widely available yet.
+template <typename T>
+struct RemoveConst { typedef T type; }; // NOLINT
+template <typename T>
+struct RemoveConst<const T> { typedef T type; }; // NOLINT
+
+// MSVC 8.0, Sun C++, and IBM XL C++ have a bug which causes the above
+// definition to fail to remove the const in 'const int[3]' and 'const
+// char[3][4]'. The following specialization works around the bug.
+template <typename T, size_t N>
+struct RemoveConst<const T[N]> {
+ typedef typename RemoveConst<T>::type type[N];
+};
+
+#if defined(_MSC_VER) && _MSC_VER < 1400
+// This is the only specialization that allows VC++ 7.1 to remove const in
+// 'const int[3] and 'const int[3][4]'. However, it causes trouble with GCC
+// and thus needs to be conditionally compiled.
+template <typename T, size_t N>
+struct RemoveConst<T[N]> {
+ typedef typename RemoveConst<T>::type type[N];
+};
+#endif
+
+// A handy wrapper around RemoveConst that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_CONST_(T) \
+ typename ::testing::internal::RemoveConst<T>::type
+
+// Turns const U&, U&, const U, and U all into U.
+#define GTEST_REMOVE_REFERENCE_AND_CONST_(T) \
+ GTEST_REMOVE_CONST_(GTEST_REMOVE_REFERENCE_(T))
+
+// Adds reference to a type if it is not a reference type,
+// otherwise leaves it unchanged. This is the same as
+// tr1::add_reference, which is not widely available yet.
+template <typename T>
+struct AddReference { typedef T& type; }; // NOLINT
+template <typename T>
+struct AddReference<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper around AddReference that works when the argument T
+// depends on template parameters.
+#define GTEST_ADD_REFERENCE_(T) \
+ typename ::testing::internal::AddReference<T>::type
+
+// Adds a reference to const on top of T as necessary. For example,
+// it transforms
+//
+// char ==> const char&
+// const char ==> const char&
+// char& ==> const char&
+// const char& ==> const char&
+//
+// The argument T must depend on some template parameters.
+#define GTEST_REFERENCE_TO_CONST_(T) \
+ GTEST_ADD_REFERENCE_(const GTEST_REMOVE_REFERENCE_(T))
+
+// ImplicitlyConvertible<From, To>::value is a compile-time bool
+// constant that's true iff type From can be implicitly converted to
+// type To.
+template <typename From, typename To>
+class ImplicitlyConvertible {
+ private:
+ // We need the following helper functions only for their types.
+ // They have no implementations.
+
+ // MakeFrom() is an expression whose type is From. We cannot simply
+ // use From(), as the type From may not have a public default
+ // constructor.
+ static typename AddReference<From>::type MakeFrom();
+
+ // These two functions are overloaded. Given an expression
+ // Helper(x), the compiler will pick the first version if x can be
+ // implicitly converted to type To; otherwise it will pick the
+ // second version.
+ //
+ // The first version returns a value of size 1, and the second
+ // version returns a value of size 2. Therefore, by checking the
+ // size of Helper(x), which can be done at compile time, we can tell
+ // which version of Helper() is used, and hence whether x can be
+ // implicitly converted to type To.
+ static char Helper(To);
+ static char (&Helper(...))[2]; // NOLINT
+
+ // We have to put the 'public' section after the 'private' section,
+ // or MSVC refuses to compile the code.
+ public:
+#if defined(__BORLANDC__)
+ // C++Builder cannot use member overload resolution during template
+ // instantiation. The simplest workaround is to use its C++0x type traits
+ // functions (C++Builder 2009 and above only).
+ static const bool value = __is_convertible(From, To);
+#else
+ // MSVC warns about implicitly converting from double to int for
+ // possible loss of data, so we need to temporarily disable the
+ // warning.
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4244)
+ static const bool value =
+ sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+#endif // __BORLANDC__
+};
+template <typename From, typename To>
+const bool ImplicitlyConvertible<From, To>::value;
+
+// IsAProtocolMessage<T>::value is a compile-time bool constant that's
+// true iff T is type ProtocolMessage, proto2::Message, or a subclass
+// of those.
+template <typename T>
+struct IsAProtocolMessage
+ : public bool_constant<
+ ImplicitlyConvertible<const T*, const ::ProtocolMessage*>::value ||
+ ImplicitlyConvertible<const T*, const ::proto2::Message*>::value> {
+};
+
+// When the compiler sees expression IsContainerTest<C>(0), if C is an
+// STL-style container class, the first overload of IsContainerTest
+// will be viable (since both C::iterator* and C::const_iterator* are
+// valid types and NULL can be implicitly converted to them). It will
+// be picked over the second overload as 'int' is a perfect match for
+// the type of argument 0. If C::iterator or C::const_iterator is not
+// a valid type, the first overload is not viable, and the second
+// overload will be picked. Therefore, we can determine whether C is
+// a container class by checking the type of IsContainerTest<C>(0).
+// The value of the expression is insignificant.
+//
+// Note that we look for both C::iterator and C::const_iterator. The
+// reason is that C++ injects the name of a class as a member of the
+// class itself (e.g. you can refer to class iterator as either
+// 'iterator' or 'iterator::iterator'). If we look for C::iterator
+// only, for example, we would mistakenly think that a class named
+// iterator is an STL container.
+//
+// Also note that the simpler approach of overloading
+// IsContainerTest(typename C::const_iterator*) and
+// IsContainerTest(...) doesn't work with Visual Age C++ and Sun C++.
+typedef int IsContainer;
+template <class C>
+IsContainer IsContainerTest(int /* dummy */,
+ typename C::iterator* /* it */ = NULL,
+ typename C::const_iterator* /* const_it */ = NULL) {
+ return 0;
+}
+
+typedef char IsNotContainer;
+template <class C>
+IsNotContainer IsContainerTest(long /* dummy */) { return '\0'; }
+
+// EnableIf<condition>::type is void when 'Cond' is true, and
+// undefined when 'Cond' is false. To use SFINAE to make a function
+// overload only apply when a particular expression is true, add
+// "typename EnableIf<expression>::type* = 0" as the last parameter.
+template<bool> struct EnableIf;
+template<> struct EnableIf<true> { typedef void type; }; // NOLINT
+
+// Utilities for native arrays.
+
+// ArrayEq() compares two k-dimensional native arrays using the
+// elements' operator==, where k can be any integer >= 0. When k is
+// 0, ArrayEq() degenerates into comparing a single pair of values.
+
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline bool ArrayEq(const T& lhs, const U& rhs) { return lhs == rhs; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline bool ArrayEq(const T(&lhs)[N], const U(&rhs)[N]) {
+ return internal::ArrayEq(lhs, N, rhs);
+}
+
+// This helper reduces code bloat. If we instead put its logic inside
+// the previous ArrayEq() function, arrays with different sizes would
+// lead to different copies of the template code.
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs) {
+ for (size_t i = 0; i != size; i++) {
+ if (!internal::ArrayEq(lhs[i], rhs[i]))
+ return false;
+ }
+ return true;
+}
+
+// Finds the first element in the iterator range [begin, end) that
+// equals elem. Element may be a native array type itself.
+template <typename Iter, typename Element>
+Iter ArrayAwareFind(Iter begin, Iter end, const Element& elem) {
+ for (Iter it = begin; it != end; ++it) {
+ if (internal::ArrayEq(*it, elem))
+ return it;
+ }
+ return end;
+}
+
+// CopyArray() copies a k-dimensional native array using the elements'
+// operator=, where k can be any integer >= 0. When k is 0,
+// CopyArray() degenerates into copying a single value.
+
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline void CopyArray(const T& from, U* to) { *to = from; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline void CopyArray(const T(&from)[N], U(*to)[N]) {
+ internal::CopyArray(from, N, *to);
+}
+
+// This helper reduces code bloat. If we instead put its logic inside
+// the previous CopyArray() function, arrays with different sizes
+// would lead to different copies of the template code.
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to) {
+ for (size_t i = 0; i != size; i++) {
+ internal::CopyArray(from[i], to + i);
+ }
+}
+
+// The relation between an NativeArray object (see below) and the
+// native array it represents.
+// We use 2 different structs to allow non-copyable types to be used, as long
+// as RelationToSourceReference() is passed.
+struct RelationToSourceReference {};
+struct RelationToSourceCopy {};
+
+// Adapts a native array to a read-only STL-style container. Instead
+// of the complete STL container concept, this adaptor only implements
+// members useful for Google Mock's container matchers. New members
+// should be added as needed. To simplify the implementation, we only
+// support Element being a raw type (i.e. having no top-level const or
+// reference modifier). It's the client's responsibility to satisfy
+// this requirement. Element can be an array type itself (hence
+// multi-dimensional arrays are supported).
+template <typename Element>
+class NativeArray {
+ public:
+ // STL-style container typedefs.
+ typedef Element value_type;
+ typedef Element* iterator;
+ typedef const Element* const_iterator;
+
+ // Constructs from a native array. References the source.
+ NativeArray(const Element* array, size_t count, RelationToSourceReference) {
+ InitRef(array, count);
+ }
+
+ // Constructs from a native array. Copies the source.
+ NativeArray(const Element* array, size_t count, RelationToSourceCopy) {
+ InitCopy(array, count);
+ }
+
+ // Copy constructor.
+ NativeArray(const NativeArray& rhs) {
+ (this->*rhs.clone_)(rhs.array_, rhs.size_);
+ }
+
+ ~NativeArray() {
+ if (clone_ != &NativeArray::InitRef)
+ delete[] array_;
+ }
+
+ // STL-style container methods.
+ size_t size() const { return size_; }
+ const_iterator begin() const { return array_; }
+ const_iterator end() const { return array_ + size_; }
+ bool operator==(const NativeArray& rhs) const {
+ return size() == rhs.size() &&
+ ArrayEq(begin(), size(), rhs.begin());
+ }
+
+ private:
+ enum {
+ kCheckTypeIsNotConstOrAReference = StaticAssertTypeEqHelper<
+ Element, GTEST_REMOVE_REFERENCE_AND_CONST_(Element)>::value,
+ };
+
+ // Initializes this object with a copy of the input.
+ void InitCopy(const Element* array, size_t a_size) {
+ Element* const copy = new Element[a_size];
+ CopyArray(array, a_size, copy);
+ array_ = copy;
+ size_ = a_size;
+ clone_ = &NativeArray::InitCopy;
+ }
+
+ // Initializes this object with a reference of the input.
+ void InitRef(const Element* array, size_t a_size) {
+ array_ = array;
+ size_ = a_size;
+ clone_ = &NativeArray::InitRef;
+ }
+
+ const Element* array_;
+ size_t size_;
+ void (NativeArray::*clone_)(const Element*, size_t);
+
+ GTEST_DISALLOW_ASSIGN_(NativeArray);
+};
+
+} // namespace internal
+} // namespace testing
+
+#define GTEST_MESSAGE_AT_(file, line, message, result_type) \
+ ::testing::internal::AssertHelper(result_type, file, line, message) \
+ = ::testing::Message()
+
+#define GTEST_MESSAGE_(message, result_type) \
+ GTEST_MESSAGE_AT_(__FILE__, __LINE__, message, result_type)
+
+#define GTEST_FATAL_FAILURE_(message) \
+ return GTEST_MESSAGE_(message, ::testing::TestPartResult::kFatalFailure)
+
+#define GTEST_NONFATAL_FAILURE_(message) \
+ GTEST_MESSAGE_(message, ::testing::TestPartResult::kNonFatalFailure)
+
+#define GTEST_SUCCESS_(message) \
+ GTEST_MESSAGE_(message, ::testing::TestPartResult::kSuccess)
+
+// Suppresses MSVC warnings 4072 (unreachable code) for the code following
+// statement if it returns or throws (or doesn't return or throw in some
+// situations).
+#define GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement) \
+ if (::testing::internal::AlwaysTrue()) { statement; }
+
+#define GTEST_TEST_THROW_(statement, expected_exception, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::ConstCharPtr gtest_msg = "") { \
+ bool gtest_caught_expected = false; \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (expected_exception const&) { \
+ gtest_caught_expected = true; \
+ } \
+ catch (...) { \
+ gtest_msg.value = \
+ "Expected: " #statement " throws an exception of type " \
+ #expected_exception ".\n Actual: it throws a different type."; \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+ } \
+ if (!gtest_caught_expected) { \
+ gtest_msg.value = \
+ "Expected: " #statement " throws an exception of type " \
+ #expected_exception ".\n Actual: it throws nothing."; \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__): \
+ fail(gtest_msg.value)
+
+#define GTEST_TEST_NO_THROW_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (...) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__): \
+ fail("Expected: " #statement " doesn't throw an exception.\n" \
+ " Actual: it throws.")
+
+#define GTEST_TEST_ANY_THROW_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ bool gtest_caught_any = false; \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (...) { \
+ gtest_caught_any = true; \
+ } \
+ if (!gtest_caught_any) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__): \
+ fail("Expected: " #statement " throws an exception.\n" \
+ " Actual: it doesn't.")
+
+
+// Implements Boolean test assertions such as EXPECT_TRUE. expression can be
+// either a boolean expression or an AssertionResult. text is a textual
+// represenation of expression as it was passed into the EXPECT_TRUE.
+#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (const ::testing::AssertionResult gtest_ar_ = \
+ ::testing::AssertionResult(expression)) \
+ ; \
+ else \
+ fail(::testing::internal::GetBoolAssertionFailureMessage(\
+ gtest_ar_, text, #actual, #expected).c_str())
+
+#define GTEST_TEST_NO_FATAL_FAILURE_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ ::testing::internal::HasNewFatalFailureHelper gtest_fatal_failure_checker; \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ if (gtest_fatal_failure_checker.has_new_fatal_failure()) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__): \
+ fail("Expected: " #statement " doesn't generate new fatal " \
+ "failures in the current thread.\n" \
+ " Actual: it does.")
+
+// Expands to the name of the class that implements the given test.
+#define GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+ test_case_name##_##test_name##_Test
+
+// Helper macro for defining tests.
+#define GTEST_TEST_(test_case_name, test_name, parent_class, parent_id)\
+class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) : public parent_class {\
+ public:\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {}\
+ private:\
+ virtual void TestBody();\
+ static ::testing::TestInfo* const test_info_ GTEST_ATTRIBUTE_UNUSED_;\
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name));\
+};\
+\
+::testing::TestInfo* const GTEST_TEST_CLASS_NAME_(test_case_name, test_name)\
+ ::test_info_ =\
+ ::testing::internal::MakeAndRegisterTestInfo(\
+ #test_case_name, #test_name, NULL, NULL, \
+ ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+ (parent_id), \
+ parent_class::SetUpTestCase, \
+ parent_class::TearDownTestCase, \
+ new ::testing::internal::TestFactoryImpl<\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>);\
+void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for death tests. It is
+// #included by gtest.h so a user doesn't need to include this
+// directly.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines internal utilities needed for implementing
+// death tests. They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+
+#include <stdio.h>
+
+namespace testing {
+namespace internal {
+
+GTEST_DECLARE_string_(internal_run_death_test);
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kDeathTestStyleFlag[] = "death_test_style";
+const char kDeathTestUseFork[] = "death_test_use_fork";
+const char kInternalRunDeathTestFlag[] = "internal_run_death_test";
+
+#if GTEST_HAS_DEATH_TEST
+
+// DeathTest is a class that hides much of the complexity of the
+// GTEST_DEATH_TEST_ macro. It is abstract; its static Create method
+// returns a concrete class that depends on the prevailing death test
+// style, as defined by the --gtest_death_test_style and/or
+// --gtest_internal_run_death_test flags.
+
+// In describing the results of death tests, these terms are used with
+// the corresponding definitions:
+//
+// exit status: The integer exit information in the format specified
+// by wait(2)
+// exit code: The integer code passed to exit(3), _exit(2), or
+// returned from main()
+class GTEST_API_ DeathTest {
+ public:
+ // Create returns false if there was an error determining the
+ // appropriate action to take for the current death test; for example,
+ // if the gtest_death_test_style flag is set to an invalid value.
+ // The LastMessage method will return a more detailed message in that
+ // case. Otherwise, the DeathTest pointer pointed to by the "test"
+ // argument is set. If the death test should be skipped, the pointer
+ // is set to NULL; otherwise, it is set to the address of a new concrete
+ // DeathTest object that controls the execution of the current test.
+ static bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test);
+ DeathTest();
+ virtual ~DeathTest() { }
+
+ // A helper class that aborts a death test when it's deleted.
+ class ReturnSentinel {
+ public:
+ explicit ReturnSentinel(DeathTest* test) : test_(test) { }
+ ~ReturnSentinel() { test_->Abort(TEST_ENCOUNTERED_RETURN_STATEMENT); }
+ private:
+ DeathTest* const test_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ReturnSentinel);
+ } GTEST_ATTRIBUTE_UNUSED_;
+
+ // An enumeration of possible roles that may be taken when a death
+ // test is encountered. EXECUTE means that the death test logic should
+ // be executed immediately. OVERSEE means that the program should prepare
+ // the appropriate environment for a child process to execute the death
+ // test, then wait for it to complete.
+ enum TestRole { OVERSEE_TEST, EXECUTE_TEST };
+
+ // An enumeration of the three reasons that a test might be aborted.
+ enum AbortReason {
+ TEST_ENCOUNTERED_RETURN_STATEMENT,
+ TEST_THREW_EXCEPTION,
+ TEST_DID_NOT_DIE
+ };
+
+ // Assumes one of the above roles.
+ virtual TestRole AssumeRole() = 0;
+
+ // Waits for the death test to finish and returns its status.
+ virtual int Wait() = 0;
+
+ // Returns true if the death test passed; that is, the test process
+ // exited during the test, its exit status matches a user-supplied
+ // predicate, and its stderr output matches a user-supplied regular
+ // expression.
+ // The user-supplied predicate may be a macro expression rather
+ // than a function pointer or functor, or else Wait and Passed could
+ // be combined.
+ virtual bool Passed(bool exit_status_ok) = 0;
+
+ // Signals that the death test did not die as expected.
+ virtual void Abort(AbortReason reason) = 0;
+
+ // Returns a human-readable outcome message regarding the outcome of
+ // the last death test.
+ static const char* LastMessage();
+
+ static void set_last_death_test_message(const std::string& message);
+
+ private:
+ // A string containing a description of the outcome of the last death test.
+ static std::string last_death_test_message_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DeathTest);
+};
+
+// Factory interface for death tests. May be mocked out for testing.
+class DeathTestFactory {
+ public:
+ virtual ~DeathTestFactory() { }
+ virtual bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test) = 0;
+};
+
+// A concrete DeathTestFactory implementation for normal use.
+class DefaultDeathTestFactory : public DeathTestFactory {
+ public:
+ virtual bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test);
+};
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
+
+// Traps C++ exceptions escaping statement and reports them as test
+// failures. Note that trapping SEH exceptions is not implemented here.
+# if GTEST_HAS_EXCEPTIONS
+# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } catch (const ::std::exception& gtest_exception) { \
+ fprintf(\
+ stderr, \
+ "\n%s: Caught std::exception-derived exception escaping the " \
+ "death test statement. Exception message: %s\n", \
+ ::testing::internal::FormatFileLocation(__FILE__, __LINE__).c_str(), \
+ gtest_exception.what()); \
+ fflush(stderr); \
+ death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+ } catch (...) { \
+ death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+ }
+
+# else
+# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+
+# endif
+
+// This macro is for implementing ASSERT_DEATH*, EXPECT_DEATH*,
+// ASSERT_EXIT*, and EXPECT_EXIT*.
+# define GTEST_DEATH_TEST_(statement, predicate, regex, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ const ::testing::internal::RE& gtest_regex = (regex); \
+ ::testing::internal::DeathTest* gtest_dt; \
+ if (!::testing::internal::DeathTest::Create(#statement, >est_regex, \
+ __FILE__, __LINE__, >est_dt)) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+ } \
+ if (gtest_dt != NULL) { \
+ ::testing::internal::scoped_ptr< ::testing::internal::DeathTest> \
+ gtest_dt_ptr(gtest_dt); \
+ switch (gtest_dt->AssumeRole()) { \
+ case ::testing::internal::DeathTest::OVERSEE_TEST: \
+ if (!gtest_dt->Passed(predicate(gtest_dt->Wait()))) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+ } \
+ break; \
+ case ::testing::internal::DeathTest::EXECUTE_TEST: { \
+ ::testing::internal::DeathTest::ReturnSentinel \
+ gtest_sentinel(gtest_dt); \
+ GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, gtest_dt); \
+ gtest_dt->Abort(::testing::internal::DeathTest::TEST_DID_NOT_DIE); \
+ break; \
+ } \
+ default: \
+ break; \
+ } \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__): \
+ fail(::testing::internal::DeathTest::LastMessage())
+// The symbol "fail" here expands to something into which a message
+// can be streamed.
+
+// This macro is for implementing ASSERT/EXPECT_DEBUG_DEATH when compiled in
+// NDEBUG mode. In this case we need the statements to be executed, the regex is
+// ignored, and the macro must accept a streamed message even though the message
+// is never printed.
+# define GTEST_EXECUTE_STATEMENT_(statement, regex) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } else \
+ ::testing::Message()
+
+// A class representing the parsed contents of the
+// --gtest_internal_run_death_test flag, as it existed when
+// RUN_ALL_TESTS was called.
+class InternalRunDeathTestFlag {
+ public:
+ InternalRunDeathTestFlag(const std::string& a_file,
+ int a_line,
+ int an_index,
+ int a_write_fd)
+ : file_(a_file), line_(a_line), index_(an_index),
+ write_fd_(a_write_fd) {}
+
+ ~InternalRunDeathTestFlag() {
+ if (write_fd_ >= 0)
+ posix::Close(write_fd_);
+ }
+
+ const std::string& file() const { return file_; }
+ int line() const { return line_; }
+ int index() const { return index_; }
+ int write_fd() const { return write_fd_; }
+
+ private:
+ std::string file_;
+ int line_;
+ int index_;
+ int write_fd_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InternalRunDeathTestFlag);
+};
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag();
+
+#else // GTEST_HAS_DEATH_TEST
+
+// This macro is used for implementing macros such as
+// EXPECT_DEATH_IF_SUPPORTED and ASSERT_DEATH_IF_SUPPORTED on systems where
+// death tests are not supported. Those macros must compile on such systems
+// iff EXPECT_DEATH and ASSERT_DEATH compile with the same parameters on
+// systems that support death tests. This allows one to write such a macro
+// on a system that does not support death tests and be sure that it will
+// compile on a death-test supporting system.
+//
+// Parameters:
+// statement - A statement that a macro such as EXPECT_DEATH would test
+// for program termination. This macro has to make sure this
+// statement is compiled but not executed, to ensure that
+// EXPECT_DEATH_IF_SUPPORTED compiles with a certain
+// parameter iff EXPECT_DEATH compiles with it.
+// regex - A regex that a macro such as EXPECT_DEATH would use to test
+// the output of statement. This parameter has to be
+// compiled but not evaluated by this macro, to ensure that
+// this macro only accepts expressions that a macro such as
+// EXPECT_DEATH would accept.
+// terminator - Must be an empty statement for EXPECT_DEATH_IF_SUPPORTED
+// and a return statement for ASSERT_DEATH_IF_SUPPORTED.
+// This ensures that ASSERT_DEATH_IF_SUPPORTED will not
+// compile inside functions where ASSERT_DEATH doesn't
+// compile.
+//
+// The branch that has an always false condition is used to ensure that
+// statement and regex are compiled (and thus syntactically correct) but
+// never executed. The unreachable code macro protects the terminator
+// statement from generating an 'unreachable code' warning in case
+// statement unconditionally returns or throws. The Message constructor at
+// the end allows the syntax of streaming additional messages into the
+// macro, for compilational compatibility with EXPECT_DEATH/ASSERT_DEATH.
+# define GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, terminator) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ GTEST_LOG_(WARNING) \
+ << "Death tests are not supported on this platform.\n" \
+ << "Statement '" #statement "' cannot be verified."; \
+ } else if (::testing::internal::AlwaysFalse()) { \
+ ::testing::internal::RE::PartialMatch(".*", (regex)); \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ terminator; \
+ } else \
+ ::testing::Message()
+
+#endif // GTEST_HAS_DEATH_TEST
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+namespace testing {
+
+// This flag controls the style of death tests. Valid values are "threadsafe",
+// meaning that the death test child process will re-execute the test binary
+// from the start, running only a single death test, or "fast",
+// meaning that the child process will execute the test logic immediately
+// after forking.
+GTEST_DECLARE_string_(death_test_style);
+
+#if GTEST_HAS_DEATH_TEST
+
+namespace internal {
+
+// Returns a Boolean value indicating whether the caller is currently
+// executing in the context of the death test child process. Tools such as
+// Valgrind heap checkers may need this to modify their behavior in death
+// tests. IMPORTANT: This is an internal utility. Using it may break the
+// implementation of death tests. User code MUST NOT use it.
+GTEST_API_ bool InDeathTestChild();
+
+} // namespace internal
+
+// The following macros are useful for writing death tests.
+
+// Here's what happens when an ASSERT_DEATH* or EXPECT_DEATH* is
+// executed:
+//
+// 1. It generates a warning if there is more than one active
+// thread. This is because it's safe to fork() or clone() only
+// when there is a single thread.
+//
+// 2. The parent process clone()s a sub-process and runs the death
+// test in it; the sub-process exits with code 0 at the end of the
+// death test, if it hasn't exited already.
+//
+// 3. The parent process waits for the sub-process to terminate.
+//
+// 4. The parent process checks the exit code and error message of
+// the sub-process.
+//
+// Examples:
+//
+// ASSERT_DEATH(server.SendMessage(56, "Hello"), "Invalid port number");
+// for (int i = 0; i < 5; i++) {
+// EXPECT_DEATH(server.ProcessRequest(i),
+// "Invalid request .* in ProcessRequest()")
+// << "Failed to die on request " << i;
+// }
+//
+// ASSERT_EXIT(server.ExitNow(), ::testing::ExitedWithCode(0), "Exiting");
+//
+// bool KilledBySIGHUP(int exit_code) {
+// return WIFSIGNALED(exit_code) && WTERMSIG(exit_code) == SIGHUP;
+// }
+//
+// ASSERT_EXIT(client.HangUpServer(), KilledBySIGHUP, "Hanging up!");
+//
+// On the regular expressions used in death tests:
+//
+// On POSIX-compliant systems (*nix), we use the <regex.h> library,
+// which uses the POSIX extended regex syntax.
+//
+// On other platforms (e.g. Windows), we only support a simple regex
+// syntax implemented as part of Google Test. This limited
+// implementation should be enough most of the time when writing
+// death tests; though it lacks many features you can find in PCRE
+// or POSIX extended regex syntax. For example, we don't support
+// union ("x|y"), grouping ("(xy)"), brackets ("[xy]"), and
+// repetition count ("x{5,7}"), among others.
+//
+// Below is the syntax that we do support. We chose it to be a
+// subset of both PCRE and POSIX extended regex, so it's easy to
+// learn wherever you come from. In the following: 'A' denotes a
+// literal character, period (.), or a single \\ escape sequence;
+// 'x' and 'y' denote regular expressions; 'm' and 'n' are for
+// natural numbers.
+//
+// c matches any literal character c
+// \\d matches any decimal digit
+// \\D matches any character that's not a decimal digit
+// \\f matches \f
+// \\n matches \n
+// \\r matches \r
+// \\s matches any ASCII whitespace, including \n
+// \\S matches any character that's not a whitespace
+// \\t matches \t
+// \\v matches \v
+// \\w matches any letter, _, or decimal digit
+// \\W matches any character that \\w doesn't match
+// \\c matches any literal character c, which must be a punctuation
+// . matches any single character except \n
+// A? matches 0 or 1 occurrences of A
+// A* matches 0 or many occurrences of A
+// A+ matches 1 or many occurrences of A
+// ^ matches the beginning of a string (not that of each line)
+// $ matches the end of a string (not that of each line)
+// xy matches x followed by y
+//
+// If you accidentally use PCRE or POSIX extended regex features
+// not implemented by us, you will get a run-time failure. In that
+// case, please try to rewrite your regular expression within the
+// above syntax.
+//
+// This implementation is *not* meant to be as highly tuned or robust
+// as a compiled regex library, but should perform well enough for a
+// death test, which already incurs significant overhead by launching
+// a child process.
+//
+// Known caveats:
+//
+// A "threadsafe" style death test obtains the path to the test
+// program from argv[0] and re-executes it in the sub-process. For
+// simplicity, the current implementation doesn't search the PATH
+// when launching the sub-process. This means that the user must
+// invoke the test program via a path that contains at least one
+// path separator (e.g. path/to/foo_test and
+// /absolute/path/to/bar_test are fine, but foo_test is not). This
+// is rarely a problem as people usually don't put the test binary
+// directory in PATH.
+//
+// TODO(wan@google.com): make thread-safe death tests search the PATH.
+
+// Asserts that a given statement causes the program to exit, with an
+// integer exit status that satisfies predicate, and emitting error output
+// that matches regex.
+# define ASSERT_EXIT(statement, predicate, regex) \
+ GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_FATAL_FAILURE_)
+
+// Like ASSERT_EXIT, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_EXIT(statement, predicate, regex) \
+ GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_NONFATAL_FAILURE_)
+
+// Asserts that a given statement causes the program to exit, either by
+// explicitly exiting with a nonzero exit code or being killed by a
+// signal, and emitting error output that matches regex.
+# define ASSERT_DEATH(statement, regex) \
+ ASSERT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Like ASSERT_DEATH, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_DEATH(statement, regex) \
+ EXPECT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Two predicate classes that can be used in {ASSERT,EXPECT}_EXIT*:
+
+// Tests that an exit code describes a normal exit with a given exit code.
+class GTEST_API_ ExitedWithCode {
+ public:
+ explicit ExitedWithCode(int exit_code);
+ bool operator()(int exit_status) const;
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ExitedWithCode& other);
+
+ const int exit_code_;
+};
+
+# if !GTEST_OS_WINDOWS
+// Tests that an exit code describes an exit due to termination by a
+// given signal.
+class GTEST_API_ KilledBySignal {
+ public:
+ explicit KilledBySignal(int signum);
+ bool operator()(int exit_status) const;
+ private:
+ const int signum_;
+};
+# endif // !GTEST_OS_WINDOWS
+
+// EXPECT_DEBUG_DEATH asserts that the given statements die in debug mode.
+// The death testing framework causes this to have interesting semantics,
+// since the sideeffects of the call are only visible in opt mode, and not
+// in debug mode.
+//
+// In practice, this can be used to test functions that utilize the
+// LOG(DFATAL) macro using the following style:
+//
+// int DieInDebugOr12(int* sideeffect) {
+// if (sideeffect) {
+// *sideeffect = 12;
+// }
+// LOG(DFATAL) << "death";
+// return 12;
+// }
+//
+// TEST(TestCase, TestDieOr12WorksInDgbAndOpt) {
+// int sideeffect = 0;
+// // Only asserts in dbg.
+// EXPECT_DEBUG_DEATH(DieInDebugOr12(&sideeffect), "death");
+//
+// #ifdef NDEBUG
+// // opt-mode has sideeffect visible.
+// EXPECT_EQ(12, sideeffect);
+// #else
+// // dbg-mode no visible sideeffect.
+// EXPECT_EQ(0, sideeffect);
+// #endif
+// }
+//
+// This will assert that DieInDebugReturn12InOpt() crashes in debug
+// mode, usually due to a DCHECK or LOG(DFATAL), but returns the
+// appropriate fallback value (12 in this case) in opt mode. If you
+// need to test that a function has appropriate side-effects in opt
+// mode, include assertions against the side-effects. A general
+// pattern for this is:
+//
+// EXPECT_DEBUG_DEATH({
+// // Side-effects here will have an effect after this statement in
+// // opt mode, but none in debug mode.
+// EXPECT_EQ(12, DieInDebugOr12(&sideeffect));
+// }, "death");
+//
+# ifdef NDEBUG
+
+# define EXPECT_DEBUG_DEATH(statement, regex) \
+ GTEST_EXECUTE_STATEMENT_(statement, regex)
+
+# define ASSERT_DEBUG_DEATH(statement, regex) \
+ GTEST_EXECUTE_STATEMENT_(statement, regex)
+
+# else
+
+# define EXPECT_DEBUG_DEATH(statement, regex) \
+ EXPECT_DEATH(statement, regex)
+
+# define ASSERT_DEBUG_DEATH(statement, regex) \
+ ASSERT_DEATH(statement, regex)
+
+# endif // NDEBUG for EXPECT_DEBUG_DEATH
+#endif // GTEST_HAS_DEATH_TEST
+
+// EXPECT_DEATH_IF_SUPPORTED(statement, regex) and
+// ASSERT_DEATH_IF_SUPPORTED(statement, regex) expand to real death tests if
+// death tests are supported; otherwise they just issue a warning. This is
+// useful when you are combining death test assertions with normal test
+// assertions in one test.
+#if GTEST_HAS_DEATH_TEST
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+ EXPECT_DEATH(statement, regex)
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+ ASSERT_DEATH(statement, regex)
+#else
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+ GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, )
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+ GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, return)
+#endif
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+// This file was GENERATED by command:
+// pump.py gtest-param-test.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: vladl@google.com (Vlad Losev)
+//
+// Macros and functions for implementing parameterized tests
+// in Google C++ Testing Framework (Google Test)
+//
+// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+
+
+// Value-parameterized tests allow you to test your code with different
+// parameters without writing multiple copies of the same test.
+//
+// Here is how you use value-parameterized tests:
+
+#if 0
+
+// To write value-parameterized tests, first you should define a fixture
+// class. It is usually derived from testing::TestWithParam<T> (see below for
+// another inheritance scheme that's sometimes useful in more complicated
+// class hierarchies), where the type of your parameter values.
+// TestWithParam<T> is itself derived from testing::Test. T can be any
+// copyable type. If it's a raw pointer, you are responsible for managing the
+// lifespan of the pointed values.
+
+class FooTest : public ::testing::TestWithParam<const char*> {
+ // You can implement all the usual class fixture members here.
+};
+
+// Then, use the TEST_P macro to define as many parameterized tests
+// for this fixture as you want. The _P suffix is for "parameterized"
+// or "pattern", whichever you prefer to think.
+
+TEST_P(FooTest, DoesBlah) {
+ // Inside a test, access the test parameter with the GetParam() method
+ // of the TestWithParam<T> class:
+ EXPECT_TRUE(foo.Blah(GetParam()));
+ ...
+}
+
+TEST_P(FooTest, HasBlahBlah) {
+ ...
+}
+
+// Finally, you can use INSTANTIATE_TEST_CASE_P to instantiate the test
+// case with any set of parameters you want. Google Test defines a number
+// of functions for generating test parameters. They return what we call
+// (surprise!) parameter generators. Here is a summary of them, which
+// are all in the testing namespace:
+//
+//
+// Range(begin, end [, step]) - Yields values {begin, begin+step,
+// begin+step+step, ...}. The values do not
+// include end. step defaults to 1.
+// Values(v1, v2, ..., vN) - Yields values {v1, v2, ..., vN}.
+// ValuesIn(container) - Yields values from a C-style array, an STL
+// ValuesIn(begin,end) container, or an iterator range [begin, end).
+// Bool() - Yields sequence {false, true}.
+// Combine(g1, g2, ..., gN) - Yields all combinations (the Cartesian product
+// for the math savvy) of the values generated
+// by the N generators.
+//
+// For more details, see comments at the definitions of these functions below
+// in this file.
+//
+// The following statement will instantiate tests from the FooTest test case
+// each with parameter values "meeny", "miny", and "moe".
+
+INSTANTIATE_TEST_CASE_P(InstantiationName,
+ FooTest,
+ Values("meeny", "miny", "moe"));
+
+// To distinguish different instances of the pattern, (yes, you
+// can instantiate it more then once) the first argument to the
+// INSTANTIATE_TEST_CASE_P macro is a prefix that will be added to the
+// actual test case name. Remember to pick unique prefixes for different
+// instantiations. The tests from the instantiation above will have
+// these names:
+//
+// * InstantiationName/FooTest.DoesBlah/0 for "meeny"
+// * InstantiationName/FooTest.DoesBlah/1 for "miny"
+// * InstantiationName/FooTest.DoesBlah/2 for "moe"
+// * InstantiationName/FooTest.HasBlahBlah/0 for "meeny"
+// * InstantiationName/FooTest.HasBlahBlah/1 for "miny"
+// * InstantiationName/FooTest.HasBlahBlah/2 for "moe"
+//
+// You can use these names in --gtest_filter.
+//
+// This statement will instantiate all tests from FooTest again, each
+// with parameter values "cat" and "dog":
+
+const char* pets[] = {"cat", "dog"};
+INSTANTIATE_TEST_CASE_P(AnotherInstantiationName, FooTest, ValuesIn(pets));
+
+// The tests from the instantiation above will have these names:
+//
+// * AnotherInstantiationName/FooTest.DoesBlah/0 for "cat"
+// * AnotherInstantiationName/FooTest.DoesBlah/1 for "dog"
+// * AnotherInstantiationName/FooTest.HasBlahBlah/0 for "cat"
+// * AnotherInstantiationName/FooTest.HasBlahBlah/1 for "dog"
+//
+// Please note that INSTANTIATE_TEST_CASE_P will instantiate all tests
+// in the given test case, whether their definitions come before or
+// AFTER the INSTANTIATE_TEST_CASE_P statement.
+//
+// Please also note that generator expressions (including parameters to the
+// generators) are evaluated in InitGoogleTest(), after main() has started.
+// This allows the user on one hand, to adjust generator parameters in order
+// to dynamically determine a set of tests to run and on the other hand,
+// give the user a chance to inspect the generated tests with Google Test
+// reflection API before RUN_ALL_TESTS() is executed.
+//
+// You can see samples/sample7_unittest.cc and samples/sample8_unittest.cc
+// for more examples.
+//
+// In the future, we plan to publish the API for defining new parameter
+// generators. But for now this interface remains part of the internal
+// implementation and is subject to change.
+//
+//
+// A parameterized test fixture must be derived from testing::Test and from
+// testing::WithParamInterface<T>, where T is the type of the parameter
+// values. Inheriting from TestWithParam<T> satisfies that requirement because
+// TestWithParam<T> inherits from both Test and WithParamInterface. In more
+// complicated hierarchies, however, it is occasionally useful to inherit
+// separately from Test and WithParamInterface. For example:
+
+class BaseTest : public ::testing::Test {
+ // You can inherit all the usual members for a non-parameterized test
+ // fixture here.
+};
+
+class DerivedTest : public BaseTest, public ::testing::WithParamInterface<int> {
+ // The usual test fixture members go here too.
+};
+
+TEST_F(BaseTest, HasFoo) {
+ // This is an ordinary non-parameterized test.
+}
+
+TEST_P(DerivedTest, DoesBlah) {
+ // GetParam works just the same here as if you inherit from TestWithParam.
+ EXPECT_TRUE(foo.Blah(GetParam()));
+}
+
+#endif // 0
+
+
+#if !GTEST_OS_SYMBIAN
+# include <utility>
+#endif
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// 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: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+
+#include <ctype.h>
+
+#include <iterator>
+#include <set>
+#include <utility>
+#include <vector>
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2003 Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// Authors: Dan Egnor (egnor@google.com)
+//
+// A "smart" pointer type with reference tracking. Every pointer to a
+// particular object is kept on a circular linked list. When the last pointer
+// to an object is destroyed or reassigned, the object is deleted.
+//
+// Used properly, this deletes the object when the last reference goes away.
+// There are several caveats:
+// - Like all reference counting schemes, cycles lead to leaks.
+// - Each smart pointer is actually two pointers (8 bytes instead of 4).
+// - Every time a pointer is assigned, the entire list of pointers to that
+// object is traversed. This class is therefore NOT SUITABLE when there
+// will often be more than two or three pointers to a particular object.
+// - References are only tracked as long as linked_ptr<> objects are copied.
+// If a linked_ptr<> is converted to a raw pointer and back, BAD THINGS
+// will happen (double deletion).
+//
+// A good use of this class is storing object references in STL containers.
+// You can safely put linked_ptr<> in a vector<>.
+// Other uses may not be as good.
+//
+// Note: If you use an incomplete type with linked_ptr<>, the class
+// *containing* linked_ptr<> must have a constructor and destructor (even
+// if they do nothing!).
+//
+// Bill Gibbons suggested we use something like this.
+//
+// Thread Safety:
+// Unlike other linked_ptr implementations, in this implementation
+// a linked_ptr object is thread-safe in the sense that:
+// - it's safe to copy linked_ptr objects concurrently,
+// - it's safe to copy *from* a linked_ptr and read its underlying
+// raw pointer (e.g. via get()) concurrently, and
+// - it's safe to write to two linked_ptrs that point to the same
+// shared object concurrently.
+// TODO(wan@google.com): rename this to safe_linked_ptr to avoid
+// confusion with normal linked_ptr.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+
+#include <stdlib.h>
+#include <assert.h>
+
+
+namespace testing {
+namespace internal {
+
+// Protects copying of all linked_ptr objects.
+GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// This is used internally by all instances of linked_ptr<>. It needs to be
+// a non-template class because different types of linked_ptr<> can refer to
+// the same object (linked_ptr<Superclass>(obj) vs linked_ptr<Subclass>(obj)).
+// So, it needs to be possible for different types of linked_ptr to participate
+// in the same circular linked list, so we need a single class type here.
+//
+// DO NOT USE THIS CLASS DIRECTLY YOURSELF. Use linked_ptr<T>.
+class linked_ptr_internal {
+ public:
+ // Create a new circle that includes only this instance.
+ void join_new() {
+ next_ = this;
+ }
+
+ // Many linked_ptr operations may change p.link_ for some linked_ptr
+ // variable p in the same circle as this object. Therefore we need
+ // to prevent two such operations from occurring concurrently.
+ //
+ // Note that different types of linked_ptr objects can coexist in a
+ // circle (e.g. linked_ptr<Base>, linked_ptr<Derived1>, and
+ // linked_ptr<Derived2>). Therefore we must use a single mutex to
+ // protect all linked_ptr objects. This can create serious
+ // contention in production code, but is acceptable in a testing
+ // framework.
+
+ // Join an existing circle.
+ void join(linked_ptr_internal const* ptr)
+ GTEST_LOCK_EXCLUDED_(g_linked_ptr_mutex) {
+ MutexLock lock(&g_linked_ptr_mutex);
+
+ linked_ptr_internal const* p = ptr;
+ while (p->next_ != ptr) {
+ assert(p->next_ != this &&
+ "Trying to join() a linked ring we are already in. "
+ "Is GMock thread safety enabled?");
+ p = p->next_;
+ }
+ p->next_ = this;
+ next_ = ptr;
+ }
+
+ // Leave whatever circle we're part of. Returns true if we were the
+ // last member of the circle. Once this is done, you can join() another.
+ bool depart()
+ GTEST_LOCK_EXCLUDED_(g_linked_ptr_mutex) {
+ MutexLock lock(&g_linked_ptr_mutex);
+
+ if (next_ == this) return true;
+ linked_ptr_internal const* p = next_;
+ while (p->next_ != this) {
+ assert(p->next_ != next_ &&
+ "Trying to depart() a linked ring we are not in. "
+ "Is GMock thread safety enabled?");
+ p = p->next_;
+ }
+ p->next_ = next_;
+ return false;
+ }
+
+ private:
+ mutable linked_ptr_internal const* next_;
+};
+
+template <typename T>
+class linked_ptr {
+ public:
+ typedef T element_type;
+
+ // Take over ownership of a raw pointer. This should happen as soon as
+ // possible after the object is created.
+ explicit linked_ptr(T* ptr = NULL) { capture(ptr); }
+ ~linked_ptr() { depart(); }
+
+ // Copy an existing linked_ptr<>, adding ourselves to the list of references.
+ template <typename U> linked_ptr(linked_ptr<U> const& ptr) { copy(&ptr); }
+ linked_ptr(linked_ptr const& ptr) { // NOLINT
+ assert(&ptr != this);
+ copy(&ptr);
+ }
+
+ // Assignment releases the old value and acquires the new.
+ template <typename U> linked_ptr& operator=(linked_ptr<U> const& ptr) {
+ depart();
+ copy(&ptr);
+ return *this;
+ }
+
+ linked_ptr& operator=(linked_ptr const& ptr) {
+ if (&ptr != this) {
+ depart();
+ copy(&ptr);
+ }
+ return *this;
+ }
+
+ // Smart pointer members.
+ void reset(T* ptr = NULL) {
+ depart();
+ capture(ptr);
+ }
+ T* get() const { return value_; }
+ T* operator->() const { return value_; }
+ T& operator*() const { return *value_; }
+
+ bool operator==(T* p) const { return value_ == p; }
+ bool operator!=(T* p) const { return value_ != p; }
+ template <typename U>
+ bool operator==(linked_ptr<U> const& ptr) const {
+ return value_ == ptr.get();
+ }
+ template <typename U>
+ bool operator!=(linked_ptr<U> const& ptr) const {
+ return value_ != ptr.get();
+ }
+
+ private:
+ template <typename U>
+ friend class linked_ptr;
+
+ T* value_;
+ linked_ptr_internal link_;
+
+ void depart() {
+ if (link_.depart()) delete value_;
+ }
+
+ void capture(T* ptr) {
+ value_ = ptr;
+ link_.join_new();
+ }
+
+ template <typename U> void copy(linked_ptr<U> const* ptr) {
+ value_ = ptr->get();
+ if (value_)
+ link_.join(&ptr->link_);
+ else
+ link_.join_new();
+ }
+};
+
+template<typename T> inline
+bool operator==(T* ptr, const linked_ptr<T>& x) {
+ return ptr == x.get();
+}
+
+template<typename T> inline
+bool operator!=(T* ptr, const linked_ptr<T>& x) {
+ return ptr != x.get();
+}
+
+// A function to convert T* into linked_ptr<T>
+// Doing e.g. make_linked_ptr(new FooBarBaz<type>(arg)) is a shorter notation
+// for linked_ptr<FooBarBaz<type> >(new FooBarBaz<type>(arg))
+template <typename T>
+linked_ptr<T> make_linked_ptr(T* ptr) {
+ return linked_ptr<T>(ptr);
+}
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// A user can teach this function how to print a class type T by
+// defining either operator<<() or PrintTo() in the namespace that
+// defines T. More specifically, the FIRST defined function in the
+// following list will be used (assuming T is defined in namespace
+// foo):
+//
+// 1. foo::PrintTo(const T&, ostream*)
+// 2. operator<<(ostream&, const T&) defined in either foo or the
+// global namespace.
+//
+// If none of the above is defined, it will print the debug string of
+// the value if it is a protocol buffer, or print the raw bytes in the
+// value otherwise.
+//
+// To aid debugging: when T is a reference type, the address of the
+// value is also printed; when T is a (const) char pointer, both the
+// pointer value and the NUL-terminated string it points to are
+// printed.
+//
+// We also provide some convenient wrappers:
+//
+// // Prints a value to a string. For a (const or not) char
+// // pointer, the NUL-terminated string (but not the pointer) is
+// // printed.
+// std::string ::testing::PrintToString(const T& value);
+//
+// // Prints a value tersely: for a reference type, the referenced
+// // value (but not the address) is printed; for a (const or not) char
+// // pointer, the NUL-terminated string (but not the pointer) is
+// // printed.
+// void ::testing::internal::UniversalTersePrint(const T& value, ostream*);
+//
+// // Prints value using the type inferred by the compiler. The difference
+// // from UniversalTersePrint() is that this function prints both the
+// // pointer and the NUL-terminated string for a (const or not) char pointer.
+// void ::testing::internal::UniversalPrint(const T& value, ostream*);
+//
+// // Prints the fields of a tuple tersely to a string vector, one
+// // element for each field. Tuple support must be enabled in
+// // gtest-port.h.
+// std::vector<string> UniversalTersePrintTupleFieldsToStrings(
+// const Tuple& value);
+//
+// Known limitation:
+//
+// The print primitives print the elements of an STL-style container
+// using the compiler-inferred type of *iter where iter is a
+// const_iterator of the container. When const_iterator is an input
+// iterator but not a forward iterator, this inferred type may not
+// match value_type, and the print output may be incorrect. In
+// practice, this is rarely a problem as for most containers
+// const_iterator is a forward iterator. We'll fix this if there's an
+// actual need for it. Note that this fix cannot rely on value_type
+// being defined as many user-defined container types don't have
+// value_type.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+#if GTEST_HAS_STD_TUPLE_
+# include <tuple>
+#endif
+
+namespace testing {
+
+// Definitions in the 'internal' and 'internal2' name spaces are
+// subject to change without notice. DO NOT USE THEM IN USER CODE!
+namespace internal2 {
+
+// Prints the given number of bytes in the given object to the given
+// ostream.
+GTEST_API_ void PrintBytesInObjectTo(const unsigned char* obj_bytes,
+ size_t count,
+ ::std::ostream* os);
+
+// For selecting which printer to use when a given type has neither <<
+// nor PrintTo().
+enum TypeKind {
+ kProtobuf, // a protobuf type
+ kConvertibleToInteger, // a type implicitly convertible to BiggestInt
+ // (e.g. a named or unnamed enum type)
+ kOtherType // anything else
+};
+
+// TypeWithoutFormatter<T, kTypeKind>::PrintValue(value, os) is called
+// by the universal printer to print a value of type T when neither
+// operator<< nor PrintTo() is defined for T, where kTypeKind is the
+// "kind" of T as defined by enum TypeKind.
+template <typename T, TypeKind kTypeKind>
+class TypeWithoutFormatter {
+ public:
+ // This default version is called when kTypeKind is kOtherType.
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ PrintBytesInObjectTo(reinterpret_cast<const unsigned char*>(&value),
+ sizeof(value), os);
+ }
+};
+
+// We print a protobuf using its ShortDebugString() when the string
+// doesn't exceed this many characters; otherwise we print it using
+// DebugString() for better readability.
+const size_t kProtobufOneLinerMaxLength = 50;
+
+template <typename T>
+class TypeWithoutFormatter<T, kProtobuf> {
+ public:
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ const ::testing::internal::string short_str = value.ShortDebugString();
+ const ::testing::internal::string pretty_str =
+ short_str.length() <= kProtobufOneLinerMaxLength ?
+ short_str : ("\n" + value.DebugString());
+ *os << ("<" + pretty_str + ">");
+ }
+};
+
+template <typename T>
+class TypeWithoutFormatter<T, kConvertibleToInteger> {
+ public:
+ // Since T has no << operator or PrintTo() but can be implicitly
+ // converted to BiggestInt, we print it as a BiggestInt.
+ //
+ // Most likely T is an enum type (either named or unnamed), in which
+ // case printing it as an integer is the desired behavior. In case
+ // T is not an enum, printing it as an integer is the best we can do
+ // given that it has no user-defined printer.
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ const internal::BiggestInt kBigInt = value;
+ *os << kBigInt;
+ }
+};
+
+// Prints the given value to the given ostream. If the value is a
+// protocol message, its debug string is printed; if it's an enum or
+// of a type implicitly convertible to BiggestInt, it's printed as an
+// integer; otherwise the bytes in the value are printed. This is
+// what UniversalPrinter<T>::Print() does when it knows nothing about
+// type T and T has neither << operator nor PrintTo().
+//
+// A user can override this behavior for a class type Foo by defining
+// a << operator in the namespace where Foo is defined.
+//
+// We put this operator in namespace 'internal2' instead of 'internal'
+// to simplify the implementation, as much code in 'internal' needs to
+// use << in STL, which would conflict with our own << were it defined
+// in 'internal'.
+//
+// Note that this operator<< takes a generic std::basic_ostream<Char,
+// CharTraits> type instead of the more restricted std::ostream. If
+// we define it to take an std::ostream instead, we'll get an
+// "ambiguous overloads" compiler error when trying to print a type
+// Foo that supports streaming to std::basic_ostream<Char,
+// CharTraits>, as the compiler cannot tell whether
+// operator<<(std::ostream&, const T&) or
+// operator<<(std::basic_stream<Char, CharTraits>, const Foo&) is more
+// specific.
+template <typename Char, typename CharTraits, typename T>
+::std::basic_ostream<Char, CharTraits>& operator<<(
+ ::std::basic_ostream<Char, CharTraits>& os, const T& x) {
+ TypeWithoutFormatter<T,
+ (internal::IsAProtocolMessage<T>::value ? kProtobuf :
+ internal::ImplicitlyConvertible<const T&, internal::BiggestInt>::value ?
+ kConvertibleToInteger : kOtherType)>::PrintValue(x, &os);
+ return os;
+}
+
+} // namespace internal2
+} // namespace testing
+
+// This namespace MUST NOT BE NESTED IN ::testing, or the name look-up
+// magic needed for implementing UniversalPrinter won't work.
+namespace testing_internal {
+
+// Used to print a value that is not an STL-style container when the
+// user doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintNonContainerTo(const T& value, ::std::ostream* os) {
+ // With the following statement, during unqualified name lookup,
+ // testing::internal2::operator<< appears as if it was declared in
+ // the nearest enclosing namespace that contains both
+ // ::testing_internal and ::testing::internal2, i.e. the global
+ // namespace. For more details, refer to the C++ Standard section
+ // 7.3.4-1 [namespace.udir]. This allows us to fall back onto
+ // testing::internal2::operator<< in case T doesn't come with a <<
+ // operator.
+ //
+ // We cannot write 'using ::testing::internal2::operator<<;', which
+ // gcc 3.3 fails to compile due to a compiler bug.
+ using namespace ::testing::internal2; // NOLINT
+
+ // Assuming T is defined in namespace foo, in the next statement,
+ // the compiler will consider all of:
+ //
+ // 1. foo::operator<< (thanks to Koenig look-up),
+ // 2. ::operator<< (as the current namespace is enclosed in ::),
+ // 3. testing::internal2::operator<< (thanks to the using statement above).
+ //
+ // The operator<< whose type matches T best will be picked.
+ //
+ // We deliberately allow #2 to be a candidate, as sometimes it's
+ // impossible to define #1 (e.g. when foo is ::std, defining
+ // anything in it is undefined behavior unless you are a compiler
+ // vendor.).
+ *os << value;
+}
+
+} // namespace testing_internal
+
+namespace testing {
+namespace internal {
+
+// FormatForComparison<ToPrint, OtherOperand>::Format(value) formats a
+// value of type ToPrint that is an operand of a comparison assertion
+// (e.g. ASSERT_EQ). OtherOperand is the type of the other operand in
+// the comparison, and is used to help determine the best way to
+// format the value. In particular, when the value is a C string
+// (char pointer) and the other operand is an STL string object, we
+// want to format the C string as a string, since we know it is
+// compared by value with the string object. If the value is a char
+// pointer but the other operand is not an STL string object, we don't
+// know whether the pointer is supposed to point to a NUL-terminated
+// string, and thus want to print it as a pointer to be safe.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+// The default case.
+template <typename ToPrint, typename OtherOperand>
+class FormatForComparison {
+ public:
+ static ::std::string Format(const ToPrint& value) {
+ return ::testing::PrintToString(value);
+ }
+};
+
+// Array.
+template <typename ToPrint, size_t N, typename OtherOperand>
+class FormatForComparison<ToPrint[N], OtherOperand> {
+ public:
+ static ::std::string Format(const ToPrint* value) {
+ return FormatForComparison<const ToPrint*, OtherOperand>::Format(value);
+ }
+};
+
+// By default, print C string as pointers to be safe, as we don't know
+// whether they actually point to a NUL-terminated string.
+
+#define GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(CharType) \
+ template <typename OtherOperand> \
+ class FormatForComparison<CharType*, OtherOperand> { \
+ public: \
+ static ::std::string Format(CharType* value) { \
+ return ::testing::PrintToString(static_cast<const void*>(value)); \
+ } \
+ }
+
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(char);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(const char);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(wchar_t);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(const wchar_t);
+
+#undef GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_
+
+// If a C string is compared with an STL string object, we know it's meant
+// to point to a NUL-terminated string, and thus can print it as a string.
+
+#define GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(CharType, OtherStringType) \
+ template <> \
+ class FormatForComparison<CharType*, OtherStringType> { \
+ public: \
+ static ::std::string Format(CharType* value) { \
+ return ::testing::PrintToString(value); \
+ } \
+ }
+
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(char, ::std::string);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const char, ::std::string);
+
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(char, ::string);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const char, ::string);
+#endif
+
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(wchar_t, ::wstring);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const wchar_t, ::wstring);
+#endif
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(wchar_t, ::std::wstring);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const wchar_t, ::std::wstring);
+#endif
+
+#undef GTEST_IMPL_FORMAT_C_STRING_AS_STRING_
+
+// Formats a comparison assertion (e.g. ASSERT_EQ, EXPECT_LT, and etc)
+// operand to be used in a failure message. The type (but not value)
+// of the other operand may affect the format. This allows us to
+// print a char* as a raw pointer when it is compared against another
+// char* or void*, and print it as a C string when it is compared
+// against an std::string object, for example.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename T1, typename T2>
+std::string FormatForComparisonFailureMessage(
+ const T1& value, const T2& /* other_operand */) {
+ return FormatForComparison<T1, T2>::Format(value);
+}
+
+// UniversalPrinter<T>::Print(value, ostream_ptr) prints the given
+// value to the given ostream. The caller must ensure that
+// 'ostream_ptr' is not NULL, or the behavior is undefined.
+//
+// We define UniversalPrinter as a class template (as opposed to a
+// function template), as we need to partially specialize it for
+// reference types, which cannot be done with function templates.
+template <typename T>
+class UniversalPrinter;
+
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os);
+
+// Used to print an STL-style container when the user doesn't define
+// a PrintTo() for it.
+template <typename C>
+void DefaultPrintTo(IsContainer /* dummy */,
+ false_type /* is not a pointer */,
+ const C& container, ::std::ostream* os) {
+ const size_t kMaxCount = 32; // The maximum number of elements to print.
+ *os << '{';
+ size_t count = 0;
+ for (typename C::const_iterator it = container.begin();
+ it != container.end(); ++it, ++count) {
+ if (count > 0) {
+ *os << ',';
+ if (count == kMaxCount) { // Enough has been printed.
+ *os << " ...";
+ break;
+ }
+ }
+ *os << ' ';
+ // We cannot call PrintTo(*it, os) here as PrintTo() doesn't
+ // handle *it being a native array.
+ internal::UniversalPrint(*it, os);
+ }
+
+ if (count > 0) {
+ *os << ' ';
+ }
+ *os << '}';
+}
+
+// Used to print a pointer that is neither a char pointer nor a member
+// pointer, when the user doesn't define PrintTo() for it. (A member
+// variable pointer or member function pointer doesn't really point to
+// a location in the address space. Their representation is
+// implementation-defined. Therefore they will be printed as raw
+// bytes.)
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+ true_type /* is a pointer */,
+ T* p, ::std::ostream* os) {
+ if (p == NULL) {
+ *os << "NULL";
+ } else {
+ // C++ doesn't allow casting from a function pointer to any object
+ // pointer.
+ //
+ // IsTrue() silences warnings: "Condition is always true",
+ // "unreachable code".
+ if (IsTrue(ImplicitlyConvertible<T*, const void*>::value)) {
+ // T is not a function type. We just call << to print p,
+ // relying on ADL to pick up user-defined << for their pointer
+ // types, if any.
+ *os << p;
+ } else {
+ // T is a function type, so '*os << p' doesn't do what we want
+ // (it just prints p as bool). We want to print p as a const
+ // void*. However, we cannot cast it to const void* directly,
+ // even using reinterpret_cast, as earlier versions of gcc
+ // (e.g. 3.4.5) cannot compile the cast when p is a function
+ // pointer. Casting to UInt64 first solves the problem.
+ *os << reinterpret_cast<const void*>(
+ reinterpret_cast<internal::UInt64>(p));
+ }
+ }
+}
+
+// Used to print a non-container, non-pointer value when the user
+// doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+ false_type /* is not a pointer */,
+ const T& value, ::std::ostream* os) {
+ ::testing_internal::DefaultPrintNonContainerTo(value, os);
+}
+
+// Prints the given value using the << operator if it has one;
+// otherwise prints the bytes in it. This is what
+// UniversalPrinter<T>::Print() does when PrintTo() is not specialized
+// or overloaded for type T.
+//
+// A user can override this behavior for a class type Foo by defining
+// an overload of PrintTo() in the namespace where Foo is defined. We
+// give the user this option as sometimes defining a << operator for
+// Foo is not desirable (e.g. the coding style may prevent doing it,
+// or there is already a << operator but it doesn't do what the user
+// wants).
+template <typename T>
+void PrintTo(const T& value, ::std::ostream* os) {
+ // DefaultPrintTo() is overloaded. The type of its first two
+ // arguments determine which version will be picked. If T is an
+ // STL-style container, the version for container will be called; if
+ // T is a pointer, the pointer version will be called; otherwise the
+ // generic version will be called.
+ //
+ // Note that we check for container types here, prior to we check
+ // for protocol message types in our operator<<. The rationale is:
+ //
+ // For protocol messages, we want to give people a chance to
+ // override Google Mock's format by defining a PrintTo() or
+ // operator<<. For STL containers, other formats can be
+ // incompatible with Google Mock's format for the container
+ // elements; therefore we check for container types here to ensure
+ // that our format is used.
+ //
+ // The second argument of DefaultPrintTo() is needed to bypass a bug
+ // in Symbian's C++ compiler that prevents it from picking the right
+ // overload between:
+ //
+ // PrintTo(const T& x, ...);
+ // PrintTo(T* x, ...);
+ DefaultPrintTo(IsContainerTest<T>(0), is_pointer<T>(), value, os);
+}
+
+// The following list of PrintTo() overloads tells
+// UniversalPrinter<T>::Print() how to print standard types (built-in
+// types, strings, plain arrays, and pointers).
+
+// Overloads for various char types.
+GTEST_API_ void PrintTo(unsigned char c, ::std::ostream* os);
+GTEST_API_ void PrintTo(signed char c, ::std::ostream* os);
+inline void PrintTo(char c, ::std::ostream* os) {
+ // When printing a plain char, we always treat it as unsigned. This
+ // way, the output won't be affected by whether the compiler thinks
+ // char is signed or not.
+ PrintTo(static_cast<unsigned char>(c), os);
+}
+
+// Overloads for other simple built-in types.
+inline void PrintTo(bool x, ::std::ostream* os) {
+ *os << (x ? "true" : "false");
+}
+
+// Overload for wchar_t type.
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its decimal code (except for L'\0').
+// The L'\0' char is printed as "L'\\0'". The decimal code is printed
+// as signed integer when wchar_t is implemented by the compiler
+// as a signed type and is printed as an unsigned integer when wchar_t
+// is implemented as an unsigned type.
+GTEST_API_ void PrintTo(wchar_t wc, ::std::ostream* os);
+
+// Overloads for C strings.
+GTEST_API_ void PrintTo(const char* s, ::std::ostream* os);
+inline void PrintTo(char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const char*>(s), os);
+}
+
+// signed/unsigned char is often used for representing binary data, so
+// we print pointers to it as void* to be safe.
+inline void PrintTo(const signed char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(signed char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(const unsigned char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(unsigned char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+
+// MSVC can be configured to define wchar_t as a typedef of unsigned
+// short. It defines _NATIVE_WCHAR_T_DEFINED when wchar_t is a native
+// type. When wchar_t is a typedef, defining an overload for const
+// wchar_t* would cause unsigned short* be printed as a wide string,
+// possibly causing invalid memory accesses.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Overloads for wide C strings
+GTEST_API_ void PrintTo(const wchar_t* s, ::std::ostream* os);
+inline void PrintTo(wchar_t* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const wchar_t*>(s), os);
+}
+#endif
+
+// Overload for C arrays. Multi-dimensional arrays are printed
+// properly.
+
+// Prints the given number of elements in an array, without printing
+// the curly braces.
+template <typename T>
+void PrintRawArrayTo(const T a[], size_t count, ::std::ostream* os) {
+ UniversalPrint(a[0], os);
+ for (size_t i = 1; i != count; i++) {
+ *os << ", ";
+ UniversalPrint(a[i], os);
+ }
+}
+
+// Overloads for ::string and ::std::string.
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_API_ void PrintStringTo(const ::string&s, ::std::ostream* os);
+inline void PrintTo(const ::string& s, ::std::ostream* os) {
+ PrintStringTo(s, os);
+}
+#endif // GTEST_HAS_GLOBAL_STRING
+
+GTEST_API_ void PrintStringTo(const ::std::string&s, ::std::ostream* os);
+inline void PrintTo(const ::std::string& s, ::std::ostream* os) {
+ PrintStringTo(s, os);
+}
+
+// Overloads for ::wstring and ::std::wstring.
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::wstring& s, ::std::ostream* os) {
+ PrintWideStringTo(s, os);
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::std::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::std::wstring& s, ::std::ostream* os) {
+ PrintWideStringTo(s, os);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+// Helper function for printing a tuple. T must be instantiated with
+// a tuple type.
+template <typename T>
+void PrintTupleTo(const T& t, ::std::ostream* os);
+#endif // GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+
+#if GTEST_HAS_TR1_TUPLE
+// Overload for ::std::tr1::tuple. Needed for printing function arguments,
+// which are packed as tuples.
+
+// Overloaded PrintTo() for tuples of various arities. We support
+// tuples of up-to 10 fields. The following implementation works
+// regardless of whether tr1::tuple is implemented using the
+// non-standard variadic template feature or not.
+
+inline void PrintTo(const ::std::tr1::tuple<>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1>
+void PrintTo(const ::std::tr1::tuple<T1>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2>
+void PrintTo(const ::std::tr1::tuple<T1, T2>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+void PrintTo(
+ const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+#endif // GTEST_HAS_TR1_TUPLE
+
+#if GTEST_HAS_STD_TUPLE_
+template <typename... Types>
+void PrintTo(const ::std::tuple<Types...>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+#endif // GTEST_HAS_STD_TUPLE_
+
+// Overload for std::pair.
+template <typename T1, typename T2>
+void PrintTo(const ::std::pair<T1, T2>& value, ::std::ostream* os) {
+ *os << '(';
+ // We cannot use UniversalPrint(value.first, os) here, as T1 may be
+ // a reference type. The same for printing value.second.
+ UniversalPrinter<T1>::Print(value.first, os);
+ *os << ", ";
+ UniversalPrinter<T2>::Print(value.second, os);
+ *os << ')';
+}
+
+// Implements printing a non-reference type T by letting the compiler
+// pick the right overload of PrintTo() for T.
+template <typename T>
+class UniversalPrinter {
+ public:
+ // MSVC warns about adding const to a function type, so we want to
+ // disable the warning.
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4180)
+
+ // Note: we deliberately don't call this PrintTo(), as that name
+ // conflicts with ::testing::internal::PrintTo in the body of the
+ // function.
+ static void Print(const T& value, ::std::ostream* os) {
+ // By default, ::testing::internal::PrintTo() is used for printing
+ // the value.
+ //
+ // Thanks to Koenig look-up, if T is a class and has its own
+ // PrintTo() function defined in its namespace, that function will
+ // be visible here. Since it is more specific than the generic ones
+ // in ::testing::internal, it will be picked by the compiler in the
+ // following statement - exactly what we want.
+ PrintTo(value, os);
+ }
+
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+};
+
+// UniversalPrintArray(begin, len, os) prints an array of 'len'
+// elements, starting at address 'begin'.
+template <typename T>
+void UniversalPrintArray(const T* begin, size_t len, ::std::ostream* os) {
+ if (len == 0) {
+ *os << "{}";
+ } else {
+ *os << "{ ";
+ const size_t kThreshold = 18;
+ const size_t kChunkSize = 8;
+ // If the array has more than kThreshold elements, we'll have to
+ // omit some details by printing only the first and the last
+ // kChunkSize elements.
+ // TODO(wan@google.com): let the user control the threshold using a flag.
+ if (len <= kThreshold) {
+ PrintRawArrayTo(begin, len, os);
+ } else {
+ PrintRawArrayTo(begin, kChunkSize, os);
+ *os << ", ..., ";
+ PrintRawArrayTo(begin + len - kChunkSize, kChunkSize, os);
+ }
+ *os << " }";
+ }
+}
+// This overload prints a (const) char array compactly.
+GTEST_API_ void UniversalPrintArray(
+ const char* begin, size_t len, ::std::ostream* os);
+
+// This overload prints a (const) wchar_t array compactly.
+GTEST_API_ void UniversalPrintArray(
+ const wchar_t* begin, size_t len, ::std::ostream* os);
+
+// Implements printing an array type T[N].
+template <typename T, size_t N>
+class UniversalPrinter<T[N]> {
+ public:
+ // Prints the given array, omitting some elements when there are too
+ // many.
+ static void Print(const T (&a)[N], ::std::ostream* os) {
+ UniversalPrintArray(a, N, os);
+ }
+};
+
+// Implements printing a reference type T&.
+template <typename T>
+class UniversalPrinter<T&> {
+ public:
+ // MSVC warns about adding const to a function type, so we want to
+ // disable the warning.
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4180)
+
+ static void Print(const T& value, ::std::ostream* os) {
+ // Prints the address of the value. We use reinterpret_cast here
+ // as static_cast doesn't compile when T is a function type.
+ *os << "@" << reinterpret_cast<const void*>(&value) << " ";
+
+ // Then prints the value itself.
+ UniversalPrint(value, os);
+ }
+
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+};
+
+// Prints a value tersely: for a reference type, the referenced value
+// (but not the address) is printed; for a (const) char pointer, the
+// NUL-terminated string (but not the pointer) is printed.
+
+template <typename T>
+class UniversalTersePrinter {
+ public:
+ static void Print(const T& value, ::std::ostream* os) {
+ UniversalPrint(value, os);
+ }
+};
+template <typename T>
+class UniversalTersePrinter<T&> {
+ public:
+ static void Print(const T& value, ::std::ostream* os) {
+ UniversalPrint(value, os);
+ }
+};
+template <typename T, size_t N>
+class UniversalTersePrinter<T[N]> {
+ public:
+ static void Print(const T (&value)[N], ::std::ostream* os) {
+ UniversalPrinter<T[N]>::Print(value, os);
+ }
+};
+template <>
+class UniversalTersePrinter<const char*> {
+ public:
+ static void Print(const char* str, ::std::ostream* os) {
+ if (str == NULL) {
+ *os << "NULL";
+ } else {
+ UniversalPrint(string(str), os);
+ }
+ }
+};
+template <>
+class UniversalTersePrinter<char*> {
+ public:
+ static void Print(char* str, ::std::ostream* os) {
+ UniversalTersePrinter<const char*>::Print(str, os);
+ }
+};
+
+#if GTEST_HAS_STD_WSTRING
+template <>
+class UniversalTersePrinter<const wchar_t*> {
+ public:
+ static void Print(const wchar_t* str, ::std::ostream* os) {
+ if (str == NULL) {
+ *os << "NULL";
+ } else {
+ UniversalPrint(::std::wstring(str), os);
+ }
+ }
+};
+#endif
+
+template <>
+class UniversalTersePrinter<wchar_t*> {
+ public:
+ static void Print(wchar_t* str, ::std::ostream* os) {
+ UniversalTersePrinter<const wchar_t*>::Print(str, os);
+ }
+};
+
+template <typename T>
+void UniversalTersePrint(const T& value, ::std::ostream* os) {
+ UniversalTersePrinter<T>::Print(value, os);
+}
+
+// Prints a value using the type inferred by the compiler. The
+// difference between this and UniversalTersePrint() is that for a
+// (const) char pointer, this prints both the pointer and the
+// NUL-terminated string.
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os) {
+ // A workarond for the bug in VC++ 7.1 that prevents us from instantiating
+ // UniversalPrinter with T directly.
+ typedef T T1;
+ UniversalPrinter<T1>::Print(value, os);
+}
+
+typedef ::std::vector<string> Strings;
+
+// TuplePolicy<TupleT> must provide:
+// - tuple_size
+// size of tuple TupleT.
+// - get<size_t I>(const TupleT& t)
+// static function extracting element I of tuple TupleT.
+// - tuple_element<size_t I>::type
+// type of element I of tuple TupleT.
+template <typename TupleT>
+struct TuplePolicy;
+
+#if GTEST_HAS_TR1_TUPLE
+template <typename TupleT>
+struct TuplePolicy {
+ typedef TupleT Tuple;
+ static const size_t tuple_size = ::std::tr1::tuple_size<Tuple>::value;
+
+ template <size_t I>
+ struct tuple_element : ::std::tr1::tuple_element<I, Tuple> {};
+
+ template <size_t I>
+ static typename AddReference<
+ const typename ::std::tr1::tuple_element<I, Tuple>::type>::type get(
+ const Tuple& tuple) {
+ return ::std::tr1::get<I>(tuple);
+ }
+};
+template <typename TupleT>
+const size_t TuplePolicy<TupleT>::tuple_size;
+#endif // GTEST_HAS_TR1_TUPLE
+
+#if GTEST_HAS_STD_TUPLE_
+template <typename... Types>
+struct TuplePolicy< ::std::tuple<Types...> > {
+ typedef ::std::tuple<Types...> Tuple;
+ static const size_t tuple_size = ::std::tuple_size<Tuple>::value;
+
+ template <size_t I>
+ struct tuple_element : ::std::tuple_element<I, Tuple> {};
+
+ template <size_t I>
+ static const typename ::std::tuple_element<I, Tuple>::type& get(
+ const Tuple& tuple) {
+ return ::std::get<I>(tuple);
+ }
+};
+template <typename... Types>
+const size_t TuplePolicy< ::std::tuple<Types...> >::tuple_size;
+#endif // GTEST_HAS_STD_TUPLE_
+
+#if GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+// This helper template allows PrintTo() for tuples and
+// UniversalTersePrintTupleFieldsToStrings() to be defined by
+// induction on the number of tuple fields. The idea is that
+// TuplePrefixPrinter<N>::PrintPrefixTo(t, os) prints the first N
+// fields in tuple t, and can be defined in terms of
+// TuplePrefixPrinter<N - 1>.
+//
+// The inductive case.
+template <size_t N>
+struct TuplePrefixPrinter {
+ // Prints the first N fields of a tuple.
+ template <typename Tuple>
+ static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
+ TuplePrefixPrinter<N - 1>::PrintPrefixTo(t, os);
+ GTEST_INTENTIONAL_CONST_COND_PUSH_()
+ if (N > 1) {
+ GTEST_INTENTIONAL_CONST_COND_POP_()
+ *os << ", ";
+ }
+ UniversalPrinter<
+ typename TuplePolicy<Tuple>::template tuple_element<N - 1>::type>
+ ::Print(TuplePolicy<Tuple>::template get<N - 1>(t), os);
+ }
+
+ // Tersely prints the first N fields of a tuple to a string vector,
+ // one element for each field.
+ template <typename Tuple>
+ static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
+ TuplePrefixPrinter<N - 1>::TersePrintPrefixToStrings(t, strings);
+ ::std::stringstream ss;
+ UniversalTersePrint(TuplePolicy<Tuple>::template get<N - 1>(t), &ss);
+ strings->push_back(ss.str());
+ }
+};
+
+// Base case.
+template <>
+struct TuplePrefixPrinter<0> {
+ template <typename Tuple>
+ static void PrintPrefixTo(const Tuple&, ::std::ostream*) {}
+
+ template <typename Tuple>
+ static void TersePrintPrefixToStrings(const Tuple&, Strings*) {}
+};
+
+// Helper function for printing a tuple.
+// Tuple must be either std::tr1::tuple or std::tuple type.
+template <typename Tuple>
+void PrintTupleTo(const Tuple& t, ::std::ostream* os) {
+ *os << "(";
+ TuplePrefixPrinter<TuplePolicy<Tuple>::tuple_size>::PrintPrefixTo(t, os);
+ *os << ")";
+}
+
+// Prints the fields of a tuple tersely to a string vector, one
+// element for each field. See the comment before
+// UniversalTersePrint() for how we define "tersely".
+template <typename Tuple>
+Strings UniversalTersePrintTupleFieldsToStrings(const Tuple& value) {
+ Strings result;
+ TuplePrefixPrinter<TuplePolicy<Tuple>::tuple_size>::
+ TersePrintPrefixToStrings(value, &result);
+ return result;
+}
+#endif // GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+
+} // namespace internal
+
+template <typename T>
+::std::string PrintToString(const T& value) {
+ ::std::stringstream ss;
+ internal::UniversalTersePrinter<T>::Print(value, &ss);
+ return ss.str();
+}
+
+} // namespace testing
+
+// Include any custom printer added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// 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.
+//
+// This file provides an injection point for custom printers in a local
+// installation of gTest.
+// It will be included from gtest-printers.h and the overrides in this file
+// will be visible to everyone.
+// See documentation at gtest/gtest-printers.h for details on how to define a
+// custom printer.
+//
+// ** Custom implementation starts here **
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Input to a parameterized test name generator, describing a test parameter.
+// Consists of the parameter value and the integer parameter index.
+template <class ParamType>
+struct TestParamInfo {
+ TestParamInfo(const ParamType& a_param, size_t an_index) :
+ param(a_param),
+ index(an_index) {}
+ ParamType param;
+ size_t index;
+};
+
+// A builtin parameterized test name generator which returns the result of
+// testing::PrintToString.
+struct PrintToStringParamName {
+ template <class ParamType>
+ std::string operator()(const TestParamInfo<ParamType>& info) const {
+ return PrintToString(info.param);
+ }
+};
+
+namespace internal {
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Outputs a message explaining invalid registration of different
+// fixture class for the same test case. This may happen when
+// TEST_P macro is used to define two tests with the same name
+// but in different namespaces.
+GTEST_API_ void ReportInvalidTestCaseType(const char* test_case_name,
+ CodeLocation code_location);
+
+template <typename> class ParamGeneratorInterface;
+template <typename> class ParamGenerator;
+
+// Interface for iterating over elements provided by an implementation
+// of ParamGeneratorInterface<T>.
+template <typename T>
+class ParamIteratorInterface {
+ public:
+ virtual ~ParamIteratorInterface() {}
+ // A pointer to the base generator instance.
+ // Used only for the purposes of iterator comparison
+ // to make sure that two iterators belong to the same generator.
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const = 0;
+ // Advances iterator to point to the next element
+ // provided by the generator. The caller is responsible
+ // for not calling Advance() on an iterator equal to
+ // BaseGenerator()->End().
+ virtual void Advance() = 0;
+ // Clones the iterator object. Used for implementing copy semantics
+ // of ParamIterator<T>.
+ virtual ParamIteratorInterface* Clone() const = 0;
+ // Dereferences the current iterator and provides (read-only) access
+ // to the pointed value. It is the caller's responsibility not to call
+ // Current() on an iterator equal to BaseGenerator()->End().
+ // Used for implementing ParamGenerator<T>::operator*().
+ virtual const T* Current() const = 0;
+ // Determines whether the given iterator and other point to the same
+ // element in the sequence generated by the generator.
+ // Used for implementing ParamGenerator<T>::operator==().
+ virtual bool Equals(const ParamIteratorInterface& other) const = 0;
+};
+
+// Class iterating over elements provided by an implementation of
+// ParamGeneratorInterface<T>. It wraps ParamIteratorInterface<T>
+// and implements the const forward iterator concept.
+template <typename T>
+class ParamIterator {
+ public:
+ typedef T value_type;
+ typedef const T& reference;
+ typedef ptrdiff_t difference_type;
+
+ // ParamIterator assumes ownership of the impl_ pointer.
+ ParamIterator(const ParamIterator& other) : impl_(other.impl_->Clone()) {}
+ ParamIterator& operator=(const ParamIterator& other) {
+ if (this != &other)
+ impl_.reset(other.impl_->Clone());
+ return *this;
+ }
+
+ const T& operator*() const { return *impl_->Current(); }
+ const T* operator->() const { return impl_->Current(); }
+ // Prefix version of operator++.
+ ParamIterator& operator++() {
+ impl_->Advance();
+ return *this;
+ }
+ // Postfix version of operator++.
+ ParamIterator operator++(int /*unused*/) {
+ ParamIteratorInterface<T>* clone = impl_->Clone();
+ impl_->Advance();
+ return ParamIterator(clone);
+ }
+ bool operator==(const ParamIterator& other) const {
+ return impl_.get() == other.impl_.get() || impl_->Equals(*other.impl_);
+ }
+ bool operator!=(const ParamIterator& other) const {
+ return !(*this == other);
+ }
+
+ private:
+ friend class ParamGenerator<T>;
+ explicit ParamIterator(ParamIteratorInterface<T>* impl) : impl_(impl) {}
+ scoped_ptr<ParamIteratorInterface<T> > impl_;
+};
+
+// ParamGeneratorInterface<T> is the binary interface to access generators
+// defined in other translation units.
+template <typename T>
+class ParamGeneratorInterface {
+ public:
+ typedef T ParamType;
+
+ virtual ~ParamGeneratorInterface() {}
+
+ // Generator interface definition
+ virtual ParamIteratorInterface<T>* Begin() const = 0;
+ virtual ParamIteratorInterface<T>* End() const = 0;
+};
+
+// Wraps ParamGeneratorInterface<T> and provides general generator syntax
+// compatible with the STL Container concept.
+// This class implements copy initialization semantics and the contained
+// ParamGeneratorInterface<T> instance is shared among all copies
+// of the original object. This is possible because that instance is immutable.
+template<typename T>
+class ParamGenerator {
+ public:
+ typedef ParamIterator<T> iterator;
+
+ explicit ParamGenerator(ParamGeneratorInterface<T>* impl) : impl_(impl) {}
+ ParamGenerator(const ParamGenerator& other) : impl_(other.impl_) {}
+
+ ParamGenerator& operator=(const ParamGenerator& other) {
+ impl_ = other.impl_;
+ return *this;
+ }
+
+ iterator begin() const { return iterator(impl_->Begin()); }
+ iterator end() const { return iterator(impl_->End()); }
+
+ private:
+ linked_ptr<const ParamGeneratorInterface<T> > impl_;
+};
+
+// Generates values from a range of two comparable values. Can be used to
+// generate sequences of user-defined types that implement operator+() and
+// operator<().
+// This class is used in the Range() function.
+template <typename T, typename IncrementT>
+class RangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+ RangeGenerator(T begin, T end, IncrementT step)
+ : begin_(begin), end_(end),
+ step_(step), end_index_(CalculateEndIndex(begin, end, step)) {}
+ virtual ~RangeGenerator() {}
+
+ virtual ParamIteratorInterface<T>* Begin() const {
+ return new Iterator(this, begin_, 0, step_);
+ }
+ virtual ParamIteratorInterface<T>* End() const {
+ return new Iterator(this, end_, end_index_, step_);
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<T> {
+ public:
+ Iterator(const ParamGeneratorInterface<T>* base, T value, int index,
+ IncrementT step)
+ : base_(base), value_(value), index_(index), step_(step) {}
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+ return base_;
+ }
+ virtual void Advance() {
+ value_ = static_cast<T>(value_ + step_);
+ index_++;
+ }
+ virtual ParamIteratorInterface<T>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const T* Current() const { return &value_; }
+ virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const int other_index =
+ CheckedDowncastToActualType<const Iterator>(&other)->index_;
+ return index_ == other_index;
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : ParamIteratorInterface<T>(),
+ base_(other.base_), value_(other.value_), index_(other.index_),
+ step_(other.step_) {}
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<T>* const base_;
+ T value_;
+ int index_;
+ const IncrementT step_;
+ }; // class RangeGenerator::Iterator
+
+ static int CalculateEndIndex(const T& begin,
+ const T& end,
+ const IncrementT& step) {
+ int end_index = 0;
+ for (T i = begin; i < end; i = static_cast<T>(i + step))
+ end_index++;
+ return end_index;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const RangeGenerator& other);
+
+ const T begin_;
+ const T end_;
+ const IncrementT step_;
+ // The index for the end() iterator. All the elements in the generated
+ // sequence are indexed (0-based) to aid iterator comparison.
+ const int end_index_;
+}; // class RangeGenerator
+
+
+// Generates values from a pair of STL-style iterators. Used in the
+// ValuesIn() function. The elements are copied from the source range
+// since the source can be located on the stack, and the generator
+// is likely to persist beyond that stack frame.
+template <typename T>
+class ValuesInIteratorRangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+ template <typename ForwardIterator>
+ ValuesInIteratorRangeGenerator(ForwardIterator begin, ForwardIterator end)
+ : container_(begin, end) {}
+ virtual ~ValuesInIteratorRangeGenerator() {}
+
+ virtual ParamIteratorInterface<T>* Begin() const {
+ return new Iterator(this, container_.begin());
+ }
+ virtual ParamIteratorInterface<T>* End() const {
+ return new Iterator(this, container_.end());
+ }
+
+ private:
+ typedef typename ::std::vector<T> ContainerType;
+
+ class Iterator : public ParamIteratorInterface<T> {
+ public:
+ Iterator(const ParamGeneratorInterface<T>* base,
+ typename ContainerType::const_iterator iterator)
+ : base_(base), iterator_(iterator) {}
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+ return base_;
+ }
+ virtual void Advance() {
+ ++iterator_;
+ value_.reset();
+ }
+ virtual ParamIteratorInterface<T>* Clone() const {
+ return new Iterator(*this);
+ }
+ // We need to use cached value referenced by iterator_ because *iterator_
+ // can return a temporary object (and of type other then T), so just
+ // having "return &*iterator_;" doesn't work.
+ // value_ is updated here and not in Advance() because Advance()
+ // can advance iterator_ beyond the end of the range, and we cannot
+ // detect that fact. The client code, on the other hand, is
+ // responsible for not calling Current() on an out-of-range iterator.
+ virtual const T* Current() const {
+ if (value_.get() == NULL)
+ value_.reset(new T(*iterator_));
+ return value_.get();
+ }
+ virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ return iterator_ ==
+ CheckedDowncastToActualType<const Iterator>(&other)->iterator_;
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ // The explicit constructor call suppresses a false warning
+ // emitted by gcc when supplied with the -Wextra option.
+ : ParamIteratorInterface<T>(),
+ base_(other.base_),
+ iterator_(other.iterator_) {}
+
+ const ParamGeneratorInterface<T>* const base_;
+ typename ContainerType::const_iterator iterator_;
+ // A cached value of *iterator_. We keep it here to allow access by
+ // pointer in the wrapping iterator's operator->().
+ // value_ needs to be mutable to be accessed in Current().
+ // Use of scoped_ptr helps manage cached value's lifetime,
+ // which is bound by the lifespan of the iterator itself.
+ mutable scoped_ptr<const T> value_;
+ }; // class ValuesInIteratorRangeGenerator::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const ValuesInIteratorRangeGenerator& other);
+
+ const ContainerType container_;
+}; // class ValuesInIteratorRangeGenerator
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Default parameterized test name generator, returns a string containing the
+// integer test parameter index.
+template <class ParamType>
+std::string DefaultParamName(const TestParamInfo<ParamType>& info) {
+ Message name_stream;
+ name_stream << info.index;
+ return name_stream.GetString();
+}
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Parameterized test name overload helpers, which help the
+// INSTANTIATE_TEST_CASE_P macro choose between the default parameterized
+// test name generator and user param name generator.
+template <class ParamType, class ParamNameGenFunctor>
+ParamNameGenFunctor GetParamNameGen(ParamNameGenFunctor func) {
+ return func;
+}
+
+template <class ParamType>
+struct ParamNameGenFunc {
+ typedef std::string Type(const TestParamInfo<ParamType>&);
+};
+
+template <class ParamType>
+typename ParamNameGenFunc<ParamType>::Type *GetParamNameGen() {
+ return DefaultParamName;
+}
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Stores a parameter value and later creates tests parameterized with that
+// value.
+template <class TestClass>
+class ParameterizedTestFactory : public TestFactoryBase {
+ public:
+ typedef typename TestClass::ParamType ParamType;
+ explicit ParameterizedTestFactory(ParamType parameter) :
+ parameter_(parameter) {}
+ virtual Test* CreateTest() {
+ TestClass::SetParam(¶meter_);
+ return new TestClass();
+ }
+
+ private:
+ const ParamType parameter_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactoryBase is a base class for meta-factories that create
+// test factories for passing into MakeAndRegisterTestInfo function.
+template <class ParamType>
+class TestMetaFactoryBase {
+ public:
+ virtual ~TestMetaFactoryBase() {}
+
+ virtual TestFactoryBase* CreateTestFactory(ParamType parameter) = 0;
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactory creates test factories for passing into
+// MakeAndRegisterTestInfo function. Since MakeAndRegisterTestInfo receives
+// ownership of test factory pointer, same factory object cannot be passed
+// into that method twice. But ParameterizedTestCaseInfo is going to call
+// it for each Test/Parameter value combination. Thus it needs meta factory
+// creator class.
+template <class TestCase>
+class TestMetaFactory
+ : public TestMetaFactoryBase<typename TestCase::ParamType> {
+ public:
+ typedef typename TestCase::ParamType ParamType;
+
+ TestMetaFactory() {}
+
+ virtual TestFactoryBase* CreateTestFactory(ParamType parameter) {
+ return new ParameterizedTestFactory<TestCase>(parameter);
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestMetaFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfoBase is a generic interface
+// to ParameterizedTestCaseInfo classes. ParameterizedTestCaseInfoBase
+// accumulates test information provided by TEST_P macro invocations
+// and generators provided by INSTANTIATE_TEST_CASE_P macro invocations
+// and uses that information to register all resulting test instances
+// in RegisterTests method. The ParameterizeTestCaseRegistry class holds
+// a collection of pointers to the ParameterizedTestCaseInfo objects
+// and calls RegisterTests() on each of them when asked.
+class ParameterizedTestCaseInfoBase {
+ public:
+ virtual ~ParameterizedTestCaseInfoBase() {}
+
+ // Base part of test case name for display purposes.
+ virtual const string& GetTestCaseName() const = 0;
+ // Test case id to verify identity.
+ virtual TypeId GetTestCaseTypeId() const = 0;
+ // UnitTest class invokes this method to register tests in this
+ // test case right before running them in RUN_ALL_TESTS macro.
+ // This method should not be called more then once on any single
+ // instance of a ParameterizedTestCaseInfoBase derived class.
+ virtual void RegisterTests() = 0;
+
+ protected:
+ ParameterizedTestCaseInfoBase() {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfoBase);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfo accumulates tests obtained from TEST_P
+// macro invocations for a particular test case and generators
+// obtained from INSTANTIATE_TEST_CASE_P macro invocations for that
+// test case. It registers tests with all values generated by all
+// generators when asked.
+template <class TestCase>
+class ParameterizedTestCaseInfo : public ParameterizedTestCaseInfoBase {
+ public:
+ // ParamType and GeneratorCreationFunc are private types but are required
+ // for declarations of public methods AddTestPattern() and
+ // AddTestCaseInstantiation().
+ typedef typename TestCase::ParamType ParamType;
+ // A function that returns an instance of appropriate generator type.
+ typedef ParamGenerator<ParamType>(GeneratorCreationFunc)();
+ typedef typename ParamNameGenFunc<ParamType>::Type ParamNameGeneratorFunc;
+
+ explicit ParameterizedTestCaseInfo(
+ const char* name, CodeLocation code_location)
+ : test_case_name_(name), code_location_(code_location) {}
+
+ // Test case base name for display purposes.
+ virtual const string& GetTestCaseName() const { return test_case_name_; }
+ // Test case id to verify identity.
+ virtual TypeId GetTestCaseTypeId() const { return GetTypeId<TestCase>(); }
+ // TEST_P macro uses AddTestPattern() to record information
+ // about a single test in a LocalTestInfo structure.
+ // test_case_name is the base name of the test case (without invocation
+ // prefix). test_base_name is the name of an individual test without
+ // parameter index. For the test SequenceA/FooTest.DoBar/1 FooTest is
+ // test case base name and DoBar is test base name.
+ void AddTestPattern(const char* test_case_name,
+ const char* test_base_name,
+ TestMetaFactoryBase<ParamType>* meta_factory) {
+ tests_.push_back(linked_ptr<TestInfo>(new TestInfo(test_case_name,
+ test_base_name,
+ meta_factory)));
+ }
+ // INSTANTIATE_TEST_CASE_P macro uses AddGenerator() to record information
+ // about a generator.
+ int AddTestCaseInstantiation(const string& instantiation_name,
+ GeneratorCreationFunc* func,
+ ParamNameGeneratorFunc* name_func,
+ const char* file,
+ int line) {
+ instantiations_.push_back(
+ InstantiationInfo(instantiation_name, func, name_func, file, line));
+ return 0; // Return value used only to run this method in namespace scope.
+ }
+ // UnitTest class invokes this method to register tests in this test case
+ // test cases right before running tests in RUN_ALL_TESTS macro.
+ // This method should not be called more then once on any single
+ // instance of a ParameterizedTestCaseInfoBase derived class.
+ // UnitTest has a guard to prevent from calling this method more then once.
+ virtual void RegisterTests() {
+ for (typename TestInfoContainer::iterator test_it = tests_.begin();
+ test_it != tests_.end(); ++test_it) {
+ linked_ptr<TestInfo> test_info = *test_it;
+ for (typename InstantiationContainer::iterator gen_it =
+ instantiations_.begin(); gen_it != instantiations_.end();
+ ++gen_it) {
+ const string& instantiation_name = gen_it->name;
+ ParamGenerator<ParamType> generator((*gen_it->generator)());
+ ParamNameGeneratorFunc* name_func = gen_it->name_func;
+ const char* file = gen_it->file;
+ int line = gen_it->line;
+
+ string test_case_name;
+ if ( !instantiation_name.empty() )
+ test_case_name = instantiation_name + "/";
+ test_case_name += test_info->test_case_base_name;
+
+ size_t i = 0;
+ std::set<std::string> test_param_names;
+ for (typename ParamGenerator<ParamType>::iterator param_it =
+ generator.begin();
+ param_it != generator.end(); ++param_it, ++i) {
+ Message test_name_stream;
+
+ std::string param_name = name_func(
+ TestParamInfo<ParamType>(*param_it, i));
+
+ GTEST_CHECK_(IsValidParamName(param_name))
+ << "Parameterized test name '" << param_name
+ << "' is invalid, in " << file
+ << " line " << line << std::endl;
+
+ GTEST_CHECK_(test_param_names.count(param_name) == 0)
+ << "Duplicate parameterized test name '" << param_name
+ << "', in " << file << " line " << line << std::endl;
+
+ test_param_names.insert(param_name);
+
+ test_name_stream << test_info->test_base_name << "/" << param_name;
+ MakeAndRegisterTestInfo(
+ test_case_name.c_str(),
+ test_name_stream.GetString().c_str(),
+ NULL, // No type parameter.
+ PrintToString(*param_it).c_str(),
+ code_location_,
+ GetTestCaseTypeId(),
+ TestCase::SetUpTestCase,
+ TestCase::TearDownTestCase,
+ test_info->test_meta_factory->CreateTestFactory(*param_it));
+ } // for param_it
+ } // for gen_it
+ } // for test_it
+ } // RegisterTests
+
+ private:
+ // LocalTestInfo structure keeps information about a single test registered
+ // with TEST_P macro.
+ struct TestInfo {
+ TestInfo(const char* a_test_case_base_name,
+ const char* a_test_base_name,
+ TestMetaFactoryBase<ParamType>* a_test_meta_factory) :
+ test_case_base_name(a_test_case_base_name),
+ test_base_name(a_test_base_name),
+ test_meta_factory(a_test_meta_factory) {}
+
+ const string test_case_base_name;
+ const string test_base_name;
+ const scoped_ptr<TestMetaFactoryBase<ParamType> > test_meta_factory;
+ };
+ typedef ::std::vector<linked_ptr<TestInfo> > TestInfoContainer;
+ // Records data received from INSTANTIATE_TEST_CASE_P macros:
+ // <Instantiation name, Sequence generator creation function,
+ // Name generator function, Source file, Source line>
+ struct InstantiationInfo {
+ InstantiationInfo(const std::string &name_in,
+ GeneratorCreationFunc* generator_in,
+ ParamNameGeneratorFunc* name_func_in,
+ const char* file_in,
+ int line_in)
+ : name(name_in),
+ generator(generator_in),
+ name_func(name_func_in),
+ file(file_in),
+ line(line_in) {}
+
+ std::string name;
+ GeneratorCreationFunc* generator;
+ ParamNameGeneratorFunc* name_func;
+ const char* file;
+ int line;
+ };
+ typedef ::std::vector<InstantiationInfo> InstantiationContainer;
+
+ static bool IsValidParamName(const std::string& name) {
+ // Check for empty string
+ if (name.empty())
+ return false;
+
+ // Check for invalid characters
+ for (std::string::size_type index = 0; index < name.size(); ++index) {
+ if (!isalnum(name[index]) && name[index] != '_')
+ return false;
+ }
+
+ return true;
+ }
+
+ const string test_case_name_;
+ CodeLocation code_location_;
+ TestInfoContainer tests_;
+ InstantiationContainer instantiations_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfo);
+}; // class ParameterizedTestCaseInfo
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseRegistry contains a map of ParameterizedTestCaseInfoBase
+// classes accessed by test case names. TEST_P and INSTANTIATE_TEST_CASE_P
+// macros use it to locate their corresponding ParameterizedTestCaseInfo
+// descriptors.
+class ParameterizedTestCaseRegistry {
+ public:
+ ParameterizedTestCaseRegistry() {}
+ ~ParameterizedTestCaseRegistry() {
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ delete *it;
+ }
+ }
+
+ // Looks up or creates and returns a structure containing information about
+ // tests and instantiations of a particular test case.
+ template <class TestCase>
+ ParameterizedTestCaseInfo<TestCase>* GetTestCasePatternHolder(
+ const char* test_case_name,
+ CodeLocation code_location) {
+ ParameterizedTestCaseInfo<TestCase>* typed_test_info = NULL;
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ if ((*it)->GetTestCaseName() == test_case_name) {
+ if ((*it)->GetTestCaseTypeId() != GetTypeId<TestCase>()) {
+ // Complain about incorrect usage of Google Test facilities
+ // and terminate the program since we cannot guaranty correct
+ // test case setup and tear-down in this case.
+ ReportInvalidTestCaseType(test_case_name, code_location);
+ posix::Abort();
+ } else {
+ // At this point we are sure that the object we found is of the same
+ // type we are looking for, so we downcast it to that type
+ // without further checks.
+ typed_test_info = CheckedDowncastToActualType<
+ ParameterizedTestCaseInfo<TestCase> >(*it);
+ }
+ break;
+ }
+ }
+ if (typed_test_info == NULL) {
+ typed_test_info = new ParameterizedTestCaseInfo<TestCase>(
+ test_case_name, code_location);
+ test_case_infos_.push_back(typed_test_info);
+ }
+ return typed_test_info;
+ }
+ void RegisterTests() {
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ (*it)->RegisterTests();
+ }
+ }
+
+ private:
+ typedef ::std::vector<ParameterizedTestCaseInfoBase*> TestCaseInfoContainer;
+
+ TestCaseInfoContainer test_case_infos_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseRegistry);
+};
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+// This file was GENERATED by command:
+// pump.py gtest-param-util-generated.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// 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: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+// Currently Google Test supports at most 50 arguments in Values,
+// and at most 10 arguments in Combine. Please contact
+// googletestframework@googlegroups.com if you need more.
+// Please note that the number of arguments to Combine is limited
+// by the maximum arity of the implementation of tuple which is
+// currently set at 10.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Forward declarations of ValuesIn(), which is implemented in
+// include/gtest/gtest-param-test.h.
+template <typename ForwardIterator>
+internal::ParamGenerator<
+ typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end);
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]);
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+ const Container& container);
+
+namespace internal {
+
+// Used in the Values() function to provide polymorphic capabilities.
+template <typename T1>
+class ValueArray1 {
+ public:
+ explicit ValueArray1(T1 v1) : v1_(v1) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray1& other);
+
+ const T1 v1_;
+};
+
+template <typename T1, typename T2>
+class ValueArray2 {
+ public:
+ ValueArray2(T1 v1, T2 v2) : v1_(v1), v2_(v2) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray2& other);
+
+ const T1 v1_;
+ const T2 v2_;
+};
+
+template <typename T1, typename T2, typename T3>
+class ValueArray3 {
+ public:
+ ValueArray3(T1 v1, T2 v2, T3 v3) : v1_(v1), v2_(v2), v3_(v3) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray3& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+class ValueArray4 {
+ public:
+ ValueArray4(T1 v1, T2 v2, T3 v3, T4 v4) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray4& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class ValueArray5 {
+ public:
+ ValueArray5(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray5& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+class ValueArray6 {
+ public:
+ ValueArray6(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray6& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+class ValueArray7 {
+ public:
+ ValueArray7(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray7& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+class ValueArray8 {
+ public:
+ ValueArray8(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray8& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+class ValueArray9 {
+ public:
+ ValueArray9(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray9& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+class ValueArray10 {
+ public:
+ ValueArray10(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray10& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+class ValueArray11 {
+ public:
+ ValueArray11(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray11& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+class ValueArray12 {
+ public:
+ ValueArray12(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray12& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+class ValueArray13 {
+ public:
+ ValueArray13(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray13& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+class ValueArray14 {
+ public:
+ ValueArray14(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray14& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+class ValueArray15 {
+ public:
+ ValueArray15(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray15& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+class ValueArray16 {
+ public:
+ ValueArray16(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray16& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+class ValueArray17 {
+ public:
+ ValueArray17(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray17& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+class ValueArray18 {
+ public:
+ ValueArray18(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray18& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+class ValueArray19 {
+ public:
+ ValueArray19(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray19& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+class ValueArray20 {
+ public:
+ ValueArray20(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray20& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+class ValueArray21 {
+ public:
+ ValueArray21(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray21& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+class ValueArray22 {
+ public:
+ ValueArray22(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray22& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+class ValueArray23 {
+ public:
+ ValueArray23(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray23& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+class ValueArray24 {
+ public:
+ ValueArray24(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray24& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+class ValueArray25 {
+ public:
+ ValueArray25(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray25& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+class ValueArray26 {
+ public:
+ ValueArray26(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray26& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+class ValueArray27 {
+ public:
+ ValueArray27(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray27& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+class ValueArray28 {
+ public:
+ ValueArray28(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray28& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+class ValueArray29 {
+ public:
+ ValueArray29(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray29& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+class ValueArray30 {
+ public:
+ ValueArray30(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray30& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+class ValueArray31 {
+ public:
+ ValueArray31(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray31& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+class ValueArray32 {
+ public:
+ ValueArray32(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray32& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+class ValueArray33 {
+ public:
+ ValueArray33(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+ T33 v33) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray33& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+class ValueArray34 {
+ public:
+ ValueArray34(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray34& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+class ValueArray35 {
+ public:
+ ValueArray35(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+ v32_(v32), v33_(v33), v34_(v34), v35_(v35) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray35& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+class ValueArray36 {
+ public:
+ ValueArray36(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+ v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray36& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+class ValueArray37 {
+ public:
+ ValueArray37(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+ v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+ v36_(v36), v37_(v37) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray37& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+class ValueArray38 {
+ public:
+ ValueArray38(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray38& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+class ValueArray39 {
+ public:
+ ValueArray39(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray39& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+class ValueArray40 {
+ public:
+ ValueArray40(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+ v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+ v40_(v40) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray40& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+class ValueArray41 {
+ public:
+ ValueArray41(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+ T41 v41) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray41& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+class ValueArray42 {
+ public:
+ ValueArray42(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray42& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+class ValueArray43 {
+ public:
+ ValueArray43(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+ v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37),
+ v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray43& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+class ValueArray44 {
+ public:
+ ValueArray44(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+ v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36),
+ v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42),
+ v43_(v43), v44_(v44) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray44& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+class ValueArray45 {
+ public:
+ ValueArray45(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+ v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+ v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41),
+ v42_(v42), v43_(v43), v44_(v44), v45_(v45) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray45& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+class ValueArray46 {
+ public:
+ ValueArray46(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+ v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_), static_cast<T>(v46_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray46& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+class ValueArray47 {
+ public:
+ ValueArray47(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+ v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46),
+ v47_(v47) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray47& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+class ValueArray48 {
+ public:
+ ValueArray48(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+ v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+ v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45),
+ v46_(v46), v47_(v47), v48_(v48) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+ static_cast<T>(v48_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray48& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+class ValueArray49 {
+ public:
+ ValueArray49(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48,
+ T49 v49) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+ v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+ static_cast<T>(v48_), static_cast<T>(v49_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray49& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+ const T49 v49_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+class ValueArray50 {
+ public:
+ ValueArray50(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48, T49 v49,
+ T50 v50) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+ v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49), v50_(v50) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+ static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+ static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+ static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+ static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+ static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+ static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+ static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+ static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+ static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+ static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+ static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+ static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+ static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+ static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+ static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+ static_cast<T>(v48_), static_cast<T>(v49_), static_cast<T>(v50_)};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray50& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+ const T49 v49_;
+ const T50 v50_;
+};
+
+# if GTEST_HAS_COMBINE
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Generates values from the Cartesian product of values produced
+// by the argument generators.
+//
+template <typename T1, typename T2>
+class CartesianProductGenerator2
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2> > {
+ public:
+ typedef ::testing::tuple<T1, T2> ParamType;
+
+ CartesianProductGenerator2(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2)
+ : g1_(g1), g2_(g2) {}
+ virtual ~CartesianProductGenerator2() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current2_;
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator2::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator2& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+}; // class CartesianProductGenerator2
+
+
+template <typename T1, typename T2, typename T3>
+class CartesianProductGenerator3
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3> ParamType;
+
+ CartesianProductGenerator3(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3)
+ : g1_(g1), g2_(g2), g3_(g3) {}
+ virtual ~CartesianProductGenerator3() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current3_;
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator3::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator3& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+}; // class CartesianProductGenerator3
+
+
+template <typename T1, typename T2, typename T3, typename T4>
+class CartesianProductGenerator4
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4> ParamType;
+
+ CartesianProductGenerator4(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+ virtual ~CartesianProductGenerator4() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current4_;
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator4::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator4& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+}; // class CartesianProductGenerator4
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class CartesianProductGenerator5
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5> ParamType;
+
+ CartesianProductGenerator5(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+ virtual ~CartesianProductGenerator5() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current5_;
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator5::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator5& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+}; // class CartesianProductGenerator5
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+class CartesianProductGenerator6
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5,
+ T6> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5, T6> ParamType;
+
+ CartesianProductGenerator6(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+ virtual ~CartesianProductGenerator6() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current6_;
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator6::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator6& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+}; // class CartesianProductGenerator6
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+class CartesianProductGenerator7
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+ T7> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7> ParamType;
+
+ CartesianProductGenerator7(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+ virtual ~CartesianProductGenerator7() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current7_;
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator7::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator7& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+}; // class CartesianProductGenerator7
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+class CartesianProductGenerator8
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8> ParamType;
+
+ CartesianProductGenerator8(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+ g8_(g8) {}
+ virtual ~CartesianProductGenerator8() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current8_;
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator8::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator8& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+}; // class CartesianProductGenerator8
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+class CartesianProductGenerator9
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8, T9> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9> ParamType;
+
+ CartesianProductGenerator9(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9) {}
+ virtual ~CartesianProductGenerator9() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end(), g9_, g9_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8,
+ const ParamGenerator<T9>& g9,
+ const typename ParamGenerator<T9>::iterator& current9)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+ begin9_(g9.begin()), end9_(g9.end()), current9_(current9) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current9_;
+ if (current9_ == end9_) {
+ current9_ = begin9_;
+ ++current8_;
+ }
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_ &&
+ current9_ == typed_other->current9_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_),
+ begin9_(other.begin9_),
+ end9_(other.end9_),
+ current9_(other.current9_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_,
+ *current9_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_ ||
+ current9_ == end9_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ const typename ParamGenerator<T9>::iterator begin9_;
+ const typename ParamGenerator<T9>::iterator end9_;
+ typename ParamGenerator<T9>::iterator current9_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator9::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator9& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+ const ParamGenerator<T9> g9_;
+}; // class CartesianProductGenerator9
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+class CartesianProductGenerator10
+ : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8, T9, T10> > {
+ public:
+ typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> ParamType;
+
+ CartesianProductGenerator10(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9,
+ const ParamGenerator<T10>& g10)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9), g10_(g10) {}
+ virtual ~CartesianProductGenerator10() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin(), g10_, g10_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end(), g9_, g9_.end(), g10_, g10_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8,
+ const ParamGenerator<T9>& g9,
+ const typename ParamGenerator<T9>::iterator& current9,
+ const ParamGenerator<T10>& g10,
+ const typename ParamGenerator<T10>::iterator& current10)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+ begin9_(g9.begin()), end9_(g9.end()), current9_(current9),
+ begin10_(g10.begin()), end10_(g10.end()), current10_(current10) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current10_;
+ if (current10_ == end10_) {
+ current10_ = begin10_;
+ ++current9_;
+ }
+ if (current9_ == end9_) {
+ current9_ = begin9_;
+ ++current8_;
+ }
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_ &&
+ current9_ == typed_other->current9_ &&
+ current10_ == typed_other->current10_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_),
+ begin9_(other.begin9_),
+ end9_(other.end9_),
+ current9_(other.current9_),
+ begin10_(other.begin10_),
+ end10_(other.end10_),
+ current10_(other.current10_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_,
+ *current9_, *current10_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_ ||
+ current9_ == end9_ ||
+ current10_ == end10_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ const typename ParamGenerator<T9>::iterator begin9_;
+ const typename ParamGenerator<T9>::iterator end9_;
+ typename ParamGenerator<T9>::iterator current9_;
+ const typename ParamGenerator<T10>::iterator begin10_;
+ const typename ParamGenerator<T10>::iterator end10_;
+ typename ParamGenerator<T10>::iterator current10_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator10::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator10& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+ const ParamGenerator<T9> g9_;
+ const ParamGenerator<T10> g10_;
+}; // class CartesianProductGenerator10
+
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Helper classes providing Combine() with polymorphic features. They allow
+// casting CartesianProductGeneratorN<T> to ParamGenerator<U> if T is
+// convertible to U.
+//
+template <class Generator1, class Generator2>
+class CartesianProductHolder2 {
+ public:
+CartesianProductHolder2(const Generator1& g1, const Generator2& g2)
+ : g1_(g1), g2_(g2) {}
+ template <typename T1, typename T2>
+ operator ParamGenerator< ::testing::tuple<T1, T2> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2> >(
+ new CartesianProductGenerator2<T1, T2>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder2& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+}; // class CartesianProductHolder2
+
+template <class Generator1, class Generator2, class Generator3>
+class CartesianProductHolder3 {
+ public:
+CartesianProductHolder3(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3)
+ : g1_(g1), g2_(g2), g3_(g3) {}
+ template <typename T1, typename T2, typename T3>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3> >(
+ new CartesianProductGenerator3<T1, T2, T3>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder3& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+}; // class CartesianProductHolder3
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4>
+class CartesianProductHolder4 {
+ public:
+CartesianProductHolder4(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+ template <typename T1, typename T2, typename T3, typename T4>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4> >(
+ new CartesianProductGenerator4<T1, T2, T3, T4>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder4& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+}; // class CartesianProductHolder4
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5>
+class CartesianProductHolder5 {
+ public:
+CartesianProductHolder5(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5> >(
+ new CartesianProductGenerator5<T1, T2, T3, T4, T5>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder5& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+}; // class CartesianProductHolder5
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6>
+class CartesianProductHolder6 {
+ public:
+CartesianProductHolder6(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6> >(
+ new CartesianProductGenerator6<T1, T2, T3, T4, T5, T6>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder6& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+}; // class CartesianProductHolder6
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7>
+class CartesianProductHolder7 {
+ public:
+CartesianProductHolder7(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+ T7> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7> >(
+ new CartesianProductGenerator7<T1, T2, T3, T4, T5, T6, T7>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder7& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+}; // class CartesianProductHolder7
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8>
+class CartesianProductHolder8 {
+ public:
+CartesianProductHolder8(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+ g8_(g8) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7,
+ T8> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8> >(
+ new CartesianProductGenerator8<T1, T2, T3, T4, T5, T6, T7, T8>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder8& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+}; // class CartesianProductHolder8
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8, class Generator9>
+class CartesianProductHolder9 {
+ public:
+CartesianProductHolder9(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8,
+ const Generator9& g9)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9> >(
+ new CartesianProductGenerator9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_),
+ static_cast<ParamGenerator<T9> >(g9_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder9& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+ const Generator9 g9_;
+}; // class CartesianProductHolder9
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8, class Generator9, class Generator10>
+class CartesianProductHolder10 {
+ public:
+CartesianProductHolder10(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8,
+ const Generator9& g9, const Generator10& g10)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9), g10_(g10) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+ operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10> >() const {
+ return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10> >(
+ new CartesianProductGenerator10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_),
+ static_cast<ParamGenerator<T9> >(g9_),
+ static_cast<ParamGenerator<T10> >(g10_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder10& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+ const Generator9 g9_;
+ const Generator10 g10_;
+}; // class CartesianProductHolder10
+
+# endif // GTEST_HAS_COMBINE
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Functions producing parameter generators.
+//
+// Google Test uses these generators to produce parameters for value-
+// parameterized tests. When a parameterized test case is instantiated
+// with a particular generator, Google Test creates and runs tests
+// for each element in the sequence produced by the generator.
+//
+// In the following sample, tests from test case FooTest are instantiated
+// each three times with parameter values 3, 5, and 8:
+//
+// class FooTest : public TestWithParam<int> { ... };
+//
+// TEST_P(FooTest, TestThis) {
+// }
+// TEST_P(FooTest, TestThat) {
+// }
+// INSTANTIATE_TEST_CASE_P(TestSequence, FooTest, Values(3, 5, 8));
+//
+
+// Range() returns generators providing sequences of values in a range.
+//
+// Synopsis:
+// Range(start, end)
+// - returns a generator producing a sequence of values {start, start+1,
+// start+2, ..., }.
+// Range(start, end, step)
+// - returns a generator producing a sequence of values {start, start+step,
+// start+step+step, ..., }.
+// Notes:
+// * The generated sequences never include end. For example, Range(1, 5)
+// returns a generator producing a sequence {1, 2, 3, 4}. Range(1, 9, 2)
+// returns a generator producing {1, 3, 5, 7}.
+// * start and end must have the same type. That type may be any integral or
+// floating-point type or a user defined type satisfying these conditions:
+// * It must be assignable (have operator=() defined).
+// * It must have operator+() (operator+(int-compatible type) for
+// two-operand version).
+// * It must have operator<() defined.
+// Elements in the resulting sequences will also have that type.
+// * Condition start < end must be satisfied in order for resulting sequences
+// to contain any elements.
+//
+template <typename T, typename IncrementT>
+internal::ParamGenerator<T> Range(T start, T end, IncrementT step) {
+ return internal::ParamGenerator<T>(
+ new internal::RangeGenerator<T, IncrementT>(start, end, step));
+}
+
+template <typename T>
+internal::ParamGenerator<T> Range(T start, T end) {
+ return Range(start, end, 1);
+}
+
+// ValuesIn() function allows generation of tests with parameters coming from
+// a container.
+//
+// Synopsis:
+// ValuesIn(const T (&array)[N])
+// - returns a generator producing sequences with elements from
+// a C-style array.
+// ValuesIn(const Container& container)
+// - returns a generator producing sequences with elements from
+// an STL-style container.
+// ValuesIn(Iterator begin, Iterator end)
+// - returns a generator producing sequences with elements from
+// a range [begin, end) defined by a pair of STL-style iterators. These
+// iterators can also be plain C pointers.
+//
+// Please note that ValuesIn copies the values from the containers
+// passed in and keeps them to generate tests in RUN_ALL_TESTS().
+//
+// Examples:
+//
+// This instantiates tests from test case StringTest
+// each with C-string values of "foo", "bar", and "baz":
+//
+// const char* strings[] = {"foo", "bar", "baz"};
+// INSTANTIATE_TEST_CASE_P(StringSequence, SrtingTest, ValuesIn(strings));
+//
+// This instantiates tests from test case StlStringTest
+// each with STL strings with values "a" and "b":
+//
+// ::std::vector< ::std::string> GetParameterStrings() {
+// ::std::vector< ::std::string> v;
+// v.push_back("a");
+// v.push_back("b");
+// return v;
+// }
+//
+// INSTANTIATE_TEST_CASE_P(CharSequence,
+// StlStringTest,
+// ValuesIn(GetParameterStrings()));
+//
+//
+// This will also instantiate tests from CharTest
+// each with parameter values 'a' and 'b':
+//
+// ::std::list<char> GetParameterChars() {
+// ::std::list<char> list;
+// list.push_back('a');
+// list.push_back('b');
+// return list;
+// }
+// ::std::list<char> l = GetParameterChars();
+// INSTANTIATE_TEST_CASE_P(CharSequence2,
+// CharTest,
+// ValuesIn(l.begin(), l.end()));
+//
+template <typename ForwardIterator>
+internal::ParamGenerator<
+ typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end) {
+ typedef typename ::testing::internal::IteratorTraits<ForwardIterator>
+ ::value_type ParamType;
+ return internal::ParamGenerator<ParamType>(
+ new internal::ValuesInIteratorRangeGenerator<ParamType>(begin, end));
+}
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]) {
+ return ValuesIn(array, array + N);
+}
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+ const Container& container) {
+ return ValuesIn(container.begin(), container.end());
+}
+
+// Values() allows generating tests from explicitly specified list of
+// parameters.
+//
+// Synopsis:
+// Values(T v1, T v2, ..., T vN)
+// - returns a generator producing sequences with elements v1, v2, ..., vN.
+//
+// For example, this instantiates tests from test case BarTest each
+// with values "one", "two", and "three":
+//
+// INSTANTIATE_TEST_CASE_P(NumSequence, BarTest, Values("one", "two", "three"));
+//
+// This instantiates tests from test case BazTest each with values 1, 2, 3.5.
+// The exact type of values will depend on the type of parameter in BazTest.
+//
+// INSTANTIATE_TEST_CASE_P(FloatingNumbers, BazTest, Values(1, 2, 3.5));
+//
+// Currently, Values() supports from 1 to 50 parameters.
+//
+template <typename T1>
+internal::ValueArray1<T1> Values(T1 v1) {
+ return internal::ValueArray1<T1>(v1);
+}
+
+template <typename T1, typename T2>
+internal::ValueArray2<T1, T2> Values(T1 v1, T2 v2) {
+ return internal::ValueArray2<T1, T2>(v1, v2);
+}
+
+template <typename T1, typename T2, typename T3>
+internal::ValueArray3<T1, T2, T3> Values(T1 v1, T2 v2, T3 v3) {
+ return internal::ValueArray3<T1, T2, T3>(v1, v2, v3);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+internal::ValueArray4<T1, T2, T3, T4> Values(T1 v1, T2 v2, T3 v3, T4 v4) {
+ return internal::ValueArray4<T1, T2, T3, T4>(v1, v2, v3, v4);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+internal::ValueArray5<T1, T2, T3, T4, T5> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5) {
+ return internal::ValueArray5<T1, T2, T3, T4, T5>(v1, v2, v3, v4, v5);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+internal::ValueArray6<T1, T2, T3, T4, T5, T6> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6) {
+ return internal::ValueArray6<T1, T2, T3, T4, T5, T6>(v1, v2, v3, v4, v5, v6);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7) {
+ return internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7>(v1, v2, v3, v4, v5,
+ v6, v7);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8) {
+ return internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8>(v1, v2, v3, v4,
+ v5, v6, v7, v8);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9) {
+ return internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10) {
+ return internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+ T11> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11) {
+ return internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+ T11>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12) {
+ return internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13) {
+ return internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) {
+ return internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) {
+ return internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16) {
+ return internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17) {
+ return internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18) {
+ return internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19) {
+ return internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20) {
+ return internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21) {
+ return internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22) {
+ return internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23) {
+ return internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24) {
+ return internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24>(v1, v2,
+ v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+ v19, v20, v21, v22, v23, v24);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+ T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+ T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25) {
+ return internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+ v18, v19, v20, v21, v22, v23, v24, v25);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26) {
+ return internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+ v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27) {
+ return internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+ v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28) {
+ return internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+ v28);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29) {
+ return internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+ v27, v28, v29);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) {
+ return internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+ v26, v27, v28, v29, v30);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) {
+ return internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+ v25, v26, v27, v28, v29, v30, v31);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32) {
+ return internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33) {
+ return internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+ T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+ T31 v31, T32 v32, T33 v33, T34 v34) {
+ return internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+ v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35) {
+ return internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+ v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36) {
+ return internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37) {
+ return internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36, v37);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37, T38 v38) {
+ return internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38>(v1, v2,
+ v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+ v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32,
+ v33, v34, v35, v36, v37, v38);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37, T38 v38, T39 v39) {
+ return internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+ v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31,
+ v32, v33, v34, v35, v36, v37, v38, v39);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+ T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+ T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27,
+ T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35,
+ T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) {
+ return internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+ v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29,
+ v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41) {
+ return internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+ v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28,
+ v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42) {
+ return internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+ v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41,
+ v42);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43) {
+ return internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+ v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40,
+ v41, v42, v43);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44) {
+ return internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+ v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39,
+ v40, v41, v42, v43, v44);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+ T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+ T41 v41, T42 v42, T43 v43, T44 v44, T45 v45) {
+ return internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+ v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38,
+ v39, v40, v41, v42, v43, v44, v45);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) {
+ return internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+ v38, v39, v40, v41, v42, v43, v44, v45, v46);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) {
+ return internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+ v38, v39, v40, v41, v42, v43, v44, v45, v46, v47);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47,
+ T48 v48) {
+ return internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+ v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36,
+ v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+ T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+ T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38,
+ T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46,
+ T47 v47, T48 v48, T49 v49) {
+ return internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48, T49>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+ v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35,
+ v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37,
+ T38 v38, T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45,
+ T46 v46, T47 v47, T48 v48, T49 v49, T50 v50) {
+ return internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47,
+ v48, v49, v50);
+}
+
+// Bool() allows generating tests with parameters in a set of (false, true).
+//
+// Synopsis:
+// Bool()
+// - returns a generator producing sequences with elements {false, true}.
+//
+// It is useful when testing code that depends on Boolean flags. Combinations
+// of multiple flags can be tested when several Bool()'s are combined using
+// Combine() function.
+//
+// In the following example all tests in the test case FlagDependentTest
+// will be instantiated twice with parameters false and true.
+//
+// class FlagDependentTest : public testing::TestWithParam<bool> {
+// virtual void SetUp() {
+// external_flag = GetParam();
+// }
+// }
+// INSTANTIATE_TEST_CASE_P(BoolSequence, FlagDependentTest, Bool());
+//
+inline internal::ParamGenerator<bool> Bool() {
+ return Values(false, true);
+}
+
+# if GTEST_HAS_COMBINE
+// Combine() allows the user to combine two or more sequences to produce
+// values of a Cartesian product of those sequences' elements.
+//
+// Synopsis:
+// Combine(gen1, gen2, ..., genN)
+// - returns a generator producing sequences with elements coming from
+// the Cartesian product of elements from the sequences generated by
+// gen1, gen2, ..., genN. The sequence elements will have a type of
+// tuple<T1, T2, ..., TN> where T1, T2, ..., TN are the types
+// of elements from sequences produces by gen1, gen2, ..., genN.
+//
+// Combine can have up to 10 arguments. This number is currently limited
+// by the maximum number of elements in the tuple implementation used by Google
+// Test.
+//
+// Example:
+//
+// This will instantiate tests in test case AnimalTest each one with
+// the parameter values tuple("cat", BLACK), tuple("cat", WHITE),
+// tuple("dog", BLACK), and tuple("dog", WHITE):
+//
+// enum Color { BLACK, GRAY, WHITE };
+// class AnimalTest
+// : public testing::TestWithParam<tuple<const char*, Color> > {...};
+//
+// TEST_P(AnimalTest, AnimalLooksNice) {...}
+//
+// INSTANTIATE_TEST_CASE_P(AnimalVariations, AnimalTest,
+// Combine(Values("cat", "dog"),
+// Values(BLACK, WHITE)));
+//
+// This will instantiate tests in FlagDependentTest with all variations of two
+// Boolean flags:
+//
+// class FlagDependentTest
+// : public testing::TestWithParam<tuple<bool, bool> > {
+// virtual void SetUp() {
+// // Assigns external_flag_1 and external_flag_2 values from the tuple.
+// tie(external_flag_1, external_flag_2) = GetParam();
+// }
+// };
+//
+// TEST_P(FlagDependentTest, TestFeature1) {
+// // Test your code using external_flag_1 and external_flag_2 here.
+// }
+// INSTANTIATE_TEST_CASE_P(TwoBoolSequence, FlagDependentTest,
+// Combine(Bool(), Bool()));
+//
+template <typename Generator1, typename Generator2>
+internal::CartesianProductHolder2<Generator1, Generator2> Combine(
+ const Generator1& g1, const Generator2& g2) {
+ return internal::CartesianProductHolder2<Generator1, Generator2>(
+ g1, g2);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3>
+internal::CartesianProductHolder3<Generator1, Generator2, Generator3> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3) {
+ return internal::CartesianProductHolder3<Generator1, Generator2, Generator3>(
+ g1, g2, g3);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4>
+internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+ Generator4> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4) {
+ return internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+ Generator4>(
+ g1, g2, g3, g4);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5>
+internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+ Generator4, Generator5> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5) {
+ return internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+ Generator4, Generator5>(
+ g1, g2, g3, g4, g5);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6>
+internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6) {
+ return internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6>(
+ g1, g2, g3, g4, g5, g6);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7>
+internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7) {
+ return internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7>(
+ g1, g2, g3, g4, g5, g6, g7);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8>
+internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8) {
+ return internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8>(
+ g1, g2, g3, g4, g5, g6, g7, g8);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8, typename Generator9>
+internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8,
+ Generator9> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8, const Generator9& g9) {
+ return internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9>(
+ g1, g2, g3, g4, g5, g6, g7, g8, g9);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8, typename Generator9,
+ typename Generator10>
+internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+ Generator10> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8, const Generator9& g9,
+ const Generator10& g10) {
+ return internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+ Generator10>(
+ g1, g2, g3, g4, g5, g6, g7, g8, g9, g10);
+}
+# endif // GTEST_HAS_COMBINE
+
+
+
+# define TEST_P(test_case_name, test_name) \
+ class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+ : public test_case_name { \
+ public: \
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {} \
+ virtual void TestBody(); \
+ private: \
+ static int AddToRegistry() { \
+ ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+ GetTestCasePatternHolder<test_case_name>(\
+ #test_case_name, \
+ ::testing::internal::CodeLocation(\
+ __FILE__, __LINE__))->AddTestPattern(\
+ #test_case_name, \
+ #test_name, \
+ new ::testing::internal::TestMetaFactory< \
+ GTEST_TEST_CLASS_NAME_(\
+ test_case_name, test_name)>()); \
+ return 0; \
+ } \
+ static int gtest_registering_dummy_ GTEST_ATTRIBUTE_UNUSED_; \
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)); \
+ }; \
+ int GTEST_TEST_CLASS_NAME_(test_case_name, \
+ test_name)::gtest_registering_dummy_ = \
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::AddToRegistry(); \
+ void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+// The optional last argument to INSTANTIATE_TEST_CASE_P allows the user
+// to specify a function or functor that generates custom test name suffixes
+// based on the test parameters. The function should accept one argument of
+// type testing::TestParamInfo<class ParamType>, and return std::string.
+//
+// testing::PrintToStringParamName is a builtin test suffix generator that
+// returns the value of testing::PrintToString(GetParam()). It does not work
+// for std::string or C strings.
+//
+// Note: test names must be non-empty, unique, and may only contain ASCII
+// alphanumeric characters or underscore.
+
+# define INSTANTIATE_TEST_CASE_P(prefix, test_case_name, generator, ...) \
+ ::testing::internal::ParamGenerator<test_case_name::ParamType> \
+ gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
+ ::std::string gtest_##prefix##test_case_name##_EvalGenerateName_( \
+ const ::testing::TestParamInfo<test_case_name::ParamType>& info) { \
+ return ::testing::internal::GetParamNameGen<test_case_name::ParamType> \
+ (__VA_ARGS__)(info); \
+ } \
+ int gtest_##prefix##test_case_name##_dummy_ GTEST_ATTRIBUTE_UNUSED_ = \
+ ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+ GetTestCasePatternHolder<test_case_name>(\
+ #test_case_name, \
+ ::testing::internal::CodeLocation(\
+ __FILE__, __LINE__))->AddTestCaseInstantiation(\
+ #prefix, \
+ >est_##prefix##test_case_name##_EvalGenerator_, \
+ >est_##prefix##test_case_name##_EvalGenerateName_, \
+ __FILE__, __LINE__)
+
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Testing Framework definitions useful in production code.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+
+// When you need to test the private or protected members of a class,
+// use the FRIEND_TEST macro to declare your tests as friends of the
+// class. For example:
+//
+// class MyClass {
+// private:
+// void MyMethod();
+// FRIEND_TEST(MyClassTest, MyMethod);
+// };
+//
+// class MyClassTest : public testing::Test {
+// // ...
+// };
+//
+// TEST_F(MyClassTest, MyMethod) {
+// // Can call MyClass::MyMethod() here.
+// }
+
+#define FRIEND_TEST(test_case_name, test_name)\
+friend class test_case_name##_##test_name##_Test
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// 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: mheule@google.com (Markus Heule)
+//
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+
+#include <iosfwd>
+#include <vector>
+
+namespace testing {
+
+// A copyable object representing the result of a test part (i.e. an
+// assertion or an explicit FAIL(), ADD_FAILURE(), or SUCCESS()).
+//
+// Don't inherit from TestPartResult as its destructor is not virtual.
+class GTEST_API_ TestPartResult {
+ public:
+ // The possible outcomes of a test part (i.e. an assertion or an
+ // explicit SUCCEED(), FAIL(), or ADD_FAILURE()).
+ enum Type {
+ kSuccess, // Succeeded.
+ kNonFatalFailure, // Failed but the test can continue.
+ kFatalFailure // Failed and the test should be terminated.
+ };
+
+ // C'tor. TestPartResult does NOT have a default constructor.
+ // Always use this constructor (with parameters) to create a
+ // TestPartResult object.
+ TestPartResult(Type a_type,
+ const char* a_file_name,
+ int a_line_number,
+ const char* a_message)
+ : type_(a_type),
+ file_name_(a_file_name == NULL ? "" : a_file_name),
+ line_number_(a_line_number),
+ summary_(ExtractSummary(a_message)),
+ message_(a_message) {
+ }
+
+ // Gets the outcome of the test part.
+ Type type() const { return type_; }
+
+ // Gets the name of the source file where the test part took place, or
+ // NULL if it's unknown.
+ const char* file_name() const {
+ return file_name_.empty() ? NULL : file_name_.c_str();
+ }
+
+ // Gets the line in the source file where the test part took place,
+ // or -1 if it's unknown.
+ int line_number() const { return line_number_; }
+
+ // Gets the summary of the failure message.
+ const char* summary() const { return summary_.c_str(); }
+
+ // Gets the message associated with the test part.
+ const char* message() const { return message_.c_str(); }
+
+ // Returns true iff the test part passed.
+ bool passed() const { return type_ == kSuccess; }
+
+ // Returns true iff the test part failed.
+ bool failed() const { return type_ != kSuccess; }
+
+ // Returns true iff the test part non-fatally failed.
+ bool nonfatally_failed() const { return type_ == kNonFatalFailure; }
+
+ // Returns true iff the test part fatally failed.
+ bool fatally_failed() const { return type_ == kFatalFailure; }
+
+ private:
+ Type type_;
+
+ // Gets the summary of the failure message by omitting the stack
+ // trace in it.
+ static std::string ExtractSummary(const char* message);
+
+ // The name of the source file where the test part took place, or
+ // "" if the source file is unknown.
+ std::string file_name_;
+ // The line in the source file where the test part took place, or -1
+ // if the line number is unknown.
+ int line_number_;
+ std::string summary_; // The test failure summary.
+ std::string message_; // The test failure message.
+};
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result);
+
+// An array of TestPartResult objects.
+//
+// Don't inherit from TestPartResultArray as its destructor is not
+// virtual.
+class GTEST_API_ TestPartResultArray {
+ public:
+ TestPartResultArray() {}
+
+ // Appends the given TestPartResult to the array.
+ void Append(const TestPartResult& result);
+
+ // Returns the TestPartResult at the given index (0-based).
+ const TestPartResult& GetTestPartResult(int index) const;
+
+ // Returns the number of TestPartResult objects in the array.
+ int size() const;
+
+ private:
+ std::vector<TestPartResult> array_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestPartResultArray);
+};
+
+// This interface knows how to report a test part result.
+class TestPartResultReporterInterface {
+ public:
+ virtual ~TestPartResultReporterInterface() {}
+
+ virtual void ReportTestPartResult(const TestPartResult& result) = 0;
+};
+
+namespace internal {
+
+// This helper class is used by {ASSERT|EXPECT}_NO_FATAL_FAILURE to check if a
+// statement generates new fatal failures. To do so it registers itself as the
+// current test part result reporter. Besides checking if fatal failures were
+// reported, it only delegates the reporting to the former result reporter.
+// The original result reporter is restored in the destructor.
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+class GTEST_API_ HasNewFatalFailureHelper
+ : public TestPartResultReporterInterface {
+ public:
+ HasNewFatalFailureHelper();
+ virtual ~HasNewFatalFailureHelper();
+ virtual void ReportTestPartResult(const TestPartResult& result);
+ bool has_new_fatal_failure() const { return has_new_fatal_failure_; }
+ private:
+ bool has_new_fatal_failure_;
+ TestPartResultReporterInterface* original_reporter_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(HasNewFatalFailureHelper);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// 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: wan@google.com (Zhanyong Wan)
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// This header implements typed tests and type-parameterized tests.
+
+// Typed (aka type-driven) tests repeat the same test for types in a
+// list. You must know which types you want to test with when writing
+// typed tests. Here's how you do it:
+
+#if 0
+
+// First, define a fixture class template. It should be parameterized
+// by a type. Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+ public:
+ ...
+ typedef std::list<T> List;
+ static T shared_;
+ T value_;
+};
+
+// Next, associate a list of types with the test case, which will be
+// repeated for each type in the list. The typedef is necessary for
+// the macro to parse correctly.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+TYPED_TEST_CASE(FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+// TYPED_TEST_CASE(FooTest, int);
+
+// Then, use TYPED_TEST() instead of TEST_F() to define as many typed
+// tests for this test case as you want.
+TYPED_TEST(FooTest, DoesBlah) {
+ // Inside a test, refer to TypeParam to get the type parameter.
+ // Since we are inside a derived class template, C++ requires use to
+ // visit the members of FooTest via 'this'.
+ TypeParam n = this->value_;
+
+ // To visit static members of the fixture, add the TestFixture::
+ // prefix.
+ n += TestFixture::shared_;
+
+ // To refer to typedefs in the fixture, add the "typename
+ // TestFixture::" prefix.
+ typename TestFixture::List values;
+ values.push_back(n);
+ ...
+}
+
+TYPED_TEST(FooTest, HasPropertyA) { ... }
+
+#endif // 0
+
+// Type-parameterized tests are abstract test patterns parameterized
+// by a type. Compared with typed tests, type-parameterized tests
+// allow you to define the test pattern without knowing what the type
+// parameters are. The defined pattern can be instantiated with
+// different types any number of times, in any number of translation
+// units.
+//
+// If you are designing an interface or concept, you can define a
+// suite of type-parameterized tests to verify properties that any
+// valid implementation of the interface/concept should have. Then,
+// each implementation can easily instantiate the test suite to verify
+// that it conforms to the requirements, without having to write
+// similar tests repeatedly. Here's an example:
+
+#if 0
+
+// First, define a fixture class template. It should be parameterized
+// by a type. Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+ ...
+};
+
+// Next, declare that you will define a type-parameterized test case
+// (the _P suffix is for "parameterized" or "pattern", whichever you
+// prefer):
+TYPED_TEST_CASE_P(FooTest);
+
+// Then, use TYPED_TEST_P() to define as many type-parameterized tests
+// for this type-parameterized test case as you want.
+TYPED_TEST_P(FooTest, DoesBlah) {
+ // Inside a test, refer to TypeParam to get the type parameter.
+ TypeParam n = 0;
+ ...
+}
+
+TYPED_TEST_P(FooTest, HasPropertyA) { ... }
+
+// Now the tricky part: you need to register all test patterns before
+// you can instantiate them. The first argument of the macro is the
+// test case name; the rest are the names of the tests in this test
+// case.
+REGISTER_TYPED_TEST_CASE_P(FooTest,
+ DoesBlah, HasPropertyA);
+
+// Finally, you are free to instantiate the pattern with the types you
+// want. If you put the above code in a header file, you can #include
+// it in multiple C++ source files and instantiate it multiple times.
+//
+// To distinguish different instances of the pattern, the first
+// argument to the INSTANTIATE_* macro is a prefix that will be added
+// to the actual test case name. Remember to pick unique prefixes for
+// different instances.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+// INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, int);
+
+#endif // 0
+
+
+// Implements typed tests.
+
+#if GTEST_HAS_TYPED_TEST
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the typedef for the type parameters of the
+// given test case.
+# define GTEST_TYPE_PARAMS_(TestCaseName) gtest_type_params_##TestCaseName##_
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define TYPED_TEST_CASE(CaseName, Types) \
+ typedef ::testing::internal::TypeList< Types >::type \
+ GTEST_TYPE_PARAMS_(CaseName)
+
+# define TYPED_TEST(CaseName, TestName) \
+ template <typename gtest_TypeParam_> \
+ class GTEST_TEST_CLASS_NAME_(CaseName, TestName) \
+ : public CaseName<gtest_TypeParam_> { \
+ private: \
+ typedef CaseName<gtest_TypeParam_> TestFixture; \
+ typedef gtest_TypeParam_ TypeParam; \
+ virtual void TestBody(); \
+ }; \
+ bool gtest_##CaseName##_##TestName##_registered_ GTEST_ATTRIBUTE_UNUSED_ = \
+ ::testing::internal::TypeParameterizedTest< \
+ CaseName, \
+ ::testing::internal::TemplateSel< \
+ GTEST_TEST_CLASS_NAME_(CaseName, TestName)>, \
+ GTEST_TYPE_PARAMS_(CaseName)>::Register(\
+ "", ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+ #CaseName, #TestName, 0); \
+ template <typename gtest_TypeParam_> \
+ void GTEST_TEST_CLASS_NAME_(CaseName, TestName)<gtest_TypeParam_>::TestBody()
+
+#endif // GTEST_HAS_TYPED_TEST
+
+// Implements type-parameterized tests.
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the namespace name that the type-parameterized tests for
+// the given type-parameterized test case are defined in. The exact
+// name of the namespace is subject to change without notice.
+# define GTEST_CASE_NAMESPACE_(TestCaseName) \
+ gtest_case_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the variable used to remember the names of
+// the defined tests in the given test case.
+# define GTEST_TYPED_TEST_CASE_P_STATE_(TestCaseName) \
+ gtest_typed_test_case_p_state_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE DIRECTLY.
+//
+// Expands to the name of the variable used to remember the names of
+// the registered tests in the given test case.
+# define GTEST_REGISTERED_TEST_NAMES_(TestCaseName) \
+ gtest_registered_test_names_##TestCaseName##_
+
+// The variables defined in the type-parameterized test macros are
+// static as typically these macros are used in a .h file that can be
+// #included in multiple translation units linked together.
+# define TYPED_TEST_CASE_P(CaseName) \
+ static ::testing::internal::TypedTestCasePState \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName)
+
+# define TYPED_TEST_P(CaseName, TestName) \
+ namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+ template <typename gtest_TypeParam_> \
+ class TestName : public CaseName<gtest_TypeParam_> { \
+ private: \
+ typedef CaseName<gtest_TypeParam_> TestFixture; \
+ typedef gtest_TypeParam_ TypeParam; \
+ virtual void TestBody(); \
+ }; \
+ static bool gtest_##TestName##_defined_ GTEST_ATTRIBUTE_UNUSED_ = \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).AddTestName(\
+ __FILE__, __LINE__, #CaseName, #TestName); \
+ } \
+ template <typename gtest_TypeParam_> \
+ void GTEST_CASE_NAMESPACE_(CaseName)::TestName<gtest_TypeParam_>::TestBody()
+
+# define REGISTER_TYPED_TEST_CASE_P(CaseName, ...) \
+ namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+ typedef ::testing::internal::Templates<__VA_ARGS__>::type gtest_AllTests_; \
+ } \
+ static const char* const GTEST_REGISTERED_TEST_NAMES_(CaseName) = \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).VerifyRegisteredTestNames(\
+ __FILE__, __LINE__, #__VA_ARGS__)
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define INSTANTIATE_TYPED_TEST_CASE_P(Prefix, CaseName, Types) \
+ bool gtest_##Prefix##_##CaseName GTEST_ATTRIBUTE_UNUSED_ = \
+ ::testing::internal::TypeParameterizedTestCase<CaseName, \
+ GTEST_CASE_NAMESPACE_(CaseName)::gtest_AllTests_, \
+ ::testing::internal::TypeList< Types >::type>::Register(\
+ #Prefix, \
+ ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+ >EST_TYPED_TEST_CASE_P_STATE_(CaseName), \
+ #CaseName, GTEST_REGISTERED_TEST_NAMES_(CaseName))
+
+#endif // GTEST_HAS_TYPED_TEST_P
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// Depending on the platform, different string classes are available.
+// On Linux, in addition to ::std::string, Google also makes use of
+// class ::string, which has the same interface as ::std::string, but
+// has a different implementation.
+//
+// You can define GTEST_HAS_GLOBAL_STRING to 1 to indicate that
+// ::string is available AND is a distinct type to ::std::string, or
+// define it to 0 to indicate otherwise.
+//
+// If ::std::string and ::string are the same class on your platform
+// due to aliasing, you should define GTEST_HAS_GLOBAL_STRING to 0.
+//
+// If you do not define GTEST_HAS_GLOBAL_STRING, it is defined
+// heuristically.
+
+namespace testing {
+
+// Declares the flags.
+
+// This flag temporary enables the disabled tests.
+GTEST_DECLARE_bool_(also_run_disabled_tests);
+
+// This flag brings the debugger on an assertion failure.
+GTEST_DECLARE_bool_(break_on_failure);
+
+// This flag controls whether Google Test catches all test-thrown exceptions
+// and logs them as failures.
+GTEST_DECLARE_bool_(catch_exceptions);
+
+// This flag enables using colors in terminal output. Available values are
+// "yes" to enable colors, "no" (disable colors), or "auto" (the default)
+// to let Google Test decide.
+GTEST_DECLARE_string_(color);
+
+// This flag sets up the filter to select by name using a glob pattern
+// the tests to run. If the filter is not given all tests are executed.
+GTEST_DECLARE_string_(filter);
+
+// This flag causes the Google Test to list tests. None of the tests listed
+// are actually run if the flag is provided.
+GTEST_DECLARE_bool_(list_tests);
+
+// This flag controls whether Google Test emits a detailed XML report to a file
+// in addition to its normal textual output.
+GTEST_DECLARE_string_(output);
+
+// This flags control whether Google Test prints the elapsed time for each
+// test.
+GTEST_DECLARE_bool_(print_time);
+
+// This flag specifies the random number seed.
+GTEST_DECLARE_int32_(random_seed);
+
+// This flag sets how many times the tests are repeated. The default value
+// is 1. If the value is -1 the tests are repeating forever.
+GTEST_DECLARE_int32_(repeat);
+
+// This flag controls whether Google Test includes Google Test internal
+// stack frames in failure stack traces.
+GTEST_DECLARE_bool_(show_internal_stack_frames);
+
+// When this flag is specified, tests' order is randomized on every iteration.
+GTEST_DECLARE_bool_(shuffle);
+
+// This flag specifies the maximum number of stack frames to be
+// printed in a failure message.
+GTEST_DECLARE_int32_(stack_trace_depth);
+
+// When this flag is specified, a failed assertion will throw an
+// exception if exceptions are enabled, or exit the program with a
+// non-zero code otherwise.
+GTEST_DECLARE_bool_(throw_on_failure);
+
+// When this flag is set with a "host:port" string, on supported
+// platforms test results are streamed to the specified port on
+// the specified host machine.
+GTEST_DECLARE_string_(stream_result_to);
+
+// The upper limit for valid stack trace depths.
+const int kMaxStackTraceDepth = 100;
+
+namespace internal {
+
+class AssertHelper;
+class DefaultGlobalTestPartResultReporter;
+class ExecDeathTest;
+class NoExecDeathTest;
+class FinalSuccessChecker;
+class GTestFlagSaver;
+class StreamingListenerTest;
+class TestResultAccessor;
+class TestEventListenersAccessor;
+class TestEventRepeater;
+class UnitTestRecordPropertyTestHelper;
+class WindowsDeathTest;
+class UnitTestImpl* GetUnitTestImpl();
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+ const std::string& message);
+
+} // namespace internal
+
+// The friend relationship of some of these classes is cyclic.
+// If we don't forward declare them the compiler might confuse the classes
+// in friendship clauses with same named classes on the scope.
+class Test;
+class TestCase;
+class TestInfo;
+class UnitTest;
+
+// A class for indicating whether an assertion was successful. When
+// the assertion wasn't successful, the AssertionResult object
+// remembers a non-empty message that describes how it failed.
+//
+// To create an instance of this class, use one of the factory functions
+// (AssertionSuccess() and AssertionFailure()).
+//
+// This class is useful for two purposes:
+// 1. Defining predicate functions to be used with Boolean test assertions
+// EXPECT_TRUE/EXPECT_FALSE and their ASSERT_ counterparts
+// 2. Defining predicate-format functions to be
+// used with predicate assertions (ASSERT_PRED_FORMAT*, etc).
+//
+// For example, if you define IsEven predicate:
+//
+// testing::AssertionResult IsEven(int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess();
+// else
+// return testing::AssertionFailure() << n << " is odd";
+// }
+//
+// Then the failed expectation EXPECT_TRUE(IsEven(Fib(5)))
+// will print the message
+//
+// Value of: IsEven(Fib(5))
+// Actual: false (5 is odd)
+// Expected: true
+//
+// instead of a more opaque
+//
+// Value of: IsEven(Fib(5))
+// Actual: false
+// Expected: true
+//
+// in case IsEven is a simple Boolean predicate.
+//
+// If you expect your predicate to be reused and want to support informative
+// messages in EXPECT_FALSE and ASSERT_FALSE (negative assertions show up
+// about half as often as positive ones in our tests), supply messages for
+// both success and failure cases:
+//
+// testing::AssertionResult IsEven(int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess() << n << " is even";
+// else
+// return testing::AssertionFailure() << n << " is odd";
+// }
+//
+// Then a statement EXPECT_FALSE(IsEven(Fib(6))) will print
+//
+// Value of: IsEven(Fib(6))
+// Actual: true (8 is even)
+// Expected: false
+//
+// NB: Predicates that support negative Boolean assertions have reduced
+// performance in positive ones so be careful not to use them in tests
+// that have lots (tens of thousands) of positive Boolean assertions.
+//
+// To use this class with EXPECT_PRED_FORMAT assertions such as:
+//
+// // Verifies that Foo() returns an even number.
+// EXPECT_PRED_FORMAT1(IsEven, Foo());
+//
+// you need to define:
+//
+// testing::AssertionResult IsEven(const char* expr, int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess();
+// else
+// return testing::AssertionFailure()
+// << "Expected: " << expr << " is even\n Actual: it's " << n;
+// }
+//
+// If Foo() returns 5, you will see the following message:
+//
+// Expected: Foo() is even
+// Actual: it's 5
+//
+class GTEST_API_ AssertionResult {
+ public:
+ // Copy constructor.
+ // Used in EXPECT_TRUE/FALSE(assertion_result).
+ AssertionResult(const AssertionResult& other);
+
+ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4800 /* forcing value to bool */)
+
+ // Used in the EXPECT_TRUE/FALSE(bool_expression).
+ //
+ // T must be contextually convertible to bool.
+ //
+ // The second parameter prevents this overload from being considered if
+ // the argument is implicitly convertible to AssertionResult. In that case
+ // we want AssertionResult's copy constructor to be used.
+ template <typename T>
+ explicit AssertionResult(
+ const T& success,
+ typename internal::EnableIf<
+ !internal::ImplicitlyConvertible<T, AssertionResult>::value>::type*
+ /*enabler*/ = NULL)
+ : success_(success) {}
+
+ GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+ // Assignment operator.
+ AssertionResult& operator=(AssertionResult other) {
+ swap(other);
+ return *this;
+ }
+
+ // Returns true iff the assertion succeeded.
+ operator bool() const { return success_; } // NOLINT
+
+ // Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+ AssertionResult operator!() const;
+
+ // Returns the text streamed into this AssertionResult. Test assertions
+ // use it when they fail (i.e., the predicate's outcome doesn't match the
+ // assertion's expectation). When nothing has been streamed into the
+ // object, returns an empty string.
+ const char* message() const {
+ return message_.get() != NULL ? message_->c_str() : "";
+ }
+ // TODO(vladl@google.com): Remove this after making sure no clients use it.
+ // Deprecated; please use message() instead.
+ const char* failure_message() const { return message(); }
+
+ // Streams a custom failure message into this object.
+ template <typename T> AssertionResult& operator<<(const T& value) {
+ AppendMessage(Message() << value);
+ return *this;
+ }
+
+ // Allows streaming basic output manipulators such as endl or flush into
+ // this object.
+ AssertionResult& operator<<(
+ ::std::ostream& (*basic_manipulator)(::std::ostream& stream)) {
+ AppendMessage(Message() << basic_manipulator);
+ return *this;
+ }
+
+ private:
+ // Appends the contents of message to message_.
+ void AppendMessage(const Message& a_message) {
+ if (message_.get() == NULL)
+ message_.reset(new ::std::string);
+ message_->append(a_message.GetString().c_str());
+ }
+
+ // Swap the contents of this AssertionResult with other.
+ void swap(AssertionResult& other);
+
+ // Stores result of the assertion predicate.
+ bool success_;
+ // Stores the message describing the condition in case the expectation
+ // construct is not satisfied with the predicate's outcome.
+ // Referenced via a pointer to avoid taking too much stack frame space
+ // with test assertions.
+ internal::scoped_ptr< ::std::string> message_;
+};
+
+// Makes a successful assertion result.
+GTEST_API_ AssertionResult AssertionSuccess();
+
+// Makes a failed assertion result.
+GTEST_API_ AssertionResult AssertionFailure();
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << msg.
+GTEST_API_ AssertionResult AssertionFailure(const Message& msg);
+
+// The abstract class that all tests inherit from.
+//
+// In Google Test, a unit test program contains one or many TestCases, and
+// each TestCase contains one or many Tests.
+//
+// When you define a test using the TEST macro, you don't need to
+// explicitly derive from Test - the TEST macro automatically does
+// this for you.
+//
+// The only time you derive from Test is when defining a test fixture
+// to be used a TEST_F. For example:
+//
+// class FooTest : public testing::Test {
+// protected:
+// void SetUp() override { ... }
+// void TearDown() override { ... }
+// ...
+// };
+//
+// TEST_F(FooTest, Bar) { ... }
+// TEST_F(FooTest, Baz) { ... }
+//
+// Test is not copyable.
+class GTEST_API_ Test {
+ public:
+ friend class TestInfo;
+
+ // Defines types for pointers to functions that set up and tear down
+ // a test case.
+ typedef internal::SetUpTestCaseFunc SetUpTestCaseFunc;
+ typedef internal::TearDownTestCaseFunc TearDownTestCaseFunc;
+
+ // The d'tor is virtual as we intend to inherit from Test.
+ virtual ~Test();
+
+ // Sets up the stuff shared by all tests in this test case.
+ //
+ // Google Test will call Foo::SetUpTestCase() before running the first
+ // test in test case Foo. Hence a sub-class can define its own
+ // SetUpTestCase() method to shadow the one defined in the super
+ // class.
+ static void SetUpTestCase() {}
+
+ // Tears down the stuff shared by all tests in this test case.
+ //
+ // Google Test will call Foo::TearDownTestCase() after running the last
+ // test in test case Foo. Hence a sub-class can define its own
+ // TearDownTestCase() method to shadow the one defined in the super
+ // class.
+ static void TearDownTestCase() {}
+
+ // Returns true iff the current test has a fatal failure.
+ static bool HasFatalFailure();
+
+ // Returns true iff the current test has a non-fatal failure.
+ static bool HasNonfatalFailure();
+
+ // Returns true iff the current test has a (either fatal or
+ // non-fatal) failure.
+ static bool HasFailure() { return HasFatalFailure() || HasNonfatalFailure(); }
+
+ // Logs a property for the current test, test case, or for the entire
+ // invocation of the test program when used outside of the context of a
+ // test case. Only the last value for a given key is remembered. These
+ // are public static so they can be called from utility functions that are
+ // not members of the test fixture. Calls to RecordProperty made during
+ // lifespan of the test (from the moment its constructor starts to the
+ // moment its destructor finishes) will be output in XML as attributes of
+ // the <testcase> element. Properties recorded from fixture's
+ // SetUpTestCase or TearDownTestCase are logged as attributes of the
+ // corresponding <testsuite> element. Calls to RecordProperty made in the
+ // global context (before or after invocation of RUN_ALL_TESTS and from
+ // SetUp/TearDown method of Environment objects registered with Google
+ // Test) will be output as attributes of the <testsuites> element.
+ static void RecordProperty(const std::string& key, const std::string& value);
+ static void RecordProperty(const std::string& key, int value);
+
+ protected:
+ // Creates a Test object.
+ Test();
+
+ // Sets up the test fixture.
+ virtual void SetUp();
+
+ // Tears down the test fixture.
+ virtual void TearDown();
+
+ private:
+ // Returns true iff the current test has the same fixture class as
+ // the first test in the current test case.
+ static bool HasSameFixtureClass();
+
+ // Runs the test after the test fixture has been set up.
+ //
+ // A sub-class must implement this to define the test logic.
+ //
+ // DO NOT OVERRIDE THIS FUNCTION DIRECTLY IN A USER PROGRAM.
+ // Instead, use the TEST or TEST_F macro.
+ virtual void TestBody() = 0;
+
+ // Sets up, executes, and tears down the test.
+ void Run();
+
+ // Deletes self. We deliberately pick an unusual name for this
+ // internal method to avoid clashing with names used in user TESTs.
+ void DeleteSelf_() { delete this; }
+
+ const internal::scoped_ptr< GTEST_FLAG_SAVER_ > gtest_flag_saver_;
+
+ // Often a user misspells SetUp() as Setup() and spends a long time
+ // wondering why it is never called by Google Test. The declaration of
+ // the following method is solely for catching such an error at
+ // compile time:
+ //
+ // - The return type is deliberately chosen to be not void, so it
+ // will be a conflict if void Setup() is declared in the user's
+ // test fixture.
+ //
+ // - This method is private, so it will be another compiler error
+ // if the method is called from the user's test fixture.
+ //
+ // DO NOT OVERRIDE THIS FUNCTION.
+ //
+ // If you see an error about overriding the following function or
+ // about it being private, you have mis-spelled SetUp() as Setup().
+ struct Setup_should_be_spelled_SetUp {};
+ virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+
+ // We disallow copying Tests.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Test);
+};
+
+typedef internal::TimeInMillis TimeInMillis;
+
+// A copyable object representing a user specified test property which can be
+// output as a key/value string pair.
+//
+// Don't inherit from TestProperty as its destructor is not virtual.
+class TestProperty {
+ public:
+ // C'tor. TestProperty does NOT have a default constructor.
+ // Always use this constructor (with parameters) to create a
+ // TestProperty object.
+ TestProperty(const std::string& a_key, const std::string& a_value) :
+ key_(a_key), value_(a_value) {
+ }
+
+ // Gets the user supplied key.
+ const char* key() const {
+ return key_.c_str();
+ }
+
+ // Gets the user supplied value.
+ const char* value() const {
+ return value_.c_str();
+ }
+
+ // Sets a new value, overriding the one supplied in the constructor.
+ void SetValue(const std::string& new_value) {
+ value_ = new_value;
+ }
+
+ private:
+ // The key supplied by the user.
+ std::string key_;
+ // The value supplied by the user.
+ std::string value_;
+};
+
+// The result of a single Test. This includes a list of
+// TestPartResults, a list of TestProperties, a count of how many
+// death tests there are in the Test, and how much time it took to run
+// the Test.
+//
+// TestResult is not copyable.
+class GTEST_API_ TestResult {
+ public:
+ // Creates an empty TestResult.
+ TestResult();
+
+ // D'tor. Do not inherit from TestResult.
+ ~TestResult();
+
+ // Gets the number of all test parts. This is the sum of the number
+ // of successful test parts and the number of failed test parts.
+ int total_part_count() const;
+
+ // Returns the number of the test properties.
+ int test_property_count() const;
+
+ // Returns true iff the test passed (i.e. no test part failed).
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the test failed.
+ bool Failed() const;
+
+ // Returns true iff the test fatally failed.
+ bool HasFatalFailure() const;
+
+ // Returns true iff the test has a non-fatal failure.
+ bool HasNonfatalFailure() const;
+
+ // Returns the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns the i-th test part result among all the results. i can range
+ // from 0 to test_property_count() - 1. If i is not in that range, aborts
+ // the program.
+ const TestPartResult& GetTestPartResult(int i) const;
+
+ // Returns the i-th test property. i can range from 0 to
+ // test_property_count() - 1. If i is not in that range, aborts the
+ // program.
+ const TestProperty& GetTestProperty(int i) const;
+
+ private:
+ friend class TestInfo;
+ friend class TestCase;
+ friend class UnitTest;
+ friend class internal::DefaultGlobalTestPartResultReporter;
+ friend class internal::ExecDeathTest;
+ friend class internal::TestResultAccessor;
+ friend class internal::UnitTestImpl;
+ friend class internal::WindowsDeathTest;
+
+ // Gets the vector of TestPartResults.
+ const std::vector<TestPartResult>& test_part_results() const {
+ return test_part_results_;
+ }
+
+ // Gets the vector of TestProperties.
+ const std::vector<TestProperty>& test_properties() const {
+ return test_properties_;
+ }
+
+ // Sets the elapsed time.
+ void set_elapsed_time(TimeInMillis elapsed) { elapsed_time_ = elapsed; }
+
+ // Adds a test property to the list. The property is validated and may add
+ // a non-fatal failure if invalid (e.g., if it conflicts with reserved
+ // key names). If a property is already recorded for the same key, the
+ // value will be updated, rather than storing multiple values for the same
+ // key. xml_element specifies the element for which the property is being
+ // recorded and is used for validation.
+ void RecordProperty(const std::string& xml_element,
+ const TestProperty& test_property);
+
+ // Adds a failure if the key is a reserved attribute of Google Test
+ // testcase tags. Returns true if the property is valid.
+ // TODO(russr): Validate attribute names are legal and human readable.
+ static bool ValidateTestProperty(const std::string& xml_element,
+ const TestProperty& test_property);
+
+ // Adds a test part result to the list.
+ void AddTestPartResult(const TestPartResult& test_part_result);
+
+ // Returns the death test count.
+ int death_test_count() const { return death_test_count_; }
+
+ // Increments the death test count, returning the new count.
+ int increment_death_test_count() { return ++death_test_count_; }
+
+ // Clears the test part results.
+ void ClearTestPartResults();
+
+ // Clears the object.
+ void Clear();
+
+ // Protects mutable state of the property vector and of owned
+ // properties, whose values may be updated.
+ internal::Mutex test_properites_mutex_;
+
+ // The vector of TestPartResults
+ std::vector<TestPartResult> test_part_results_;
+ // The vector of TestProperties
+ std::vector<TestProperty> test_properties_;
+ // Running count of death tests.
+ int death_test_count_;
+ // The elapsed time, in milliseconds.
+ TimeInMillis elapsed_time_;
+
+ // We disallow copying TestResult.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestResult);
+}; // class TestResult
+
+// A TestInfo object stores the following information about a test:
+//
+// Test case name
+// Test name
+// Whether the test should be run
+// A function pointer that creates the test object when invoked
+// Test result
+//
+// The constructor of TestInfo registers itself with the UnitTest
+// singleton such that the RUN_ALL_TESTS() macro knows which tests to
+// run.
+class GTEST_API_ TestInfo {
+ public:
+ // Destructs a TestInfo object. This function is not virtual, so
+ // don't inherit from TestInfo.
+ ~TestInfo();
+
+ // Returns the test case name.
+ const char* test_case_name() const { return test_case_name_.c_str(); }
+
+ // Returns the test name.
+ const char* name() const { return name_.c_str(); }
+
+ // Returns the name of the parameter type, or NULL if this is not a typed
+ // or a type-parameterized test.
+ const char* type_param() const {
+ if (type_param_.get() != NULL)
+ return type_param_->c_str();
+ return NULL;
+ }
+
+ // Returns the text representation of the value parameter, or NULL if this
+ // is not a value-parameterized test.
+ const char* value_param() const {
+ if (value_param_.get() != NULL)
+ return value_param_->c_str();
+ return NULL;
+ }
+
+ // Returns the file name where this test is defined.
+ const char* file() const { return location_.file.c_str(); }
+
+ // Returns the line where this test is defined.
+ int line() const { return location_.line; }
+
+ // Returns true if this test should run, that is if the test is not
+ // disabled (or it is disabled but the also_run_disabled_tests flag has
+ // been specified) and its full name matches the user-specified filter.
+ //
+ // Google Test allows the user to filter the tests by their full names.
+ // The full name of a test Bar in test case Foo is defined as
+ // "Foo.Bar". Only the tests that match the filter will run.
+ //
+ // A filter is a colon-separated list of glob (not regex) patterns,
+ // optionally followed by a '-' and a colon-separated list of
+ // negative patterns (tests to exclude). A test is run if it
+ // matches one of the positive patterns and does not match any of
+ // the negative patterns.
+ //
+ // For example, *A*:Foo.* is a filter that matches any string that
+ // contains the character 'A' or starts with "Foo.".
+ bool should_run() const { return should_run_; }
+
+ // Returns true iff this test will appear in the XML report.
+ bool is_reportable() const {
+ // For now, the XML report includes all tests matching the filter.
+ // In the future, we may trim tests that are excluded because of
+ // sharding.
+ return matches_filter_;
+ }
+
+ // Returns the result of the test.
+ const TestResult* result() const { return &result_; }
+
+ private:
+#if GTEST_HAS_DEATH_TEST
+ friend class internal::DefaultDeathTestFactory;
+#endif // GTEST_HAS_DEATH_TEST
+ friend class Test;
+ friend class TestCase;
+ friend class internal::UnitTestImpl;
+ friend class internal::StreamingListenerTest;
+ friend TestInfo* internal::MakeAndRegisterTestInfo(
+ const char* test_case_name,
+ const char* name,
+ const char* type_param,
+ const char* value_param,
+ internal::CodeLocation code_location,
+ internal::TypeId fixture_class_id,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc,
+ internal::TestFactoryBase* factory);
+
+ // Constructs a TestInfo object. The newly constructed instance assumes
+ // ownership of the factory object.
+ TestInfo(const std::string& test_case_name,
+ const std::string& name,
+ const char* a_type_param, // NULL if not a type-parameterized test
+ const char* a_value_param, // NULL if not a value-parameterized test
+ internal::CodeLocation a_code_location,
+ internal::TypeId fixture_class_id,
+ internal::TestFactoryBase* factory);
+
+ // Increments the number of death tests encountered in this test so
+ // far.
+ int increment_death_test_count() {
+ return result_.increment_death_test_count();
+ }
+
+ // Creates the test object, runs it, records its result, and then
+ // deletes it.
+ void Run();
+
+ static void ClearTestResult(TestInfo* test_info) {
+ test_info->result_.Clear();
+ }
+
+ // These fields are immutable properties of the test.
+ const std::string test_case_name_; // Test case name
+ const std::string name_; // Test name
+ // Name of the parameter type, or NULL if this is not a typed or a
+ // type-parameterized test.
+ const internal::scoped_ptr<const ::std::string> type_param_;
+ // Text representation of the value parameter, or NULL if this is not a
+ // value-parameterized test.
+ const internal::scoped_ptr<const ::std::string> value_param_;
+ internal::CodeLocation location_;
+ const internal::TypeId fixture_class_id_; // ID of the test fixture class
+ bool should_run_; // True iff this test should run
+ bool is_disabled_; // True iff this test is disabled
+ bool matches_filter_; // True if this test matches the
+ // user-specified filter.
+ internal::TestFactoryBase* const factory_; // The factory that creates
+ // the test object
+
+ // This field is mutable and needs to be reset before running the
+ // test for the second time.
+ TestResult result_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestInfo);
+};
+
+// A test case, which consists of a vector of TestInfos.
+//
+// TestCase is not copyable.
+class GTEST_API_ TestCase {
+ public:
+ // Creates a TestCase with the given name.
+ //
+ // TestCase does NOT have a default constructor. Always use this
+ // constructor to create a TestCase object.
+ //
+ // Arguments:
+ //
+ // name: name of the test case
+ // a_type_param: the name of the test's type parameter, or NULL if
+ // this is not a type-parameterized test.
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ TestCase(const char* name, const char* a_type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc);
+
+ // Destructor of TestCase.
+ virtual ~TestCase();
+
+ // Gets the name of the TestCase.
+ const char* name() const { return name_.c_str(); }
+
+ // Returns the name of the parameter type, or NULL if this is not a
+ // type-parameterized test case.
+ const char* type_param() const {
+ if (type_param_.get() != NULL)
+ return type_param_->c_str();
+ return NULL;
+ }
+
+ // Returns true if any test in this test case should run.
+ bool should_run() const { return should_run_; }
+
+ // Gets the number of successful tests in this test case.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests in this test case.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests that will be reported in the XML report.
+ int reportable_disabled_test_count() const;
+
+ // Gets the number of disabled tests in this test case.
+ int disabled_test_count() const;
+
+ // Gets the number of tests to be printed in the XML report.
+ int reportable_test_count() const;
+
+ // Get the number of tests in this test case that should run.
+ int test_to_run_count() const;
+
+ // Gets the number of all tests in this test case.
+ int total_test_count() const;
+
+ // Returns true iff the test case passed.
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the test case failed.
+ bool Failed() const { return failed_test_count() > 0; }
+
+ // Returns the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns the i-th test among all the tests. i can range from 0 to
+ // total_test_count() - 1. If i is not in that range, returns NULL.
+ const TestInfo* GetTestInfo(int i) const;
+
+ // Returns the TestResult that holds test properties recorded during
+ // execution of SetUpTestCase and TearDownTestCase.
+ const TestResult& ad_hoc_test_result() const { return ad_hoc_test_result_; }
+
+ private:
+ friend class Test;
+ friend class internal::UnitTestImpl;
+
+ // Gets the (mutable) vector of TestInfos in this TestCase.
+ std::vector<TestInfo*>& test_info_list() { return test_info_list_; }
+
+ // Gets the (immutable) vector of TestInfos in this TestCase.
+ const std::vector<TestInfo*>& test_info_list() const {
+ return test_info_list_;
+ }
+
+ // Returns the i-th test among all the tests. i can range from 0 to
+ // total_test_count() - 1. If i is not in that range, returns NULL.
+ TestInfo* GetMutableTestInfo(int i);
+
+ // Sets the should_run member.
+ void set_should_run(bool should) { should_run_ = should; }
+
+ // Adds a TestInfo to this test case. Will delete the TestInfo upon
+ // destruction of the TestCase object.
+ void AddTestInfo(TestInfo * test_info);
+
+ // Clears the results of all tests in this test case.
+ void ClearResult();
+
+ // Clears the results of all tests in the given test case.
+ static void ClearTestCaseResult(TestCase* test_case) {
+ test_case->ClearResult();
+ }
+
+ // Runs every test in this TestCase.
+ void Run();
+
+ // Runs SetUpTestCase() for this TestCase. This wrapper is needed
+ // for catching exceptions thrown from SetUpTestCase().
+ void RunSetUpTestCase() { (*set_up_tc_)(); }
+
+ // Runs TearDownTestCase() for this TestCase. This wrapper is
+ // needed for catching exceptions thrown from TearDownTestCase().
+ void RunTearDownTestCase() { (*tear_down_tc_)(); }
+
+ // Returns true iff test passed.
+ static bool TestPassed(const TestInfo* test_info) {
+ return test_info->should_run() && test_info->result()->Passed();
+ }
+
+ // Returns true iff test failed.
+ static bool TestFailed(const TestInfo* test_info) {
+ return test_info->should_run() && test_info->result()->Failed();
+ }
+
+ // Returns true iff the test is disabled and will be reported in the XML
+ // report.
+ static bool TestReportableDisabled(const TestInfo* test_info) {
+ return test_info->is_reportable() && test_info->is_disabled_;
+ }
+
+ // Returns true iff test is disabled.
+ static bool TestDisabled(const TestInfo* test_info) {
+ return test_info->is_disabled_;
+ }
+
+ // Returns true iff this test will appear in the XML report.
+ static bool TestReportable(const TestInfo* test_info) {
+ return test_info->is_reportable();
+ }
+
+ // Returns true if the given test should run.
+ static bool ShouldRunTest(const TestInfo* test_info) {
+ return test_info->should_run();
+ }
+
+ // Shuffles the tests in this test case.
+ void ShuffleTests(internal::Random* random);
+
+ // Restores the test order to before the first shuffle.
+ void UnshuffleTests();
+
+ // Name of the test case.
+ std::string name_;
+ // Name of the parameter type, or NULL if this is not a typed or a
+ // type-parameterized test.
+ const internal::scoped_ptr<const ::std::string> type_param_;
+ // The vector of TestInfos in their original order. It owns the
+ // elements in the vector.
+ std::vector<TestInfo*> test_info_list_;
+ // Provides a level of indirection for the test list to allow easy
+ // shuffling and restoring the test order. The i-th element in this
+ // vector is the index of the i-th test in the shuffled test list.
+ std::vector<int> test_indices_;
+ // Pointer to the function that sets up the test case.
+ Test::SetUpTestCaseFunc set_up_tc_;
+ // Pointer to the function that tears down the test case.
+ Test::TearDownTestCaseFunc tear_down_tc_;
+ // True iff any test in this test case should run.
+ bool should_run_;
+ // Elapsed time, in milliseconds.
+ TimeInMillis elapsed_time_;
+ // Holds test properties recorded during execution of SetUpTestCase and
+ // TearDownTestCase.
+ TestResult ad_hoc_test_result_;
+
+ // We disallow copying TestCases.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestCase);
+};
+
+// An Environment object is capable of setting up and tearing down an
+// environment. You should subclass this to define your own
+// environment(s).
+//
+// An Environment object does the set-up and tear-down in virtual
+// methods SetUp() and TearDown() instead of the constructor and the
+// destructor, as:
+//
+// 1. You cannot safely throw from a destructor. This is a problem
+// as in some cases Google Test is used where exceptions are enabled, and
+// we may want to implement ASSERT_* using exceptions where they are
+// available.
+// 2. You cannot use ASSERT_* directly in a constructor or
+// destructor.
+class Environment {
+ public:
+ // The d'tor is virtual as we need to subclass Environment.
+ virtual ~Environment() {}
+
+ // Override this to define how to set up the environment.
+ virtual void SetUp() {}
+
+ // Override this to define how to tear down the environment.
+ virtual void TearDown() {}
+ private:
+ // If you see an error about overriding the following function or
+ // about it being private, you have mis-spelled SetUp() as Setup().
+ struct Setup_should_be_spelled_SetUp {};
+ virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+};
+
+// The interface for tracing execution of tests. The methods are organized in
+// the order the corresponding events are fired.
+class TestEventListener {
+ public:
+ virtual ~TestEventListener() {}
+
+ // Fired before any test activity starts.
+ virtual void OnTestProgramStart(const UnitTest& unit_test) = 0;
+
+ // Fired before each iteration of tests starts. There may be more than
+ // one iteration if GTEST_FLAG(repeat) is set. iteration is the iteration
+ // index, starting from 0.
+ virtual void OnTestIterationStart(const UnitTest& unit_test,
+ int iteration) = 0;
+
+ // Fired before environment set-up for each iteration of tests starts.
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test) = 0;
+
+ // Fired after environment set-up for each iteration of tests ends.
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test) = 0;
+
+ // Fired before the test case starts.
+ virtual void OnTestCaseStart(const TestCase& test_case) = 0;
+
+ // Fired before the test starts.
+ virtual void OnTestStart(const TestInfo& test_info) = 0;
+
+ // Fired after a failed assertion or a SUCCEED() invocation.
+ virtual void OnTestPartResult(const TestPartResult& test_part_result) = 0;
+
+ // Fired after the test ends.
+ virtual void OnTestEnd(const TestInfo& test_info) = 0;
+
+ // Fired after the test case ends.
+ virtual void OnTestCaseEnd(const TestCase& test_case) = 0;
+
+ // Fired before environment tear-down for each iteration of tests starts.
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test) = 0;
+
+ // Fired after environment tear-down for each iteration of tests ends.
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test) = 0;
+
+ // Fired after each iteration of tests finishes.
+ virtual void OnTestIterationEnd(const UnitTest& unit_test,
+ int iteration) = 0;
+
+ // Fired after all test activities have ended.
+ virtual void OnTestProgramEnd(const UnitTest& unit_test) = 0;
+};
+
+// The convenience class for users who need to override just one or two
+// methods and are not concerned that a possible change to a signature of
+// the methods they override will not be caught during the build. For
+// comments about each method please see the definition of TestEventListener
+// above.
+class EmptyTestEventListener : public TestEventListener {
+ public:
+ virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationStart(const UnitTest& /*unit_test*/,
+ int /*iteration*/) {}
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestCaseStart(const TestCase& /*test_case*/) {}
+ virtual void OnTestStart(const TestInfo& /*test_info*/) {}
+ virtual void OnTestPartResult(const TestPartResult& /*test_part_result*/) {}
+ virtual void OnTestEnd(const TestInfo& /*test_info*/) {}
+ virtual void OnTestCaseEnd(const TestCase& /*test_case*/) {}
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationEnd(const UnitTest& /*unit_test*/,
+ int /*iteration*/) {}
+ virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+};
+
+// TestEventListeners lets users add listeners to track events in Google Test.
+class GTEST_API_ TestEventListeners {
+ public:
+ TestEventListeners();
+ ~TestEventListeners();
+
+ // Appends an event listener to the end of the list. Google Test assumes
+ // the ownership of the listener (i.e. it will delete the listener when
+ // the test program finishes).
+ void Append(TestEventListener* listener);
+
+ // Removes the given event listener from the list and returns it. It then
+ // becomes the caller's responsibility to delete the listener. Returns
+ // NULL if the listener is not found in the list.
+ TestEventListener* Release(TestEventListener* listener);
+
+ // Returns the standard listener responsible for the default console
+ // output. Can be removed from the listeners list to shut down default
+ // console output. Note that removing this object from the listener list
+ // with Release transfers its ownership to the caller and makes this
+ // function return NULL the next time.
+ TestEventListener* default_result_printer() const {
+ return default_result_printer_;
+ }
+
+ // Returns the standard listener responsible for the default XML output
+ // controlled by the --gtest_output=xml flag. Can be removed from the
+ // listeners list by users who want to shut down the default XML output
+ // controlled by this flag and substitute it with custom one. Note that
+ // removing this object from the listener list with Release transfers its
+ // ownership to the caller and makes this function return NULL the next
+ // time.
+ TestEventListener* default_xml_generator() const {
+ return default_xml_generator_;
+ }
+
+ private:
+ friend class TestCase;
+ friend class TestInfo;
+ friend class internal::DefaultGlobalTestPartResultReporter;
+ friend class internal::NoExecDeathTest;
+ friend class internal::TestEventListenersAccessor;
+ friend class internal::UnitTestImpl;
+
+ // Returns repeater that broadcasts the TestEventListener events to all
+ // subscribers.
+ TestEventListener* repeater();
+
+ // Sets the default_result_printer attribute to the provided listener.
+ // The listener is also added to the listener list and previous
+ // default_result_printer is removed from it and deleted. The listener can
+ // also be NULL in which case it will not be added to the list. Does
+ // nothing if the previous and the current listener objects are the same.
+ void SetDefaultResultPrinter(TestEventListener* listener);
+
+ // Sets the default_xml_generator attribute to the provided listener. The
+ // listener is also added to the listener list and previous
+ // default_xml_generator is removed from it and deleted. The listener can
+ // also be NULL in which case it will not be added to the list. Does
+ // nothing if the previous and the current listener objects are the same.
+ void SetDefaultXmlGenerator(TestEventListener* listener);
+
+ // Controls whether events will be forwarded by the repeater to the
+ // listeners in the list.
+ bool EventForwardingEnabled() const;
+ void SuppressEventForwarding();
+
+ // The actual list of listeners.
+ internal::TestEventRepeater* repeater_;
+ // Listener responsible for the standard result output.
+ TestEventListener* default_result_printer_;
+ // Listener responsible for the creation of the XML output file.
+ TestEventListener* default_xml_generator_;
+
+ // We disallow copying TestEventListeners.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventListeners);
+};
+
+// A UnitTest consists of a vector of TestCases.
+//
+// This is a singleton class. The only instance of UnitTest is
+// created when UnitTest::GetInstance() is first called. This
+// instance is never deleted.
+//
+// UnitTest is not copyable.
+//
+// This class is thread-safe as long as the methods are called
+// according to their specification.
+class GTEST_API_ UnitTest {
+ public:
+ // Gets the singleton UnitTest object. The first time this method
+ // is called, a UnitTest object is constructed and returned.
+ // Consecutive calls will return the same object.
+ static UnitTest* GetInstance();
+
+ // Runs all tests in this UnitTest object and prints the result.
+ // Returns 0 if successful, or 1 otherwise.
+ //
+ // This method can only be called from the main thread.
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ int Run() GTEST_MUST_USE_RESULT_;
+
+ // Returns the working directory when the first TEST() or TEST_F()
+ // was executed. The UnitTest object owns the string.
+ const char* original_working_dir() const;
+
+ // Returns the TestCase object for the test that's currently running,
+ // or NULL if no test is running.
+ const TestCase* current_test_case() const
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ // Returns the TestInfo object for the test that's currently running,
+ // or NULL if no test is running.
+ const TestInfo* current_test_info() const
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ // Returns the random seed used at the start of the current test run.
+ int random_seed() const;
+
+#if GTEST_HAS_PARAM_TEST
+ // Returns the ParameterizedTestCaseRegistry object used to keep track of
+ // value-parameterized tests and instantiate and register them.
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ internal::ParameterizedTestCaseRegistry& parameterized_test_registry()
+ GTEST_LOCK_EXCLUDED_(mutex_);
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Gets the number of successful test cases.
+ int successful_test_case_count() const;
+
+ // Gets the number of failed test cases.
+ int failed_test_case_count() const;
+
+ // Gets the number of all test cases.
+ int total_test_case_count() const;
+
+ // Gets the number of all test cases that contain at least one test
+ // that should run.
+ int test_case_to_run_count() const;
+
+ // Gets the number of successful tests.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests that will be reported in the XML report.
+ int reportable_disabled_test_count() const;
+
+ // Gets the number of disabled tests.
+ int disabled_test_count() const;
+
+ // Gets the number of tests to be printed in the XML report.
+ int reportable_test_count() const;
+
+ // Gets the number of all tests.
+ int total_test_count() const;
+
+ // Gets the number of tests that should run.
+ int test_to_run_count() const;
+
+ // Gets the time of the test program start, in ms from the start of the
+ // UNIX epoch.
+ TimeInMillis start_timestamp() const;
+
+ // Gets the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const;
+
+ // Returns true iff the unit test passed (i.e. all test cases passed).
+ bool Passed() const;
+
+ // Returns true iff the unit test failed (i.e. some test case failed
+ // or something outside of all tests failed).
+ bool Failed() const;
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ const TestCase* GetTestCase(int i) const;
+
+ // Returns the TestResult containing information on test failures and
+ // properties logged outside of individual test cases.
+ const TestResult& ad_hoc_test_result() const;
+
+ // Returns the list of event listeners that can be used to track events
+ // inside Google Test.
+ TestEventListeners& listeners();
+
+ private:
+ // Registers and returns a global test environment. When a test
+ // program is run, all global test environments will be set-up in
+ // the order they were registered. After all tests in the program
+ // have finished, all global test environments will be torn-down in
+ // the *reverse* order they were registered.
+ //
+ // The UnitTest object takes ownership of the given environment.
+ //
+ // This method can only be called from the main thread.
+ Environment* AddEnvironment(Environment* env);
+
+ // Adds a TestPartResult to the current TestResult object. All
+ // Google Test assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc)
+ // eventually call this to report their results. The user code
+ // should use the assertion macros instead of calling this directly.
+ void AddTestPartResult(TestPartResult::Type result_type,
+ const char* file_name,
+ int line_number,
+ const std::string& message,
+ const std::string& os_stack_trace)
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ // Adds a TestProperty to the current TestResult object when invoked from
+ // inside a test, to current TestCase's ad_hoc_test_result_ when invoked
+ // from SetUpTestCase or TearDownTestCase, or to the global property set
+ // when invoked elsewhere. If the result already contains a property with
+ // the same key, the value will be updated.
+ void RecordProperty(const std::string& key, const std::string& value);
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ TestCase* GetMutableTestCase(int i);
+
+ // Accessors for the implementation object.
+ internal::UnitTestImpl* impl() { return impl_; }
+ const internal::UnitTestImpl* impl() const { return impl_; }
+
+ // These classes and funcions are friends as they need to access private
+ // members of UnitTest.
+ friend class Test;
+ friend class internal::AssertHelper;
+ friend class internal::ScopedTrace;
+ friend class internal::StreamingListenerTest;
+ friend class internal::UnitTestRecordPropertyTestHelper;
+ friend Environment* AddGlobalTestEnvironment(Environment* env);
+ friend internal::UnitTestImpl* internal::GetUnitTestImpl();
+ friend void internal::ReportFailureInUnknownLocation(
+ TestPartResult::Type result_type,
+ const std::string& message);
+
+ // Creates an empty UnitTest.
+ UnitTest();
+
+ // D'tor
+ virtual ~UnitTest();
+
+ // Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+ // Google Test trace stack.
+ void PushGTestTrace(const internal::TraceInfo& trace)
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ // Pops a trace from the per-thread Google Test trace stack.
+ void PopGTestTrace()
+ GTEST_LOCK_EXCLUDED_(mutex_);
+
+ // Protects mutable state in *impl_. This is mutable as some const
+ // methods need to lock it too.
+ mutable internal::Mutex mutex_;
+
+ // Opaque implementation object. This field is never changed once
+ // the object is constructed. We don't mark it as const here, as
+ // doing so will cause a warning in the constructor of UnitTest.
+ // Mutable state in *impl_ is protected by mutex_.
+ internal::UnitTestImpl* impl_;
+
+ // We disallow copying UnitTest.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTest);
+};
+
+// A convenient wrapper for adding an environment for the test
+// program.
+//
+// You should call this before RUN_ALL_TESTS() is called, probably in
+// main(). If you use gtest_main, you need to call this before main()
+// starts for it to take effect. For example, you can define a global
+// variable like this:
+//
+// testing::Environment* const foo_env =
+// testing::AddGlobalTestEnvironment(new FooEnvironment);
+//
+// However, we strongly recommend you to write your own main() and
+// call AddGlobalTestEnvironment() there, as relying on initialization
+// of global variables makes the code harder to read and may cause
+// problems when you register multiple environments from different
+// translation units and the environments have dependencies among them
+// (remember that the compiler doesn't guarantee the order in which
+// global variables from different translation units are initialized).
+inline Environment* AddGlobalTestEnvironment(Environment* env) {
+ return UnitTest::GetInstance()->AddEnvironment(env);
+}
+
+// Initializes Google Test. This must be called before calling
+// RUN_ALL_TESTS(). In particular, it parses a command line for the
+// flags that Google Test recognizes. Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+GTEST_API_ void InitGoogleTest(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleTest(int* argc, wchar_t** argv);
+
+namespace internal {
+
+// Separate the error generating code from the code path to reduce the stack
+// frame size of CmpHelperEQ. This helps reduce the overhead of some sanitizers
+// when calling EXPECT_* in a tight loop.
+template <typename T1, typename T2>
+AssertionResult CmpHelperEQFailure(const char* lhs_expression,
+ const char* rhs_expression,
+ const T1& lhs, const T2& rhs) {
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ FormatForComparisonFailureMessage(lhs, rhs),
+ FormatForComparisonFailureMessage(rhs, lhs),
+ false);
+}
+
+// The helper function for {ASSERT|EXPECT}_EQ.
+template <typename T1, typename T2>
+AssertionResult CmpHelperEQ(const char* lhs_expression,
+ const char* rhs_expression,
+ const T1& lhs,
+ const T2& rhs) {
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4389 /* signed/unsigned mismatch */)
+ if (lhs == rhs) {
+ return AssertionSuccess();
+ }
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+ return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+// With this overloaded version, we allow anonymous enums to be used
+// in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous enums
+// can be implicitly cast to BiggestInt.
+GTEST_API_ AssertionResult CmpHelperEQ(const char* lhs_expression,
+ const char* rhs_expression,
+ BiggestInt lhs,
+ BiggestInt rhs);
+
+// The helper class for {ASSERT|EXPECT}_EQ. The template argument
+// lhs_is_null_literal is true iff the first argument to ASSERT_EQ()
+// is a null pointer literal. The following default implementation is
+// for lhs_is_null_literal being false.
+template <bool lhs_is_null_literal>
+class EqHelper {
+ public:
+ // This templatized version is for the general case.
+ template <typename T1, typename T2>
+ static AssertionResult Compare(const char* lhs_expression,
+ const char* rhs_expression,
+ const T1& lhs,
+ const T2& rhs) {
+ return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+ }
+
+ // With this overloaded version, we allow anonymous enums to be used
+ // in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous
+ // enums can be implicitly cast to BiggestInt.
+ //
+ // Even though its body looks the same as the above version, we
+ // cannot merge the two, as it will make anonymous enums unhappy.
+ static AssertionResult Compare(const char* lhs_expression,
+ const char* rhs_expression,
+ BiggestInt lhs,
+ BiggestInt rhs) {
+ return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+ }
+};
+
+// This specialization is used when the first argument to ASSERT_EQ()
+// is a null pointer literal, like NULL, false, or 0.
+template <>
+class EqHelper<true> {
+ public:
+ // We define two overloaded versions of Compare(). The first
+ // version will be picked when the second argument to ASSERT_EQ() is
+ // NOT a pointer, e.g. ASSERT_EQ(0, AnIntFunction()) or
+ // EXPECT_EQ(false, a_bool).
+ template <typename T1, typename T2>
+ static AssertionResult Compare(
+ const char* lhs_expression,
+ const char* rhs_expression,
+ const T1& lhs,
+ const T2& rhs,
+ // The following line prevents this overload from being considered if T2
+ // is not a pointer type. We need this because ASSERT_EQ(NULL, my_ptr)
+ // expands to Compare("", "", NULL, my_ptr), which requires a conversion
+ // to match the Secret* in the other overload, which would otherwise make
+ // this template match better.
+ typename EnableIf<!is_pointer<T2>::value>::type* = 0) {
+ return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+ }
+
+ // This version will be picked when the second argument to ASSERT_EQ() is a
+ // pointer, e.g. ASSERT_EQ(NULL, a_pointer).
+ template <typename T>
+ static AssertionResult Compare(
+ const char* lhs_expression,
+ const char* rhs_expression,
+ // We used to have a second template parameter instead of Secret*. That
+ // template parameter would deduce to 'long', making this a better match
+ // than the first overload even without the first overload's EnableIf.
+ // Unfortunately, gcc with -Wconversion-null warns when "passing NULL to
+ // non-pointer argument" (even a deduced integral argument), so the old
+ // implementation caused warnings in user code.
+ Secret* /* lhs (NULL) */,
+ T* rhs) {
+ // We already know that 'lhs' is a null pointer.
+ return CmpHelperEQ(lhs_expression, rhs_expression,
+ static_cast<T*>(NULL), rhs);
+ }
+};
+
+// Separate the error generating code from the code path to reduce the stack
+// frame size of CmpHelperOP. This helps reduce the overhead of some sanitizers
+// when calling EXPECT_OP in a tight loop.
+template <typename T1, typename T2>
+AssertionResult CmpHelperOpFailure(const char* expr1, const char* expr2,
+ const T1& val1, const T2& val2,
+ const char* op) {
+ return AssertionFailure()
+ << "Expected: (" << expr1 << ") " << op << " (" << expr2
+ << "), actual: " << FormatForComparisonFailureMessage(val1, val2)
+ << " vs " << FormatForComparisonFailureMessage(val2, val1);
+}
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_??. It is here just to avoid copy-and-paste
+// of similar code.
+//
+// For each templatized helper function, we also define an overloaded
+// version for BiggestInt in order to reduce code bloat and allow
+// anonymous enums to be used with {ASSERT|EXPECT}_?? when compiled
+// with gcc 4.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+template <typename T1, typename T2>\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+ const T1& val1, const T2& val2) {\
+ if (val1 op val2) {\
+ return AssertionSuccess();\
+ } else {\
+ return CmpHelperOpFailure(expr1, expr2, val1, val2, #op);\
+ }\
+}\
+GTEST_API_ AssertionResult CmpHelper##op_name(\
+ const char* expr1, const char* expr2, BiggestInt val1, BiggestInt val2)
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+// Implements the helper function for {ASSERT|EXPECT}_NE
+GTEST_IMPL_CMP_HELPER_(NE, !=);
+// Implements the helper function for {ASSERT|EXPECT}_LE
+GTEST_IMPL_CMP_HELPER_(LE, <=);
+// Implements the helper function for {ASSERT|EXPECT}_LT
+GTEST_IMPL_CMP_HELPER_(LT, <);
+// Implements the helper function for {ASSERT|EXPECT}_GE
+GTEST_IMPL_CMP_HELPER_(GE, >=);
+// Implements the helper function for {ASSERT|EXPECT}_GT
+GTEST_IMPL_CMP_HELPER_(GT, >);
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASEEQ(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+
+// Helper function for *_STREQ on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* s1_expression,
+ const char* s2_expression,
+ const wchar_t* s1,
+ const wchar_t* s2);
+
+// Helper function for *_STRNE on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const wchar_t* s1,
+ const wchar_t* s2);
+
+} // namespace internal
+
+// IsSubstring() and IsNotSubstring() are intended to be used as the
+// first argument to {EXPECT,ASSERT}_PRED_FORMAT2(), not by
+// themselves. They check whether needle is a substring of haystack
+// (NULL is considered a substring of itself only), and return an
+// appropriate error message when they fail.
+//
+// The {needle,haystack}_expr arguments are the stringified
+// expressions that generated the two real arguments.
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack);
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack);
+#endif // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+// Helper template function for comparing floating-points.
+//
+// Template parameter:
+//
+// RawType: the raw floating-point type (either float or double)
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename RawType>
+AssertionResult CmpHelperFloatingPointEQ(const char* lhs_expression,
+ const char* rhs_expression,
+ RawType lhs_value,
+ RawType rhs_value) {
+ const FloatingPoint<RawType> lhs(lhs_value), rhs(rhs_value);
+
+ if (lhs.AlmostEquals(rhs)) {
+ return AssertionSuccess();
+ }
+
+ ::std::stringstream lhs_ss;
+ lhs_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << lhs_value;
+
+ ::std::stringstream rhs_ss;
+ rhs_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << rhs_value;
+
+ return EqFailure(lhs_expression,
+ rhs_expression,
+ StringStreamToString(&lhs_ss),
+ StringStreamToString(&rhs_ss),
+ false);
+}
+
+// Helper function for implementing ASSERT_NEAR.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult DoubleNearPredFormat(const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ double val1,
+ double val2,
+ double abs_error);
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+// A class that enables one to stream messages to assertion macros
+class GTEST_API_ AssertHelper {
+ public:
+ // Constructor.
+ AssertHelper(TestPartResult::Type type,
+ const char* file,
+ int line,
+ const char* message);
+ ~AssertHelper();
+
+ // Message assignment is a semantic trick to enable assertion
+ // streaming; see the GTEST_MESSAGE_ macro below.
+ void operator=(const Message& message) const;
+
+ private:
+ // We put our data in a struct so that the size of the AssertHelper class can
+ // be as small as possible. This is important because gcc is incapable of
+ // re-using stack space even for temporary variables, so every EXPECT_EQ
+ // reserves stack space for another AssertHelper.
+ struct AssertHelperData {
+ AssertHelperData(TestPartResult::Type t,
+ const char* srcfile,
+ int line_num,
+ const char* msg)
+ : type(t), file(srcfile), line(line_num), message(msg) { }
+
+ TestPartResult::Type const type;
+ const char* const file;
+ int const line;
+ std::string const message;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelperData);
+ };
+
+ AssertHelperData* const data_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelper);
+};
+
+} // namespace internal
+
+#if GTEST_HAS_PARAM_TEST
+// The pure interface class that all value-parameterized tests inherit from.
+// A value-parameterized class must inherit from both ::testing::Test and
+// ::testing::WithParamInterface. In most cases that just means inheriting
+// from ::testing::TestWithParam, but more complicated test hierarchies
+// may need to inherit from Test and WithParamInterface at different levels.
+//
+// This interface has support for accessing the test parameter value via
+// the GetParam() method.
+//
+// Use it with one of the parameter generator defining functions, like Range(),
+// Values(), ValuesIn(), Bool(), and Combine().
+//
+// class FooTest : public ::testing::TestWithParam<int> {
+// protected:
+// FooTest() {
+// // Can use GetParam() here.
+// }
+// virtual ~FooTest() {
+// // Can use GetParam() here.
+// }
+// virtual void SetUp() {
+// // Can use GetParam() here.
+// }
+// virtual void TearDown {
+// // Can use GetParam() here.
+// }
+// };
+// TEST_P(FooTest, DoesBar) {
+// // Can use GetParam() method here.
+// Foo foo;
+// ASSERT_TRUE(foo.DoesBar(GetParam()));
+// }
+// INSTANTIATE_TEST_CASE_P(OneToTenRange, FooTest, ::testing::Range(1, 10));
+
+template <typename T>
+class WithParamInterface {
+ public:
+ typedef T ParamType;
+ virtual ~WithParamInterface() {}
+
+ // The current parameter value. Is also available in the test fixture's
+ // constructor. This member function is non-static, even though it only
+ // references static data, to reduce the opportunity for incorrect uses
+ // like writing 'WithParamInterface<bool>::GetParam()' for a test that
+ // uses a fixture whose parameter type is int.
+ const ParamType& GetParam() const {
+ GTEST_CHECK_(parameter_ != NULL)
+ << "GetParam() can only be called inside a value-parameterized test "
+ << "-- did you intend to write TEST_P instead of TEST_F?";
+ return *parameter_;
+ }
+
+ private:
+ // Sets parameter value. The caller is responsible for making sure the value
+ // remains alive and unchanged throughout the current test.
+ static void SetParam(const ParamType* parameter) {
+ parameter_ = parameter;
+ }
+
+ // Static value used for accessing parameter during a test lifetime.
+ static const ParamType* parameter_;
+
+ // TestClass must be a subclass of WithParamInterface<T> and Test.
+ template <class TestClass> friend class internal::ParameterizedTestFactory;
+};
+
+template <typename T>
+const T* WithParamInterface<T>::parameter_ = NULL;
+
+// Most value-parameterized classes can ignore the existence of
+// WithParamInterface, and can just inherit from ::testing::TestWithParam.
+
+template <typename T>
+class TestWithParam : public Test, public WithParamInterface<T> {
+};
+
+#endif // GTEST_HAS_PARAM_TEST
+
+// Macros for indicating success/failure in test code.
+
+// ADD_FAILURE unconditionally adds a failure to the current test.
+// SUCCEED generates a success - it doesn't automatically make the
+// current test successful, as a test is only successful when it has
+// no failure.
+//
+// EXPECT_* verifies that a certain condition is satisfied. If not,
+// it behaves like ADD_FAILURE. In particular:
+//
+// EXPECT_TRUE verifies that a Boolean condition is true.
+// EXPECT_FALSE verifies that a Boolean condition is false.
+//
+// FAIL and ASSERT_* are similar to ADD_FAILURE and EXPECT_*, except
+// that they will also abort the current function on failure. People
+// usually want the fail-fast behavior of FAIL and ASSERT_*, but those
+// writing data-driven tests often find themselves using ADD_FAILURE
+// and EXPECT_* more.
+
+// Generates a nonfatal failure with a generic message.
+#define ADD_FAILURE() GTEST_NONFATAL_FAILURE_("Failed")
+
+// Generates a nonfatal failure at the given source file location with
+// a generic message.
+#define ADD_FAILURE_AT(file, line) \
+ GTEST_MESSAGE_AT_(file, line, "Failed", \
+ ::testing::TestPartResult::kNonFatalFailure)
+
+// Generates a fatal failure with a generic message.
+#define GTEST_FAIL() GTEST_FATAL_FAILURE_("Failed")
+
+// Define this macro to 1 to omit the definition of FAIL(), which is a
+// generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_FAIL
+# define FAIL() GTEST_FAIL()
+#endif
+
+// Generates a success with a generic message.
+#define GTEST_SUCCEED() GTEST_SUCCESS_("Succeeded")
+
+// Define this macro to 1 to omit the definition of SUCCEED(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_SUCCEED
+# define SUCCEED() GTEST_SUCCEED()
+#endif
+
+// Macros for testing exceptions.
+//
+// * {ASSERT|EXPECT}_THROW(statement, expected_exception):
+// Tests that the statement throws the expected exception.
+// * {ASSERT|EXPECT}_NO_THROW(statement):
+// Tests that the statement doesn't throw any exception.
+// * {ASSERT|EXPECT}_ANY_THROW(statement):
+// Tests that the statement throws an exception.
+
+#define EXPECT_THROW(statement, expected_exception) \
+ GTEST_TEST_THROW_(statement, expected_exception, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_NO_THROW(statement) \
+ GTEST_TEST_NO_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_ANY_THROW(statement) \
+ GTEST_TEST_ANY_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_THROW(statement, expected_exception) \
+ GTEST_TEST_THROW_(statement, expected_exception, GTEST_FATAL_FAILURE_)
+#define ASSERT_NO_THROW(statement) \
+ GTEST_TEST_NO_THROW_(statement, GTEST_FATAL_FAILURE_)
+#define ASSERT_ANY_THROW(statement) \
+ GTEST_TEST_ANY_THROW_(statement, GTEST_FATAL_FAILURE_)
+
+// Boolean assertions. Condition can be either a Boolean expression or an
+// AssertionResult. For more information on how to use AssertionResult with
+// these macros see comments on that class.
+#define EXPECT_TRUE(condition) \
+ GTEST_TEST_BOOLEAN_((condition), #condition, false, true, \
+ GTEST_NONFATAL_FAILURE_)
+#define EXPECT_FALSE(condition) \
+ GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+ GTEST_NONFATAL_FAILURE_)
+#define ASSERT_TRUE(condition) \
+ GTEST_TEST_BOOLEAN_((condition), #condition, false, true, \
+ GTEST_FATAL_FAILURE_)
+#define ASSERT_FALSE(condition) \
+ GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+ GTEST_FATAL_FAILURE_)
+
+// Includes the auto-generated header that implements a family of
+// generic predicate assertion macros.
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// 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.
+
+// This file is AUTOMATICALLY GENERATED on 10/31/2011 by command
+// 'gen_gtest_pred_impl.py 5'. DO NOT EDIT BY HAND!
+//
+// Implements a family of generic predicate assertion macros.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Makes sure this header is not included before gtest.h.
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+# error Do not include gtest_pred_impl.h directly. Include gtest.h instead.
+#endif // GTEST_INCLUDE_GTEST_GTEST_H_
+
+// This header implements a family of generic predicate assertion
+// macros:
+//
+// ASSERT_PRED_FORMAT1(pred_format, v1)
+// ASSERT_PRED_FORMAT2(pred_format, v1, v2)
+// ...
+//
+// where pred_format is a function or functor that takes n (in the
+// case of ASSERT_PRED_FORMATn) values and their source expression
+// text, and returns a testing::AssertionResult. See the definition
+// of ASSERT_EQ in gtest.h for an example.
+//
+// If you don't care about formatting, you can use the more
+// restrictive version:
+//
+// ASSERT_PRED1(pred, v1)
+// ASSERT_PRED2(pred, v1, v2)
+// ...
+//
+// where pred is an n-ary function or functor that returns bool,
+// and the values v1, v2, ..., must support the << operator for
+// streaming to std::ostream.
+//
+// We also define the EXPECT_* variations.
+//
+// For now we only support predicates whose arity is at most 5.
+// Please email googletestframework@googlegroups.com if you need
+// support for higher arities.
+
+// GTEST_ASSERT_ is the basic statement to which all of the assertions
+// in this file reduce. Don't use this in your code.
+
+#define GTEST_ASSERT_(expression, on_failure) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (const ::testing::AssertionResult gtest_ar = (expression)) \
+ ; \
+ else \
+ on_failure(gtest_ar.failure_message())
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED1. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1>
+AssertionResult AssertPred1Helper(const char* pred_text,
+ const char* e1,
+ Pred pred,
+ const T1& v1) {
+ if (pred(v1)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT1.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT1_(pred_format, v1, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, v1), \
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED1. Don't use
+// this in your code.
+#define GTEST_PRED1_(pred, v1, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred1Helper(#pred, \
+ #v1, \
+ pred, \
+ v1), on_failure)
+
+// Unary predicate assertion macros.
+#define EXPECT_PRED_FORMAT1(pred_format, v1) \
+ GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED1(pred, v1) \
+ GTEST_PRED1_(pred, v1, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT1(pred_format, v1) \
+ GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED1(pred, v1) \
+ GTEST_PRED1_(pred, v1, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED2. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2>
+AssertionResult AssertPred2Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ Pred pred,
+ const T1& v1,
+ const T2& v2) {
+ if (pred(v1, v2)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT2.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT2_(pred_format, v1, v2, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, v1, v2), \
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED2. Don't use
+// this in your code.
+#define GTEST_PRED2_(pred, v1, v2, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred2Helper(#pred, \
+ #v1, \
+ #v2, \
+ pred, \
+ v1, \
+ v2), on_failure)
+
+// Binary predicate assertion macros.
+#define EXPECT_PRED_FORMAT2(pred_format, v1, v2) \
+ GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED2(pred, v1, v2) \
+ GTEST_PRED2_(pred, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT2(pred_format, v1, v2) \
+ GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED2(pred, v1, v2) \
+ GTEST_PRED2_(pred, v1, v2, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED3. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3>
+AssertionResult AssertPred3Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3) {
+ if (pred(v1, v2, v3)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT3.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, v1, v2, v3), \
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED3. Don't use
+// this in your code.
+#define GTEST_PRED3_(pred, v1, v2, v3, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred3Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ pred, \
+ v1, \
+ v2, \
+ v3), on_failure)
+
+// Ternary predicate assertion macros.
+#define EXPECT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+ GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED3(pred, v1, v2, v3) \
+ GTEST_PRED3_(pred, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+ GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED3(pred, v1, v2, v3) \
+ GTEST_PRED3_(pred, v1, v2, v3, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED4. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3,
+ typename T4>
+AssertionResult AssertPred4Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ const char* e4,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3,
+ const T4& v4) {
+ if (pred(v1, v2, v3, v4)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ", "
+ << e4 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3
+ << "\n" << e4 << " evaluates to " << v4;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT4.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, v1, v2, v3, v4), \
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED4. Don't use
+// this in your code.
+#define GTEST_PRED4_(pred, v1, v2, v3, v4, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred4Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ #v4, \
+ pred, \
+ v1, \
+ v2, \
+ v3, \
+ v4), on_failure)
+
+// 4-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+ GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED4(pred, v1, v2, v3, v4) \
+ GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+ GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED4(pred, v1, v2, v3, v4) \
+ GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED5. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3,
+ typename T4,
+ typename T5>
+AssertionResult AssertPred5Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ const char* e4,
+ const char* e5,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3,
+ const T4& v4,
+ const T5& v5) {
+ if (pred(v1, v2, v3, v4, v5)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ", "
+ << e4 << ", "
+ << e5 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3
+ << "\n" << e4 << " evaluates to " << v4
+ << "\n" << e5 << " evaluates to " << v5;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT5.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, #v5, v1, v2, v3, v4, v5), \
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED5. Don't use
+// this in your code.
+#define GTEST_PRED5_(pred, v1, v2, v3, v4, v5, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred5Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ #v4, \
+ #v5, \
+ pred, \
+ v1, \
+ v2, \
+ v3, \
+ v4, \
+ v5), on_failure)
+
+// 5-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+ GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED5(pred, v1, v2, v3, v4, v5) \
+ GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+ GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED5(pred, v1, v2, v3, v4, v5) \
+ GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+
+
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Macros for testing equalities and inequalities.
+//
+// * {ASSERT|EXPECT}_EQ(v1, v2): Tests that v1 == v2
+// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
+// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
+// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
+// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
+// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
+//
+// When they are not, Google Test prints both the tested expressions and
+// their actual values. The values must be compatible built-in types,
+// or you will get a compiler error. By "compatible" we mean that the
+// values can be compared by the respective operator.
+//
+// Note:
+//
+// 1. It is possible to make a user-defined type work with
+// {ASSERT|EXPECT}_??(), but that requires overloading the
+// comparison operators and is thus discouraged by the Google C++
+// Usage Guide. Therefore, you are advised to use the
+// {ASSERT|EXPECT}_TRUE() macro to assert that two objects are
+// equal.
+//
+// 2. The {ASSERT|EXPECT}_??() macros do pointer comparisons on
+// pointers (in particular, C strings). Therefore, if you use it
+// with two C strings, you are testing how their locations in memory
+// are related, not how their content is related. To compare two C
+// strings by content, use {ASSERT|EXPECT}_STR*().
+//
+// 3. {ASSERT|EXPECT}_EQ(v1, v2) is preferred to
+// {ASSERT|EXPECT}_TRUE(v1 == v2), as the former tells you
+// what the actual value is when it fails, and similarly for the
+// other comparisons.
+//
+// 4. Do not depend on the order in which {ASSERT|EXPECT}_??()
+// evaluate their arguments, which is undefined.
+//
+// 5. These macros evaluate their arguments exactly once.
+//
+// Examples:
+//
+// EXPECT_NE(5, Foo());
+// EXPECT_EQ(NULL, a_pointer);
+// ASSERT_LT(i, array_size);
+// ASSERT_GT(records.size(), 0) << "There is no record left.";
+
+#define EXPECT_EQ(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal:: \
+ EqHelper<GTEST_IS_NULL_LITERAL_(val1)>::Compare, \
+ val1, val2)
+#define EXPECT_NE(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
+#define EXPECT_LE(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define EXPECT_LT(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define EXPECT_GE(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define EXPECT_GT(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+#define GTEST_ASSERT_EQ(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal:: \
+ EqHelper<GTEST_IS_NULL_LITERAL_(val1)>::Compare, \
+ val1, val2)
+#define GTEST_ASSERT_NE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
+#define GTEST_ASSERT_LE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define GTEST_ASSERT_LT(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define GTEST_ASSERT_GE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define GTEST_ASSERT_GT(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+// Define macro GTEST_DONT_DEFINE_ASSERT_XY to 1 to omit the definition of
+// ASSERT_XY(), which clashes with some users' own code.
+
+#if !GTEST_DONT_DEFINE_ASSERT_EQ
+# define ASSERT_EQ(val1, val2) GTEST_ASSERT_EQ(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_NE
+# define ASSERT_NE(val1, val2) GTEST_ASSERT_NE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LE
+# define ASSERT_LE(val1, val2) GTEST_ASSERT_LE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LT
+# define ASSERT_LT(val1, val2) GTEST_ASSERT_LT(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GE
+# define ASSERT_GE(val1, val2) GTEST_ASSERT_GE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GT
+# define ASSERT_GT(val1, val2) GTEST_ASSERT_GT(val1, val2)
+#endif
+
+// C-string Comparisons. All tests treat NULL and any non-NULL string
+// as different. Two NULLs are equal.
+//
+// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
+// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
+// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// For wide or narrow string objects, you can use the
+// {ASSERT|EXPECT}_??() macros.
+//
+// Don't depend on the order in which the arguments are evaluated,
+// which is undefined.
+//
+// These macros evaluate their arguments exactly once.
+
+#define EXPECT_STREQ(s1, s2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, s1, s2)
+#define EXPECT_STRNE(s1, s2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define EXPECT_STRCASEEQ(s1, s2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, s1, s2)
+#define EXPECT_STRCASENE(s1, s2)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+#define ASSERT_STREQ(s1, s2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, s1, s2)
+#define ASSERT_STRNE(s1, s2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define ASSERT_STRCASEEQ(s1, s2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, s1, s2)
+#define ASSERT_STRCASENE(s1, s2)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+// Macros for comparing floating-point numbers.
+//
+// * {ASSERT|EXPECT}_FLOAT_EQ(val1, val2):
+// Tests that two float values are almost equal.
+// * {ASSERT|EXPECT}_DOUBLE_EQ(val1, val2):
+// Tests that two double values are almost equal.
+// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+// Tests that v1 and v2 are within the given distance to each other.
+//
+// Google Test uses ULP-based comparison to automatically pick a default
+// error bound that is appropriate for the operands. See the
+// FloatingPoint template class in gtest-internal.h if you are
+// interested in the implementation details.
+
+#define EXPECT_FLOAT_EQ(val1, val2)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+ val1, val2)
+
+#define EXPECT_DOUBLE_EQ(val1, val2)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+ val1, val2)
+
+#define ASSERT_FLOAT_EQ(val1, val2)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+ val1, val2)
+
+#define ASSERT_DOUBLE_EQ(val1, val2)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+ val1, val2)
+
+#define EXPECT_NEAR(val1, val2, abs_error)\
+ EXPECT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+ val1, val2, abs_error)
+
+#define ASSERT_NEAR(val1, val2, abs_error)\
+ ASSERT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+ val1, val2, abs_error)
+
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+GTEST_API_ AssertionResult FloatLE(const char* expr1, const char* expr2,
+ float val1, float val2);
+GTEST_API_ AssertionResult DoubleLE(const char* expr1, const char* expr2,
+ double val1, double val2);
+
+
+#if GTEST_OS_WINDOWS
+
+// Macros that test for HRESULT failure and success, these are only useful
+// on Windows, and rely on Windows SDK macros and APIs to compile.
+//
+// * {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}(expr)
+//
+// When expr unexpectedly fails or succeeds, Google Test prints the
+// expected result and the actual result with both a human-readable
+// string representation of the error, if available, as well as the
+// hex result code.
+# define EXPECT_HRESULT_SUCCEEDED(expr) \
+ EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define ASSERT_HRESULT_SUCCEEDED(expr) \
+ ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define EXPECT_HRESULT_FAILED(expr) \
+ EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+# define ASSERT_HRESULT_FAILED(expr) \
+ ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+#endif // GTEST_OS_WINDOWS
+
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+//
+// Examples:
+//
+// EXPECT_NO_FATAL_FAILURE(Process());
+// ASSERT_NO_FATAL_FAILURE(Process()) << "Process() failed";
+//
+#define ASSERT_NO_FATAL_FAILURE(statement) \
+ GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_FATAL_FAILURE_)
+#define EXPECT_NO_FATAL_FAILURE(statement) \
+ GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_NONFATAL_FAILURE_)
+
+// Causes a trace (including the source file path, the current line
+// number, and the given message) to be included in every test failure
+// message generated by code in the current scope. The effect is
+// undone when the control leaves the current scope.
+//
+// The message argument can be anything streamable to std::ostream.
+//
+// In the implementation, we include the current line number as part
+// of the dummy variable name, thus allowing multiple SCOPED_TRACE()s
+// to appear in the same block - as long as they are on different
+// lines.
+#define SCOPED_TRACE(message) \
+ ::testing::internal::ScopedTrace GTEST_CONCAT_TOKEN_(gtest_trace_, __LINE__)(\
+ __FILE__, __LINE__, ::testing::Message() << (message))
+
+// Compile-time assertion for type equality.
+// StaticAssertTypeEq<type1, type2>() compiles iff type1 and type2 are
+// the same type. The value it returns is not interesting.
+//
+// Instead of making StaticAssertTypeEq a class template, we make it a
+// function template that invokes a helper class template. This
+// prevents a user from misusing StaticAssertTypeEq<T1, T2> by
+// defining objects of that type.
+//
+// CAVEAT:
+//
+// When used inside a method of a class template,
+// StaticAssertTypeEq<T1, T2>() is effective ONLY IF the method is
+// instantiated. For example, given:
+//
+// template <typename T> class Foo {
+// public:
+// void Bar() { testing::StaticAssertTypeEq<int, T>(); }
+// };
+//
+// the code:
+//
+// void Test1() { Foo<bool> foo; }
+//
+// will NOT generate a compiler error, as Foo<bool>::Bar() is never
+// actually instantiated. Instead, you need:
+//
+// void Test2() { Foo<bool> foo; foo.Bar(); }
+//
+// to cause a compiler error.
+template <typename T1, typename T2>
+bool StaticAssertTypeEq() {
+ (void)internal::StaticAssertTypeEqHelper<T1, T2>();
+ return true;
+}
+
+// Defines a test.
+//
+// The first parameter is the name of the test case, and the second
+// parameter is the name of the test within the test case.
+//
+// The convention is to end the test case name with "Test". For
+// example, a test case for the Foo class can be named FooTest.
+//
+// Test code should appear between braces after an invocation of
+// this macro. Example:
+//
+// TEST(FooTest, InitializesCorrectly) {
+// Foo foo;
+// EXPECT_TRUE(foo.StatusIsOK());
+// }
+
+// Note that we call GetTestTypeId() instead of GetTypeId<
+// ::testing::Test>() here to get the type ID of testing::Test. This
+// is to work around a suspected linker bug when using Google Test as
+// a framework on Mac OS X. The bug causes GetTypeId<
+// ::testing::Test>() to return different values depending on whether
+// the call is from the Google Test framework itself or from user test
+// code. GetTestTypeId() is guaranteed to always return the same
+// value, as it always calls GetTypeId<>() from the Google Test
+// framework.
+#define GTEST_TEST(test_case_name, test_name)\
+ GTEST_TEST_(test_case_name, test_name, \
+ ::testing::Test, ::testing::internal::GetTestTypeId())
+
+// Define this macro to 1 to omit the definition of TEST(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_TEST
+# define TEST(test_case_name, test_name) GTEST_TEST(test_case_name, test_name)
+#endif
+
+// Defines a test that uses a test fixture.
+//
+// The first parameter is the name of the test fixture class, which
+// also doubles as the test case name. The second parameter is the
+// name of the test within the test case.
+//
+// A test fixture class must be declared earlier. The user should put
+// his test code between braces after using this macro. Example:
+//
+// class FooTest : public testing::Test {
+// protected:
+// virtual void SetUp() { b_.AddElement(3); }
+//
+// Foo a_;
+// Foo b_;
+// };
+//
+// TEST_F(FooTest, InitializesCorrectly) {
+// EXPECT_TRUE(a_.StatusIsOK());
+// }
+//
+// TEST_F(FooTest, ReturnsElementCountCorrectly) {
+// EXPECT_EQ(0, a_.size());
+// EXPECT_EQ(1, b_.size());
+// }
+
+#define TEST_F(test_fixture, test_name)\
+ GTEST_TEST_(test_fixture, test_name, test_fixture, \
+ ::testing::internal::GetTypeId<test_fixture>())
+
+} // namespace testing
+
+// Use this function in main() to run all tests. It returns 0 if all
+// tests are successful, or 1 otherwise.
+//
+// RUN_ALL_TESTS() should be invoked after the command line has been
+// parsed by InitGoogleTest().
+//
+// This function was formerly a macro; thus, it is in the global
+// namespace and has an all-caps name.
+int RUN_ALL_TESTS() GTEST_MUST_USE_RESULT_;
+
+inline int RUN_ALL_TESTS() {
+ return ::testing::UnitTest::GetInstance()->Run();
+}
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+#define CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+
+#include "Eigen/Core"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Algorithm 5.1.1 from 'Matrix Computations' by Golub et al. (Johns Hopkins
+// Studies in Mathematical Sciences) but using the nth element of the input
+// vector as pivot instead of first. This computes the vector v with v(n) = 1
+// and beta such that H = I - beta * v * v^T is orthogonal and
+// H * x = ||x||_2 * e_n.
+template <typename Scalar>
+void ComputeHouseholderVector(const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x,
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1>* v,
+ Scalar* beta) {
+ CHECK_NOTNULL(beta);
+ CHECK_NOTNULL(v);
+ CHECK_GT(x.rows(), 1);
+ CHECK_EQ(x.rows(), v->rows());
+
+ Scalar sigma = x.head(x.rows() - 1).squaredNorm();
+ *v = x;
+ (*v)(v->rows() - 1) = Scalar(1.0);
+
+ *beta = Scalar(0.0);
+ const Scalar& x_pivot = x(x.rows() - 1);
+
+ if (sigma <= Scalar(std::numeric_limits<double>::epsilon())) {
+ if (x_pivot < Scalar(0.0)) {
+ *beta = Scalar(2.0);
+ }
+ return;
+ }
+
+ const Scalar mu = sqrt(x_pivot * x_pivot + sigma);
+ Scalar v_pivot = Scalar(1.0);
+
+ if (x_pivot <= Scalar(0.0)) {
+ v_pivot = x_pivot - mu;
+ } else {
+ v_pivot = -sigma / (x_pivot + mu);
+ }
+
+ *beta = Scalar(2.0) * v_pivot * v_pivot / (sigma + v_pivot * v_pivot);
+
+ v->head(v->rows() - 1) /= v_pivot;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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: vitus@google.com (Michael Vitus)
+
+#include "ceres/householder_vector.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void HouseholderTestHelper(const Vector& x) {
+ const double kTolerance = 1e-14;
+
+ // Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
+ Vector v(x.rows());
+ double beta;
+ ComputeHouseholderVector(x, &v, &beta);
+ Vector result = x - beta * v * (v.transpose() * x);
+
+ Vector expected_result(x.rows());
+ expected_result.setZero();
+ expected_result(x.rows() - 1) = 1;
+ expected_result *= x.norm();
+
+ for (int i = 0; i < x.rows(); ++i) {
+ EXPECT_NEAR(expected_result[i], result[i], kTolerance);
+ }
+}
+
+TEST(HouseholderVector, ZeroPositive) {
+ Vector x(3);
+ x << 0.0, 0.0, 0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, ZeroNegative) {
+ Vector x(3);
+ x << 0.0, 0.0, -0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroPositive) {
+ Vector x(3);
+ x << 1e-18, 1e-18, 0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroNegative) {
+ Vector x(3);
+ x << 1e-18, 1e-18, -0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroNegative) {
+ Vector x(3);
+ x << 1.0, 0.0, -3.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive) {
+ Vector x(3);
+ x << 1.0, 1.0, 1.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive_Size4) {
+ Vector x(4);
+ x << 1.0, 1.0, 0.0, 2.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, LastElementZero) {
+ Vector x(4);
+ x << 1.0, 1.0, 0.0, 0.0;
+
+ HouseholderTestHelper(x);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/implicit_schur_complement.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+ImplicitSchurComplement::ImplicitSchurComplement(
+ const LinearSolver::Options& options)
+ : options_(options),
+ D_(NULL),
+ b_(NULL) {
+}
+
+ImplicitSchurComplement::~ImplicitSchurComplement() {
+}
+
+void ImplicitSchurComplement::Init(const BlockSparseMatrix& A,
+ const double* D,
+ const double* b) {
+ // Since initialization is reasonably heavy, perhaps we can save on
+ // constructing a new object everytime.
+ if (A_ == NULL) {
+ A_.reset(PartitionedMatrixViewBase::Create(options_, A));
+ }
+
+ D_ = D;
+ b_ = b;
+
+ // Initialize temporary storage and compute the block diagonals of
+ // E'E and F'E.
+ if (block_diagonal_EtE_inverse_ == NULL) {
+ block_diagonal_EtE_inverse_.reset(A_->CreateBlockDiagonalEtE());
+ if (options_.preconditioner_type == JACOBI) {
+ block_diagonal_FtF_inverse_.reset(A_->CreateBlockDiagonalFtF());
+ }
+ rhs_.resize(A_->num_cols_f());
+ rhs_.setZero();
+ tmp_rows_.resize(A_->num_rows());
+ tmp_e_cols_.resize(A_->num_cols_e());
+ tmp_e_cols_2_.resize(A_->num_cols_e());
+ tmp_f_cols_.resize(A_->num_cols_f());
+ } else {
+ A_->UpdateBlockDiagonalEtE(block_diagonal_EtE_inverse_.get());
+ if (options_.preconditioner_type == JACOBI) {
+ A_->UpdateBlockDiagonalFtF(block_diagonal_FtF_inverse_.get());
+ }
+ }
+
+ // The block diagonals of the augmented linear system contain
+ // contributions from the diagonal D if it is non-null. Add that to
+ // the block diagonals and invert them.
+ AddDiagonalAndInvert(D_, block_diagonal_EtE_inverse_.get());
+ if (options_.preconditioner_type == JACOBI) {
+ AddDiagonalAndInvert((D_ == NULL) ? NULL : D_ + A_->num_cols_e(),
+ block_diagonal_FtF_inverse_.get());
+ }
+
+ // Compute the RHS of the Schur complement system.
+ UpdateRhs();
+}
+
+// Evaluate the product
+//
+// Sx = [F'F - F'E (E'E)^-1 E'F]x
+//
+// By breaking it down into individual matrix vector products
+// involving the matrices E and F. This is implemented using a
+// PartitionedMatrixView of the input matrix A.
+void ImplicitSchurComplement::RightMultiply(const double* x, double* y) const {
+ // y1 = F x
+ tmp_rows_.setZero();
+ A_->RightMultiplyF(x, tmp_rows_.data());
+
+ // y2 = E' y1
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+ // y3 = -(E'E)^-1 y2
+ tmp_e_cols_2_.setZero();
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(),
+ tmp_e_cols_2_.data());
+ tmp_e_cols_2_ *= -1.0;
+
+ // y1 = y1 + E y3
+ A_->RightMultiplyE(tmp_e_cols_2_.data(), tmp_rows_.data());
+
+ // y5 = D * x
+ if (D_ != NULL) {
+ ConstVectorRef Dref(D_ + A_->num_cols_e(), num_cols());
+ VectorRef(y, num_cols()) =
+ (Dref.array().square() *
+ ConstVectorRef(x, num_cols()).array()).matrix();
+ } else {
+ VectorRef(y, num_cols()).setZero();
+ }
+
+ // y = y5 + F' y1
+ A_->LeftMultiplyF(tmp_rows_.data(), y);
+}
+
+// Given a block diagonal matrix and an optional array of diagonal
+// entries D, add them to the diagonal of the matrix and compute the
+// inverse of each diagonal block.
+void ImplicitSchurComplement::AddDiagonalAndInvert(
+ const double* D,
+ BlockSparseMatrix* block_diagonal) {
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+ for (int r = 0; r < block_diagonal_structure->rows.size(); ++r) {
+ const int row_block_pos = block_diagonal_structure->rows[r].block.position;
+ const int row_block_size = block_diagonal_structure->rows[r].block.size;
+ const Cell& cell = block_diagonal_structure->rows[r].cells[0];
+ MatrixRef m(block_diagonal->mutable_values() + cell.position,
+ row_block_size, row_block_size);
+
+ if (D != NULL) {
+ ConstVectorRef d(D + row_block_pos, row_block_size);
+ m += d.array().square().matrix().asDiagonal();
+ }
+
+ m = m
+ .selfadjointView<Eigen::Upper>()
+ .llt()
+ .solve(Matrix::Identity(row_block_size, row_block_size));
+ }
+}
+
+// Similar to RightMultiply, use the block structure of the matrix A
+// to compute y = (E'E)^-1 (E'b - E'F x).
+void ImplicitSchurComplement::BackSubstitute(const double* x, double* y) {
+ const int num_cols_e = A_->num_cols_e();
+ const int num_cols_f = A_->num_cols_f();
+ const int num_cols = A_->num_cols();
+ const int num_rows = A_->num_rows();
+
+ // y1 = F x
+ tmp_rows_.setZero();
+ A_->RightMultiplyF(x, tmp_rows_.data());
+
+ // y2 = b - y1
+ tmp_rows_ = ConstVectorRef(b_, num_rows) - tmp_rows_;
+
+ // y3 = E' y2
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+ // y = (E'E)^-1 y3
+ VectorRef(y, num_cols).setZero();
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y);
+
+ // The full solution vector y has two blocks. The first block of
+ // variables corresponds to the eliminated variables, which we just
+ // computed via back substitution. The second block of variables
+ // corresponds to the Schur complement system, so we just copy those
+ // values from the solution to the Schur complement.
+ VectorRef(y + num_cols_e, num_cols_f) = ConstVectorRef(x, num_cols_f);
+}
+
+// Compute the RHS of the Schur complement system.
+//
+// rhs = F'b - F'E (E'E)^-1 E'b
+//
+// Like BackSubstitute, we use the block structure of A to implement
+// this using a series of matrix vector products.
+void ImplicitSchurComplement::UpdateRhs() {
+ // y1 = E'b
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(b_, tmp_e_cols_.data());
+
+ // y2 = (E'E)^-1 y1
+ Vector y2 = Vector::Zero(A_->num_cols_e());
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y2.data());
+
+ // y3 = E y2
+ tmp_rows_.setZero();
+ A_->RightMultiplyE(y2.data(), tmp_rows_.data());
+
+ // y3 = b - y3
+ tmp_rows_ = ConstVectorRef(b_, A_->num_rows()) - tmp_rows_;
+
+ // rhs = F' y3
+ rhs_.setZero();
+ A_->LeftMultiplyF(tmp_rows_.data(), rhs_.data());
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// An iterative solver for solving the Schur complement/reduced camera
+// linear system that arise in SfM problems.
+
+#ifndef CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+#define CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+
+#include "ceres/linear_operator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+
+// This class implements various linear algebraic operations related
+// to the Schur complement without explicitly forming it.
+//
+//
+// Given a reactangular linear system Ax = b, where
+//
+// A = [E F]
+//
+// The normal equations are given by
+//
+// A'Ax = A'b
+//
+// |E'E E'F||y| = |E'b|
+// |F'E F'F||z| |F'b|
+//
+// and the Schur complement system is given by
+//
+// [F'F - F'E (E'E)^-1 E'F] z = F'b - F'E (E'E)^-1 E'b
+//
+// Now if we wish to solve Ax = b in the least squares sense, one way
+// is to form this Schur complement system and solve it using
+// Preconditioned Conjugate Gradients.
+//
+// The key operation in a conjugate gradient solver is the evaluation of the
+// matrix vector product with the Schur complement
+//
+// S = F'F - F'E (E'E)^-1 E'F
+//
+// It is straightforward to see that matrix vector products with S can
+// be evaluated without storing S in memory. Instead, given (E'E)^-1
+// (which for our purposes is an easily inverted block diagonal
+// matrix), it can be done in terms of matrix vector products with E,
+// F and (E'E)^-1. This class implements this functionality and other
+// auxilliary bits needed to implement a CG solver on the Schur
+// complement using the PartitionedMatrixView object.
+//
+// THREAD SAFETY: This class is nqot thread safe. In particular, the
+// RightMultiply (and the LeftMultiply) methods are not thread safe as
+// they depend on mutable arrays used for the temporaries needed to
+// compute the product y += Sx;
+class ImplicitSchurComplement : public LinearOperator {
+ public:
+ // num_eliminate_blocks is the number of E blocks in the matrix
+ // A.
+ //
+ // preconditioner indicates whether the inverse of the matrix F'F
+ // should be computed or not as a preconditioner for the Schur
+ // Complement.
+ //
+ // TODO(sameeragarwal): Get rid of the two bools below and replace
+ // them with enums.
+ explicit ImplicitSchurComplement(const LinearSolver::Options& options);
+ virtual ~ImplicitSchurComplement();
+
+ // Initialize the Schur complement for a linear least squares
+ // problem of the form
+ //
+ // |A | x = |b|
+ // |diag(D)| |0|
+ //
+ // If D is null, then it is treated as a zero dimensional matrix. It
+ // is important that the matrix A have a BlockStructure object
+ // associated with it and has a block structure that is compatible
+ // with the SchurComplement solver.
+ void Init(const BlockSparseMatrix& A, const double* D, const double* b);
+
+ // y += Sx, where S is the Schur complement.
+ virtual void RightMultiply(const double* x, double* y) const;
+
+ // The Schur complement is a symmetric positive definite matrix,
+ // thus the left and right multiply operators are the same.
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+
+ // y = (E'E)^-1 (E'b - E'F x). Given an estimate of the solution to
+ // the Schur complement system, this method computes the value of
+ // the e_block variables that were eliminated to form the Schur
+ // complement.
+ void BackSubstitute(const double* x, double* y);
+
+ virtual int num_rows() const { return A_->num_cols_f(); }
+ virtual int num_cols() const { return A_->num_cols_f(); }
+ const Vector& rhs() const { return rhs_; }
+
+ const BlockSparseMatrix* block_diagonal_EtE_inverse() const {
+ return block_diagonal_EtE_inverse_.get();
+ }
+
+ const BlockSparseMatrix* block_diagonal_FtF_inverse() const {
+ return block_diagonal_FtF_inverse_.get();
+ }
+
+ private:
+ void AddDiagonalAndInvert(const double* D, BlockSparseMatrix* matrix);
+ void UpdateRhs();
+
+ const LinearSolver::Options& options_;
+
+ scoped_ptr<PartitionedMatrixViewBase> A_;
+ const double* D_;
+ const double* b_;
+
+ scoped_ptr<BlockSparseMatrix> block_diagonal_EtE_inverse_;
+ scoped_ptr<BlockSparseMatrix> block_diagonal_FtF_inverse_;
+
+ Vector rhs_;
+
+ // Temporary storage vectors used to implement RightMultiply.
+ mutable Vector tmp_rows_;
+ mutable Vector tmp_e_cols_;
+ mutable Vector tmp_e_cols_2_;
+ mutable Vector tmp_f_cols_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
--- /dev/null
+// 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/implicit_schur_complement.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class ImplicitSchurComplementTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ }
+
+ void ReducedLinearSystemAndSolution(double* D,
+ Matrix* lhs,
+ Vector* rhs,
+ Vector* solution) {
+ const CompressedRowBlockStructure* bs = A_->block_structure();
+ const int num_col_blocks = bs->cols.size();
+ std::vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+ }
+
+ BlockRandomAccessDenseMatrix blhs(blocks);
+ const int num_schur_rows = blhs.num_rows();
+
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ options.type = DENSE_SCHUR;
+
+ scoped_ptr<SchurEliminatorBase> eliminator(
+ SchurEliminatorBase::Create(options));
+ CHECK_NOTNULL(eliminator.get());
+ const bool kFullRankETE = true;
+ eliminator->Init(num_eliminate_blocks_, kFullRankETE, bs);
+
+ lhs->resize(num_schur_rows, num_schur_rows);
+ rhs->resize(num_schur_rows);
+
+ eliminator->Eliminate(A_.get(), b_.get(), D, &blhs, rhs->data());
+
+ MatrixRef lhs_ref(blhs.mutable_values(), num_schur_rows, num_schur_rows);
+
+ // lhs_ref is an upper triangular matrix. Construct a full version
+ // of lhs_ref in lhs by transposing lhs_ref, choosing the strictly
+ // lower triangular part of the matrix and adding it to lhs_ref.
+ *lhs = lhs_ref;
+ lhs->triangularView<Eigen::StrictlyLower>() =
+ lhs_ref.triangularView<Eigen::StrictlyUpper>().transpose();
+
+ solution->resize(num_cols_);
+ solution->setZero();
+ VectorRef schur_solution(solution->data() + num_cols_ - num_schur_rows,
+ num_schur_rows);
+ schur_solution = lhs->selfadjointView<Eigen::Upper>().llt().solve(*rhs);
+ eliminator->BackSubstitute(A_.get(), b_.get(), D,
+ schur_solution.data(), solution->data());
+ }
+
+ AssertionResult TestImplicitSchurComplement(double* D) {
+ Matrix lhs;
+ Vector rhs;
+ Vector reference_solution;
+ ReducedLinearSystemAndSolution(D, &lhs, &rhs, &reference_solution);
+
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ options.preconditioner_type = JACOBI;
+ ImplicitSchurComplement isc(options);
+ isc.Init(*A_, D, b_.get());
+
+ int num_sc_cols = lhs.cols();
+
+ for (int i = 0; i < num_sc_cols; ++i) {
+ Vector x(num_sc_cols);
+ x.setZero();
+ x(i) = 1.0;
+
+ Vector y(num_sc_cols);
+ y = lhs * x;
+
+ Vector z(num_sc_cols);
+ isc.RightMultiply(x.data(), z.data());
+
+ // The i^th column of the implicit schur complement is the same as
+ // the explicit schur complement.
+ if ((y - z).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements differ in "
+ << "column " << i << ". explicit: " << y.transpose()
+ << " implicit: " << z.transpose();
+ }
+ }
+
+ // Compare the rhs of the reduced linear system
+ if ((isc.rhs() - rhs).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements differ in "
+ << "rhs. explicit: " << rhs.transpose()
+ << " implicit: " << isc.rhs().transpose();
+ }
+
+ // Reference solution to the f_block.
+ const Vector reference_f_sol =
+ lhs.selfadjointView<Eigen::Upper>().llt().solve(rhs);
+
+ // Backsubstituted solution from the implicit schur solver using the
+ // reference solution to the f_block.
+ Vector sol(num_cols_);
+ isc.BackSubstitute(reference_f_sol.data(), sol.data());
+ if ((sol - reference_solution).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements solutions differ. "
+ << "explicit: " << reference_solution.transpose()
+ << " implicit: " << sol.transpose();
+ }
+
+ return testing::AssertionSuccess();
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+// Verify that the Schur Complement matrix implied by the
+// ImplicitSchurComplement class matches the one explicitly computed
+// by the SchurComplement solver.
+//
+// We do this with and without regularization to check that the
+// support for the LM diagonal is correct.
+TEST_F(ImplicitSchurComplementTest, SchurMatrixValuesTest) {
+ EXPECT_TRUE(TestImplicitSchurComplement(NULL));
+ EXPECT_TRUE(TestImplicitSchurComplement(D_.get()));
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/inner_product_computer.h"
+
+#include <algorithm>
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Compute the product (in MATLAB notation)
+//
+// c(0:a_cols, 0:b_cols) = a' * b
+//
+// Where:
+//
+// a is ab_rows x a_cols
+// b is ab_rows x b_cols
+// c is a_cos x c_col_stride
+//
+// a, b and c are row-major matrices.
+//
+// Performance note:
+// ----------------
+//
+// Technically this function is a repeat of a similarly named function
+// in small_blas.h but its performance is considerably better than
+// that of the version there due to the way it accesses memory.
+//
+// TODO(sameeragarwal): Measure and tune the performance of
+// small_blas.h based on the insights gained here.
+EIGEN_STRONG_INLINE void MatrixTransposeMatrixMultiply(const int ab_rows,
+ const double* a,
+ const int a_cols,
+ const double* b,
+ const int b_cols,
+ double* c,
+ int c_cols) {
+ // Compute c as the sum of ab_rows, rank 1 outer products of the
+ // corresponding rows of a and b.
+ for (int r = 0; r < ab_rows; ++r) {
+ double* c_r = c;
+ for (int i1 = 0; i1 < a_cols; ++i1) {
+ const double a_v = a[i1];
+ for (int i2 = 0; i2 < b_cols; ++i2) {
+ c_r[i2] += a_v * b[i2];
+ }
+ c_r += c_cols;
+ }
+ a += a_cols;
+ b += b_cols;
+ }
+}
+
+} // namespace
+
+// Create the CompressedRowSparseMatrix matrix that will contain the
+// inner product.
+//
+// storage_type controls whether the result matrix contains the upper
+// or the lower triangular part of the product.
+//
+// num_nonzeros is the number of non-zeros in the result matrix.
+CompressedRowSparseMatrix* InnerProductComputer::CreateResultMatrix(
+ const CompressedRowSparseMatrix::StorageType storage_type,
+ const int num_nonzeros) {
+ CompressedRowSparseMatrix* matrix =
+ new CompressedRowSparseMatrix(m_.num_cols(), m_.num_cols(), num_nonzeros);
+ matrix->set_storage_type(storage_type);
+
+ const CompressedRowBlockStructure* bs = m_.block_structure();
+ const std::vector<Block>& blocks = bs->cols;
+ matrix->mutable_row_blocks()->resize(blocks.size());
+ matrix->mutable_col_blocks()->resize(blocks.size());
+ for (int i = 0; i < blocks.size(); ++i) {
+ (*(matrix->mutable_row_blocks()))[i] = blocks[i].size;
+ (*(matrix->mutable_col_blocks()))[i] = blocks[i].size;
+ }
+
+ return matrix;
+}
+
+// Given the set of product terms in the inner product, return the
+// total number of non-zeros in the result and for each row block of
+// the result matrix, compute the number of non-zeros in any one row
+// of the row block.
+int InnerProductComputer::ComputeNonzeros(
+ const std::vector<InnerProductComputer::ProductTerm>& product_terms,
+ std::vector<int>* row_nnz) {
+ const CompressedRowBlockStructure* bs = m_.block_structure();
+ const std::vector<Block>& blocks = bs->cols;
+
+ row_nnz->resize(blocks.size());
+ std::fill(row_nnz->begin(), row_nnz->end(), 0);
+
+ // First product term.
+ (*row_nnz)[product_terms[0].row] = blocks[product_terms[0].col].size;
+ int num_nonzeros =
+ blocks[product_terms[0].row].size * blocks[product_terms[0].col].size;
+
+ // Remaining product terms.
+ for (int i = 1; i < product_terms.size(); ++i) {
+ const ProductTerm& previous = product_terms[i - 1];
+ const ProductTerm& current = product_terms[i];
+
+ // Each (row, col) block counts only once.
+ // This check depends on product sorted on (row, col).
+ if (current.row != previous.row || current.col != previous.col) {
+ (*row_nnz)[current.row] += blocks[current.col].size;
+ num_nonzeros += blocks[current.row].size * blocks[current.col].size;
+ }
+ }
+
+ return num_nonzeros;
+}
+
+InnerProductComputer::InnerProductComputer(const BlockSparseMatrix& m,
+ const int start_row_block,
+ const int end_row_block)
+ : m_(m), start_row_block_(start_row_block), end_row_block_(end_row_block) {}
+
+// Compute the sparsity structure of the product m.transpose() * m
+// and create a CompressedRowSparseMatrix corresponding to it.
+//
+// Also compute the "program" vector, which for every term in the
+// block outer product provides the information for the entry in the
+// values array of the result matrix where it should be accumulated.
+//
+// Since the entries of the program are the same for rows with the
+// same sparsity structure, the program only stores the result for one
+// row per row block. The Compute function reuses this information for
+// each row in the row block.
+//
+// product_storage_type controls the form of the output matrix. It
+// can be LOWER_TRIANGULAR or UPPER_TRIANGULAR.
+InnerProductComputer* InnerProductComputer::Create(
+ const BlockSparseMatrix& m,
+ CompressedRowSparseMatrix::StorageType product_storage_type) {
+ return InnerProductComputer::Create(
+ m, 0, m.block_structure()->rows.size(), product_storage_type);
+}
+
+InnerProductComputer* InnerProductComputer::Create(
+ const BlockSparseMatrix& m,
+ const int start_row_block,
+ const int end_row_block,
+ CompressedRowSparseMatrix::StorageType product_storage_type) {
+ CHECK(product_storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR ||
+ product_storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+ CHECK_GT(m.num_nonzeros(), 0)
+ << "Congratulations, you found a bug in Ceres. Please report it.";
+ InnerProductComputer* inner_product_computer =
+ new InnerProductComputer(m, start_row_block, end_row_block);
+ inner_product_computer->Init(product_storage_type);
+ return inner_product_computer;
+}
+
+void InnerProductComputer::Init(
+ const CompressedRowSparseMatrix::StorageType product_storage_type) {
+ std::vector<InnerProductComputer::ProductTerm> product_terms;
+ const CompressedRowBlockStructure* bs = m_.block_structure();
+
+ // Give input matrix m in Block Sparse format
+ // (row_block, col_block)
+ // represent each block multiplication
+ // (row_block, col_block1)' X (row_block, col_block2)
+ // by its product term:
+ // (col_block1, col_block2, index)
+ for (int row_block = start_row_block_; row_block < end_row_block_;
+ ++row_block) {
+ const CompressedRow& row = bs->rows[row_block];
+ for (int c1 = 0; c1 < row.cells.size(); ++c1) {
+ const Cell& cell1 = row.cells[c1];
+ int c2_begin, c2_end;
+ if (product_storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+ c2_begin = 0;
+ c2_end = c1 + 1;
+ } else {
+ c2_begin = c1;
+ c2_end = row.cells.size();
+ }
+
+ for (int c2 = c2_begin; c2 < c2_end; ++c2) {
+ const Cell& cell2 = row.cells[c2];
+ product_terms.push_back(InnerProductComputer::ProductTerm(
+ cell1.block_id, cell2.block_id, product_terms.size()));
+ }
+ }
+ }
+
+ std::sort(product_terms.begin(), product_terms.end());
+ ComputeOffsetsAndCreateResultMatrix(product_storage_type, product_terms);
+}
+
+void InnerProductComputer::ComputeOffsetsAndCreateResultMatrix(
+ const CompressedRowSparseMatrix::StorageType product_storage_type,
+ const std::vector<InnerProductComputer::ProductTerm>& product_terms) {
+ const std::vector<Block>& col_blocks = m_.block_structure()->cols;
+
+ std::vector<int> row_block_nnz;
+ const int num_nonzeros = ComputeNonzeros(product_terms, &row_block_nnz);
+
+ result_.reset(CreateResultMatrix(product_storage_type, num_nonzeros));
+
+ // Populate the row non-zero counts in the result matrix.
+ int* crsm_rows = result_->mutable_rows();
+ crsm_rows[0] = 0;
+ for (int i = 0; i < col_blocks.size(); ++i) {
+ for (int j = 0; j < col_blocks[i].size; ++j, ++crsm_rows) {
+ *(crsm_rows + 1) = *crsm_rows + row_block_nnz[i];
+ }
+ }
+
+ // The following macro FILL_CRSM_COL_BLOCK is key to understanding
+ // how this class works.
+ //
+ // It does two things.
+ //
+ // Sets the value for the current term in the result_offsets_ array
+ // and populates the cols array of the result matrix.
+ //
+ // row_block and col_block as the names imply, refer to the row and
+ // column blocks of the current term.
+ //
+ // row_nnz is the number of nonzeros in the result_matrix at the
+ // beginning of the first row of row_block.
+ //
+ // col_nnz is the number of nonzeros in the first row of the row
+ // block that occur before the current column block, i.e. this is
+ // sum of the sizes of all the column blocks in this row block that
+ // came before this column block.
+ //
+ // Given these two numbers and the total number of nonzeros in this
+ // row (nnz_in_row), we can now populate the cols array as follows:
+ //
+ // nnz + j * nnz_in_row is the beginning of the j^th row.
+ //
+ // nnz + j * nnz_in_row + col_nnz is the beginning of the column
+ // block in the j^th row.
+ //
+ // nnz + j * nnz_in_row + col_nnz + k is then the j^th row and the
+ // k^th column of the product block, whose value is
+ //
+ // col_blocks[col_block].position + k, which is the column number of
+ // the k^th column of the current column block.
+#define FILL_CRSM_COL_BLOCK \
+ const int row_block = current->row; \
+ const int col_block = current->col; \
+ const int nnz_in_row = row_block_nnz[row_block]; \
+ int* crsm_cols = result_->mutable_cols(); \
+ result_offsets_[current->index] = nnz + col_nnz; \
+ for (int j = 0; j < col_blocks[row_block].size; ++j) { \
+ for (int k = 0; k < col_blocks[col_block].size; ++k) { \
+ crsm_cols[nnz + j * nnz_in_row + col_nnz + k] = \
+ col_blocks[col_block].position + k; \
+ } \
+ }
+
+ result_offsets_.resize(product_terms.size());
+ int col_nnz = 0;
+ int nnz = 0;
+
+ // Process the first term.
+ const InnerProductComputer::ProductTerm* current = &product_terms[0];
+ FILL_CRSM_COL_BLOCK;
+
+ // Process the rest of the terms.
+ for (int i = 1; i < product_terms.size(); ++i) {
+ current = &product_terms[i];
+ const InnerProductComputer::ProductTerm* previous = &product_terms[i - 1];
+
+ // If the current term is the same as the previous term, then it
+ // stores its product at the same location as the previous term.
+ if (previous->row == current->row && previous->col == current->col) {
+ result_offsets_[current->index] = result_offsets_[previous->index];
+ continue;
+ }
+
+ if (previous->row == current->row) {
+ // if the current and previous terms are in the same row block,
+ // then they differ in the column block, in which case advance
+ // col_nnz by the column size of the prevous term.
+ col_nnz += col_blocks[previous->col].size;
+ } else {
+ // If we have moved to a new row-block , then col_nnz is zero,
+ // and nnz is set to the beginning of the row block.
+ col_nnz = 0;
+ nnz += row_block_nnz[previous->row] * col_blocks[previous->row].size;
+ }
+
+ FILL_CRSM_COL_BLOCK;
+ }
+}
+
+// Use the results_offsets_ array to numerically compute the product
+// m' * m and store it in result_.
+//
+// TODO(sameeragarwal): Multithreading support.
+void InnerProductComputer::Compute() {
+ const double* m_values = m_.values();
+ const CompressedRowBlockStructure* bs = m_.block_structure();
+
+ const CompressedRowSparseMatrix::StorageType storage_type =
+ result_->storage_type();
+ result_->SetZero();
+ double* values = result_->mutable_values();
+ const int* rows = result_->rows();
+ int cursor = 0;
+
+ // Iterate row blocks.
+ for (int r = start_row_block_; r < end_row_block_; ++r) {
+ const CompressedRow& m_row = bs->rows[r];
+ for (int c1 = 0; c1 < m_row.cells.size(); ++c1) {
+ const Cell& cell1 = m_row.cells[c1];
+ const int c1_size = bs->cols[cell1.block_id].size;
+ const int row_nnz = rows[bs->cols[cell1.block_id].position + 1] -
+ rows[bs->cols[cell1.block_id].position];
+
+ int c2_begin, c2_end;
+ if (storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+ c2_begin = 0;
+ c2_end = c1 + 1;
+ } else {
+ c2_begin = c1;
+ c2_end = m_row.cells.size();
+ }
+
+ for (int c2 = c2_begin; c2 < c2_end; ++c2, ++cursor) {
+ const Cell& cell2 = m_row.cells[c2];
+ const int c2_size = bs->cols[cell2.block_id].size;
+ MatrixTransposeMatrixMultiply(m_row.block.size,
+ m_values + cell1.position, c1_size,
+ m_values + cell2.position, c2_size,
+ values + result_offsets_[cursor],
+ row_nnz);
+ }
+ }
+ }
+
+ CHECK_EQ(cursor, result_offsets_.size());
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+
+#ifndef CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
+#define CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
+
+#include <vector>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// This class is used to repeatedly compute the inner product
+//
+// result = m' * m
+//
+// where the sparsity structure of m remains constant across calls.
+//
+// Upon creation, the class computes and caches information needed to
+// compute v, and then uses it to efficiently compute the product
+// every time InnerProductComputer::Compute is called.
+//
+// See sparse_normal_cholesky_solver.cc for example usage.
+//
+// Note that the result matrix is a block upper or lower-triangular
+// matrix, i.e., it will contain entries in the upper or lower
+// triangular part of the matrix corresponding to the block that occur
+// along its diagonal.
+//
+// This is not a problem as sparse linear algebra libraries can ignore
+// these entries with ease and the space used is minimal/linear in the
+// size of the matrices.
+class InnerProductComputer {
+ public:
+ // Factory
+ //
+ // m is the input matrix
+ //
+ // Since m' * m is a symmetric matrix, we only compute half of the
+ // matrix and the value of storage_type which must be
+ // UPPER_TRIANGULAR or LOWER_TRIANGULAR determines which half is
+ // computed.
+ //
+ // The user must ensure that the matrix m is valid for the life time
+ // of this object.
+ static InnerProductComputer* Create(
+ const BlockSparseMatrix& m,
+ CompressedRowSparseMatrix::StorageType storage_type);
+
+ // This factory method allows the user control over range of row
+ // blocks of m that should be used to compute the inner product.
+ //
+ // a = m(start_row_block : end_row_block, :);
+ // result = a' * a;
+ static InnerProductComputer* Create(
+ const BlockSparseMatrix& m,
+ int start_row_block,
+ int end_row_block,
+ CompressedRowSparseMatrix::StorageType storage_type);
+
+ // Update result_ to be numerically equal to m' * m.
+ void Compute();
+
+ // Accessors for the result containing the inner product.
+ //
+ // Compute must be called before accessing this result for
+ // the first time.
+ const CompressedRowSparseMatrix& result() const { return *result_; }
+ CompressedRowSparseMatrix* mutable_result() const { return result_.get(); }
+
+ private:
+ // A ProductTerm is a term in the block inner product of a matrix
+ // with itself.
+ struct ProductTerm {
+ ProductTerm(const int row, const int col, const int index)
+ : row(row), col(col), index(index) {}
+
+ bool operator<(const ProductTerm& right) const {
+ if (row == right.row) {
+ if (col == right.col) {
+ return index < right.index;
+ }
+ return col < right.col;
+ }
+ return row < right.row;
+ }
+
+ int row;
+ int col;
+ int index;
+ };
+
+ InnerProductComputer(const BlockSparseMatrix& m,
+ int start_row_block,
+ int end_row_block);
+
+ void Init(CompressedRowSparseMatrix::StorageType storage_type);
+
+ CompressedRowSparseMatrix* CreateResultMatrix(
+ const CompressedRowSparseMatrix::StorageType storage_type,
+ int num_nonzeros);
+
+ int ComputeNonzeros(const std::vector<ProductTerm>& product_terms,
+ std::vector<int>* row_block_nnz);
+
+ void ComputeOffsetsAndCreateResultMatrix(
+ const CompressedRowSparseMatrix::StorageType storage_type,
+ const std::vector<ProductTerm>& product_terms);
+
+ const BlockSparseMatrix& m_;
+ const int start_row_block_;
+ const int end_row_block_;
+ scoped_ptr<CompressedRowSparseMatrix> result_;
+
+ // For each term in the inner product, result_offsets_ contains the
+ // location in the values array of the result_ matrix where it
+ // should be stored.
+ //
+ // This is the principal look up table that allows this class to
+ // compute the inner product fast.
+ std::vector<int> result_offsets_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/inner_product_computer.h"
+
+#include <numeric>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+#define COMPUTE_AND_COMPARE \
+ { \
+ inner_product_computer->Compute(); \
+ CompressedRowSparseMatrix* actual_product_crsm = \
+ inner_product_computer->mutable_result(); \
+ Matrix actual_inner_product = \
+ Eigen::MappedSparseMatrix<double, Eigen::ColMajor>( \
+ actual_product_crsm->num_rows(), \
+ actual_product_crsm->num_rows(), \
+ actual_product_crsm->num_nonzeros(), \
+ actual_product_crsm->mutable_rows(), \
+ actual_product_crsm->mutable_cols(), \
+ actual_product_crsm->mutable_values()); \
+ EXPECT_EQ(actual_inner_product.rows(), actual_inner_product.cols()); \
+ EXPECT_EQ(expected_inner_product.rows(), expected_inner_product.cols()); \
+ EXPECT_EQ(actual_inner_product.rows(), expected_inner_product.rows()); \
+ Matrix expected_t, actual_t; \
+ if (actual_product_crsm->storage_type() == \
+ CompressedRowSparseMatrix::LOWER_TRIANGULAR) { \
+ expected_t = expected_inner_product.triangularView<Eigen::Upper>(); \
+ actual_t = actual_inner_product.triangularView<Eigen::Upper>(); \
+ } else { \
+ expected_t = expected_inner_product.triangularView<Eigen::Lower>(); \
+ actual_t = actual_inner_product.triangularView<Eigen::Lower>(); \
+ } \
+ EXPECT_LE((expected_t - actual_t).norm() / actual_t.norm(), \
+ 100 * std::numeric_limits<double>::epsilon()) \
+ << "expected: \n" \
+ << expected_t << "\nactual: \n" \
+ << actual_t; \
+ }
+
+TEST(InnerProductComputer, NormalOperation) {
+ // "Randomly generated seed."
+ SetRandomState(29823);
+ const int kMaxNumRowBlocks = 10;
+ const int kMaxNumColBlocks = 10;
+ const int kNumTrials = 10;
+
+ // Create a random matrix, compute its outer product using Eigen and
+ // ComputeOuterProduct. Convert both matrices to dense matrices and
+ // compare their upper triangular parts.
+ for (int num_row_blocks = 1; num_row_blocks < kMaxNumRowBlocks;
+ ++num_row_blocks) {
+ for (int num_col_blocks = 1; num_col_blocks < kMaxNumColBlocks;
+ ++num_col_blocks) {
+ for (int trial = 0; trial < kNumTrials; ++trial) {
+ BlockSparseMatrix::RandomMatrixOptions options;
+ options.num_row_blocks = num_row_blocks;
+ options.num_col_blocks = num_col_blocks;
+ options.min_row_block_size = 1;
+ options.max_row_block_size = 5;
+ options.min_col_block_size = 1;
+ options.max_col_block_size = 10;
+ options.block_density = std::max(0.1, RandDouble());
+
+ VLOG(2) << "num row blocks: " << options.num_row_blocks;
+ VLOG(2) << "num col blocks: " << options.num_col_blocks;
+ VLOG(2) << "min row block size: " << options.min_row_block_size;
+ VLOG(2) << "max row block size: " << options.max_row_block_size;
+ VLOG(2) << "min col block size: " << options.min_col_block_size;
+ VLOG(2) << "max col block size: " << options.max_col_block_size;
+ VLOG(2) << "block density: " << options.block_density;
+
+ scoped_ptr<BlockSparseMatrix> random_matrix(
+ BlockSparseMatrix::CreateRandomMatrix(options));
+
+ TripletSparseMatrix tsm(random_matrix->num_rows(),
+ random_matrix->num_cols(),
+ random_matrix->num_nonzeros());
+ random_matrix->ToTripletSparseMatrix(&tsm);
+ std::vector<Eigen::Triplet<double> > triplets;
+ for (int i = 0; i < tsm.num_nonzeros(); ++i) {
+ triplets.push_back(Eigen::Triplet<double>(
+ tsm.rows()[i], tsm.cols()[i], tsm.values()[i]));
+ }
+ Eigen::SparseMatrix<double> eigen_random_matrix(
+ random_matrix->num_rows(), random_matrix->num_cols());
+ eigen_random_matrix.setFromTriplets(triplets.begin(), triplets.end());
+ Matrix expected_inner_product =
+ eigen_random_matrix.transpose() * eigen_random_matrix;
+
+ scoped_ptr<InnerProductComputer> inner_product_computer;
+
+ inner_product_computer.reset(InnerProductComputer::Create(
+ *random_matrix, CompressedRowSparseMatrix::LOWER_TRIANGULAR));
+ COMPUTE_AND_COMPARE;
+ inner_product_computer.reset(InnerProductComputer::Create(
+ *random_matrix, CompressedRowSparseMatrix::UPPER_TRIANGULAR));
+ COMPUTE_AND_COMPARE;
+
+ }
+ }
+ }
+}
+
+
+TEST(InnerProductComputer, SubMatrix) {
+ // "Randomly generated seed."
+ SetRandomState(29823);
+ const int kNumRowBlocks = 10;
+ const int kNumColBlocks = 20;
+ const int kNumTrials = 5;
+
+ // Create a random matrix, compute its outer product using Eigen and
+ // ComputeInnerProductComputer. Convert both matrices to dense matrices and
+ // compare their upper triangular parts.
+ for (int trial = 0; trial < kNumTrials; ++trial) {
+ BlockSparseMatrix::RandomMatrixOptions options;
+ options.num_row_blocks = kNumRowBlocks;
+ options.num_col_blocks = kNumColBlocks;
+ options.min_row_block_size = 1;
+ options.max_row_block_size = 5;
+ options.min_col_block_size = 1;
+ options.max_col_block_size = 10;
+ options.block_density = std::max(0.1, RandDouble());
+
+ VLOG(2) << "num row blocks: " << options.num_row_blocks;
+ VLOG(2) << "num col blocks: " << options.num_col_blocks;
+ VLOG(2) << "min row block size: " << options.min_row_block_size;
+ VLOG(2) << "max row block size: " << options.max_row_block_size;
+ VLOG(2) << "min col block size: " << options.min_col_block_size;
+ VLOG(2) << "max col block size: " << options.max_col_block_size;
+ VLOG(2) << "block density: " << options.block_density;
+
+ scoped_ptr<BlockSparseMatrix> random_matrix(
+ BlockSparseMatrix::CreateRandomMatrix(options));
+
+ const std::vector<CompressedRow>& row_blocks =
+ random_matrix->block_structure()->rows;
+ const int num_row_blocks = row_blocks.size();
+
+ for (int start_row_block = 0; start_row_block < num_row_blocks - 1;
+ ++start_row_block) {
+ for (int end_row_block = start_row_block + 1;
+ end_row_block < num_row_blocks;
+ ++end_row_block) {
+ const int start_row = row_blocks[start_row_block].block.position;
+ const int end_row = row_blocks[end_row_block].block.position;
+
+ TripletSparseMatrix tsm(random_matrix->num_rows(),
+ random_matrix->num_cols(),
+ random_matrix->num_nonzeros());
+ random_matrix->ToTripletSparseMatrix(&tsm);
+ std::vector<Eigen::Triplet<double> > triplets;
+ for (int i = 0; i < tsm.num_nonzeros(); ++i) {
+ if (tsm.rows()[i] >= start_row && tsm.rows()[i] < end_row) {
+ triplets.push_back(Eigen::Triplet<double>(
+ tsm.rows()[i], tsm.cols()[i], tsm.values()[i]));
+ }
+ }
+
+ Eigen::SparseMatrix<double> eigen_random_matrix(
+ random_matrix->num_rows(), random_matrix->num_cols());
+ eigen_random_matrix.setFromTriplets(triplets.begin(), triplets.end());
+
+ Matrix expected_inner_product =
+ eigen_random_matrix.transpose() * eigen_random_matrix;
+
+ scoped_ptr<InnerProductComputer> inner_product_computer;
+ inner_product_computer.reset(InnerProductComputer::Create(
+ *random_matrix,
+ start_row_block,
+ end_row_block,
+ CompressedRowSparseMatrix::LOWER_TRIANGULAR));
+ COMPUTE_AND_COMPARE;
+ inner_product_computer.reset(InnerProductComputer::Create(
+ *random_matrix,
+ start_row_block,
+ end_row_block,
+ CompressedRowSparseMatrix::UPPER_TRIANGULAR));
+ COMPUTE_AND_COMPARE;
+
+ }
+ }
+ }
+}
+
+#undef COMPUTE_AND_COMPARE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Portable typedefs for various fixed-size integers. Uses template
+// metaprogramming instead of fragile compiler defines.
+
+#ifndef CERES_INTERNAL_INTEGRAL_TYPES_H_
+#define CERES_INTERNAL_INTEGRAL_TYPES_H_
+
+namespace ceres {
+namespace internal {
+
+// Compile time ternary on types.
+template<bool kCondition, typename kTrueType, typename kFalseType>
+struct Ternary {
+ typedef kTrueType type;
+};
+template<typename kTrueType, typename kFalseType>
+struct Ternary<false, kTrueType, kFalseType> {
+ typedef kFalseType type;
+};
+
+#define CERES_INTSIZE(TYPE) \
+ typename Ternary<sizeof(TYPE) * 8 == kBits, TYPE,
+
+template<int kBits>
+struct Integer {
+ typedef
+ CERES_INTSIZE(char)
+ CERES_INTSIZE(short)
+ CERES_INTSIZE(int)
+ CERES_INTSIZE(long int)
+ CERES_INTSIZE(long long)
+ void>::type >::type >::type >::type >::type
+ type;
+};
+
+template<int kBits>
+struct UnsignedInteger {
+ typedef
+ CERES_INTSIZE(unsigned char)
+ CERES_INTSIZE(unsigned short)
+ CERES_INTSIZE(unsigned int)
+ CERES_INTSIZE(unsigned long int)
+ CERES_INTSIZE(unsigned long long)
+ void>::type >::type >::type >::type >::type
+ type;
+};
+
+#undef CERES_INTSIZE
+
+typedef Integer< 8>::type int8;
+typedef Integer<32>::type int32;
+typedef Integer<64>::type int64;
+
+typedef UnsignedInteger< 8>::type uint8;
+typedef UnsignedInteger<16>::type uint16;
+typedef UnsignedInteger<32>::type uint32;
+typedef UnsignedInteger<64>::type uint64;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_INTEGRAL_TYPES_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+
+#ifndef CERES_INTERNAL_INVERT_PSD_MATRIX_H_
+#define CERES_INTERNAL_INVERT_PSD_MATRIX_H_
+
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "Eigen/Dense"
+
+namespace ceres {
+namespace internal {
+
+// Helper routine to compute the inverse or pseudo-inverse of a
+// symmetric positive semi-definite matrix.
+//
+// assume_full_rank controls whether a Cholesky factorization or an
+// Singular Value Decomposition is used to compute the inverse and the
+// pseudo-inverse respectively.
+//
+// The template parameter kSize can either be Eigen::Dynamic or a
+// positive integer equal to the number of rows of m.
+template <int kSize>
+typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
+ const bool assume_full_rank,
+ const typename EigenTypes<kSize, kSize>::Matrix& m) {
+ const int size = m.rows();
+
+ // If the matrix can be assumed to be full rank, then just use the
+ // Cholesky factorization to invert it.
+ if (assume_full_rank) {
+ return m.template selfadjointView<Eigen::Upper>().llt().solve(
+ Matrix::Identity(size, size));
+ }
+
+ Eigen::JacobiSVD<Matrix> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
+ const double tolerance =
+ std::numeric_limits<double>::epsilon() * size * svd.singularValues()(0);
+
+ return svd.matrixV() *
+ (svd.singularValues().array() > tolerance)
+ .select(svd.singularValues().array().inverse(), 0)
+ .matrix()
+ .asDiagonal() *
+ svd.matrixU().adjoint();
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_INVERT_PSD_MATRIX_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/invert_psd_matrix.h"
+
+#include "ceres/internal/eigen.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+static const bool kFullRank = true;
+static const bool kRankDeficient = false;
+
+template <int kSize>
+typename EigenTypes<kSize, kSize>::Matrix RandomPSDMatrixWithEigenValues(
+ const typename EigenTypes<kSize>::Vector& eigenvalues) {
+ typename EigenTypes<kSize, kSize>::Matrix m;
+ m.setRandom();
+ Eigen::SelfAdjointEigenSolver<typename EigenTypes<kSize, kSize>::Matrix> es(
+ m);
+ return es.eigenvectors() * eigenvalues.asDiagonal() *
+ es.eigenvectors().transpose();
+}
+
+TEST(InvertPSDMatrix, Identity3x3) {
+ const Matrix m = Matrix::Identity(3, 3);
+ const Matrix inverse_m = InvertPSDMatrix<3>(kFullRank, m);
+ EXPECT_NEAR((inverse_m - m).norm() / m.norm(),
+ 0.0,
+ std::numeric_limits<double>::epsilon());
+}
+
+TEST(InvertPSDMatrix, FullRank5x5) {
+ EigenTypes<5>::Vector eigenvalues;
+ eigenvalues.setRandom();
+ eigenvalues = eigenvalues.array().abs().matrix();
+ const Matrix m = RandomPSDMatrixWithEigenValues<5>(eigenvalues);
+ const Matrix inverse_m = InvertPSDMatrix<5>(kFullRank, m);
+ EXPECT_NEAR((m * inverse_m - Matrix::Identity(5,5)).norm() / 5.0, 0.0,
+ std::numeric_limits<double>::epsilon());
+}
+
+TEST(InvertPSDMatrix, RankDeficient5x5) {
+ EigenTypes<5>::Vector eigenvalues;
+ eigenvalues.setRandom();
+ eigenvalues = eigenvalues.array().abs().matrix();
+ eigenvalues(3) = 0.0;
+ const Matrix m = RandomPSDMatrixWithEigenValues<5>(eigenvalues);
+ const Matrix inverse_m = InvertPSDMatrix<5>(kRankDeficient, m);
+ Matrix pseudo_identity = Matrix::Identity(5, 5);
+ pseudo_identity(3, 3) = 0.0;
+ EXPECT_NEAR((m * inverse_m * m - m).norm() / m.norm(),
+ 0.0,
+ 10 * std::numeric_limits<double>::epsilon());
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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.
+//
+// Authors: keir@google.com (Keir Mierle), dgossow@google.com (David Gossow)
+
+#include "ceres/is_close.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace ceres {
+namespace internal {
+bool IsClose(double x, double y, double relative_precision,
+ double *relative_error,
+ double *absolute_error) {
+ double local_absolute_error;
+ double local_relative_error;
+ if (!absolute_error) {
+ absolute_error = &local_absolute_error;
+ }
+ if (!relative_error) {
+ relative_error = &local_relative_error;
+ }
+ *absolute_error = std::fabs(x - y);
+ *relative_error = *absolute_error / std::max(std::fabs(x), std::fabs(y));
+ if (x == 0 || y == 0) {
+ // If x or y is exactly zero, then relative difference doesn't have any
+ // meaning. Take the absolute difference instead.
+ *relative_error = *absolute_error;
+ }
+ return *relative_error < std::fabs(relative_precision);
+}
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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.
+//
+// Authors: keir@google.com (Keir Mierle), dgossow@google.com (David Gossow)
+//
+// Utility routine for comparing two values.
+
+#ifndef CERES_INTERNAL_IS_CLOSE_H_
+#define CERES_INTERNAL_IS_CLOSE_H_
+
+namespace ceres {
+namespace internal {
+// Returns true if x and y have a relative (unsigned) difference less than
+// relative_precision and false otherwise. Stores the relative and absolute
+// difference in relative/absolute_error if non-NULL. If one of the two values
+// is exactly zero, the absolute difference will be compared, and relative_error
+// will be set to the absolute difference.
+bool IsClose(double x,
+ double y,
+ double relative_precision,
+ double *relative_error,
+ double *absolute_error);
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_IS_CLOSE_H_
--- /dev/null
+// 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: dgossow@google.com (David Gossow)
+//
+// This file contains tests for the IsClose function.
+
+#include "ceres/is_close.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-9;
+
+TEST(IsClose, BothParametersPositive) {
+ double relative_error = -1;
+ double absolute_error = -1;
+
+ // Test cases where both values are positive.
+ EXPECT_TRUE(IsClose(9.9, 10.0, 0.011, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(10.0, 9.9, 0.011, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+
+ EXPECT_FALSE(IsClose(9.9, 10.0, 0.009, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(10.0, 9.9, 0.009, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+}
+
+TEST(IsClose, BothParametersNegative) {
+ double relative_error = -1;
+ double absolute_error = -1;
+
+ // Test cases where both values are negative.
+ EXPECT_TRUE(IsClose(-9.9, -10.0, 0.011, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(-10.0, -9.9, 0.011, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+
+ EXPECT_FALSE(IsClose(-9.9, -10.0, 0.009, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(-10.0, -9.9, 0.009, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.01, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+}
+
+TEST(IsClose, ParametersHaveMixedSigns) {
+ double relative_error = -1;
+ double absolute_error = -1;
+
+ // Test cases with mixed signs.
+ EXPECT_FALSE(IsClose(-0.1, 0.1, 1.99, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 2.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(-0.1, 0.1, 2.01, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 2.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(0.1, -0.1, 1.99, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 2.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(0.1, -0.1, 2.01, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 2.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+}
+
+TEST(IsClose, OneParameterZero) {
+ double relative_error = -1;
+ double absolute_error = -1;
+
+ // Test cases where one of the values is zero.
+ EXPECT_TRUE(IsClose(0.0, 10.0, 10.1, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(10.0, 0.0, 10.1, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(0.0, -10.0, 10.1, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_TRUE(IsClose(-10.0, 0.0, 10.1, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+
+ EXPECT_FALSE(IsClose(0, 10.0, 9.9, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(10.0, 0.0, 9.9, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(0, -10.0, 9.9, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(-10.0, 0.0, 9.9, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 10.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+}
+
+TEST(IsClose, BothParametersZero) {
+ double relative_error = -1;
+ double absolute_error = -1;
+ EXPECT_TRUE(IsClose(0.0, 0.0, 0.1, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.0, kTolerance);
+ relative_error = -1;
+ absolute_error = -1;
+ EXPECT_FALSE(IsClose(0.0, 0.0, 0.0, &relative_error, &absolute_error));
+ EXPECT_NEAR(relative_error, 0.0, kTolerance);
+ EXPECT_NEAR(absolute_error, 0.0, kTolerance);
+}
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/iterative_schur_complement_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/detect_structure.h"
+#include "ceres/implicit_schur_complement.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/preconditioner.h"
+#include "ceres/schur_jacobi_preconditioner.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/visibility_based_preconditioner.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+IterativeSchurComplementSolver::IterativeSchurComplementSolver(
+ const LinearSolver::Options& options)
+ : options_(options) {}
+
+IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {}
+
+LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("IterativeSchurComplementSolver::Solve");
+
+ CHECK_NOTNULL(A->block_structure());
+ const int num_eliminate_blocks = options_.elimination_groups[0];
+ // Initialize a ImplicitSchurComplement object.
+ if (schur_complement_ == NULL) {
+ DetectStructure(*(A->block_structure()),
+ num_eliminate_blocks,
+ &options_.row_block_size,
+ &options_.e_block_size,
+ &options_.f_block_size);
+ schur_complement_.reset(new ImplicitSchurComplement(options_));
+ }
+ schur_complement_->Init(*A, per_solve_options.D, b);
+
+ const int num_schur_complement_blocks =
+ A->block_structure()->cols.size() - num_eliminate_blocks;
+ if (num_schur_complement_blocks == 0) {
+ VLOG(2) << "No parameter blocks left in the schur complement.";
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ schur_complement_->BackSubstitute(NULL, x);
+ return summary;
+ }
+
+ // Initialize the solution to the Schur complement system to zero.
+ reduced_linear_system_solution_.resize(schur_complement_->num_rows());
+ reduced_linear_system_solution_.setZero();
+
+ LinearSolver::Options cg_options;
+ cg_options.min_num_iterations = options_.min_num_iterations;
+ cg_options.max_num_iterations = options_.max_num_iterations;
+ ConjugateGradientsSolver cg_solver(cg_options);
+
+ LinearSolver::PerSolveOptions cg_per_solve_options;
+ cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
+ cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
+
+ CreatePreconditioner(A);
+ if (preconditioner_.get() != NULL) {
+ if (!preconditioner_->Update(*A, per_solve_options.D)) {
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "Preconditioner update failed.";
+ return summary;
+ }
+
+ cg_per_solve_options.preconditioner = preconditioner_.get();
+ }
+
+ event_logger.AddEvent("Setup");
+ LinearSolver::Summary summary =
+ cg_solver.Solve(schur_complement_.get(),
+ schur_complement_->rhs().data(),
+ cg_per_solve_options,
+ reduced_linear_system_solution_.data());
+ if (summary.termination_type != LINEAR_SOLVER_FAILURE &&
+ summary.termination_type != LINEAR_SOLVER_FATAL_ERROR) {
+ schur_complement_->BackSubstitute(reduced_linear_system_solution_.data(),
+ x);
+ }
+ event_logger.AddEvent("Solve");
+ return summary;
+}
+
+void IterativeSchurComplementSolver::CreatePreconditioner(
+ BlockSparseMatrix* A) {
+ if (options_.preconditioner_type == IDENTITY ||
+ preconditioner_.get() != NULL) {
+ return;
+ }
+
+ Preconditioner::Options preconditioner_options;
+ preconditioner_options.type = options_.preconditioner_type;
+ preconditioner_options.visibility_clustering_type =
+ options_.visibility_clustering_type;
+ preconditioner_options.sparse_linear_algebra_library_type =
+ options_.sparse_linear_algebra_library_type;
+ preconditioner_options.num_threads = options_.num_threads;
+ preconditioner_options.row_block_size = options_.row_block_size;
+ preconditioner_options.e_block_size = options_.e_block_size;
+ preconditioner_options.f_block_size = options_.f_block_size;
+ preconditioner_options.elimination_groups = options_.elimination_groups;
+
+ switch (options_.preconditioner_type) {
+ case JACOBI:
+ preconditioner_.reset(new SparseMatrixPreconditionerWrapper(
+ schur_complement_->block_diagonal_FtF_inverse()));
+ break;
+ case SCHUR_JACOBI:
+ preconditioner_.reset(new SchurJacobiPreconditioner(
+ *A->block_structure(), preconditioner_options));
+ break;
+ case CLUSTER_JACOBI:
+ case CLUSTER_TRIDIAGONAL:
+ preconditioner_.reset(new VisibilityBasedPreconditioner(
+ *A->block_structure(), preconditioner_options));
+ break;
+ default:
+ LOG(FATAL) << "Unknown Preconditioner Type";
+ }
+};
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class ImplicitSchurComplement;
+class Preconditioner;
+
+// This class implements an iterative solver for the linear least
+// squares problems that have a bi-partite sparsity structure common
+// to Structure from Motion problems.
+//
+// The algorithm used by this solver was developed in a series of
+// papers - "Agarwal et al, Bundle Adjustment in the Large, ECCV 2010"
+// and "Wu et al, Multicore Bundle Adjustment, submitted to CVPR
+// 2011" at the Univeristy of Washington.
+//
+// The key idea is that one can run Conjugate Gradients on the Schur
+// Complement system without explicitly forming the Schur Complement
+// in memory. The heavy lifting for this is done by the
+// ImplicitSchurComplement class. Not forming the Schur complement in
+// memory and factoring it results in substantial savings in time and
+// memory. Further, iterative solvers like this open up the
+// possibility of solving the Newton equations in a non-linear solver
+// only approximately and terminating early, thereby saving even more
+// time.
+//
+// For the curious, running CG on the Schur complement is the same as
+// running CG on the Normal Equations with an SSOR preconditioner. For
+// a proof of this fact and others related to this solver please see
+// the section on Domain Decomposition Methods in Saad's book
+// "Iterative Methods for Sparse Linear Systems".
+class IterativeSchurComplementSolver : public BlockSparseMatrixSolver {
+ public:
+ explicit IterativeSchurComplementSolver(const LinearSolver::Options& options);
+ virtual ~IterativeSchurComplementSolver();
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ void CreatePreconditioner(BlockSparseMatrix* A);
+
+ LinearSolver::Options options_;
+ scoped_ptr<internal::ImplicitSchurComplement> schur_complement_;
+ scoped_ptr<Preconditioner> preconditioner_;
+ Vector reduced_linear_system_solution_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(IterativeSchurComplementSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
--- /dev/null
+// 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)
+//
+// TODO(sameeragarwal): Add support for larger, more complicated and
+// poorly conditioned problems both for correctness testing as well as
+// benchmarking.
+
+#include "ceres/iterative_schur_complement_solver.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class IterativeSchurComplementSolverTest : public ::testing::Test {
+ protected :
+ void SetUpProblem(int problem_id) {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(problem_id));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ }
+
+ AssertionResult TestSolver(double* D) {
+ TripletSparseMatrix triplet_A(A_->num_rows(),
+ A_->num_cols(),
+ A_->num_nonzeros());
+ A_->ToTripletSparseMatrix(&triplet_A);
+
+ DenseSparseMatrix dense_A(triplet_A);
+
+ LinearSolver::Options options;
+ options.type = DENSE_QR;
+ scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D;
+ Vector reference_solution(num_cols_);
+ qr->Solve(&dense_A, b_.get(), per_solve_options, reference_solution.data());
+
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ options.elimination_groups.push_back(0);
+ options.max_num_iterations = num_cols_;
+ options.preconditioner_type = SCHUR_JACOBI;
+ IterativeSchurComplementSolver isc(options);
+
+ Vector isc_sol(num_cols_);
+ per_solve_options.r_tolerance = 1e-12;
+ isc.Solve(A_.get(), b_.get(), per_solve_options, isc_sol.data());
+ double diff = (isc_sol - reference_solution).norm();
+ if (diff < kEpsilon) {
+ return testing::AssertionSuccess();
+ } else {
+ return testing::AssertionFailure()
+ << "The reference solution differs from the ITERATIVE_SCHUR"
+ << " solution by " << diff << " which is more than " << kEpsilon;
+ }
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+TEST_F(IterativeSchurComplementSolverTest, NormalProblem) {
+ SetUpProblem(2);
+ EXPECT_TRUE(TestSolver(NULL));
+ EXPECT_TRUE(TestSolver(D_.get()));
+}
+
+TEST_F(IterativeSchurComplementSolverTest, ProblemWithNoFBlocks) {
+ SetUpProblem(3);
+ EXPECT_TRUE(TestSolver(NULL));
+ EXPECT_TRUE(TestSolver(D_.get()));
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/jet.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/fpclassify.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+
+#define VL VLOG(1)
+
+namespace ceres {
+namespace internal {
+
+const double kE = 2.71828182845904523536;
+
+typedef Jet<double, 2> J;
+
+// Convenient shorthand for making a jet.
+J MakeJet(double a, double v0, double v1) {
+ J z;
+ z.a = a;
+ z.v[0] = v0;
+ z.v[1] = v1;
+ return z;
+}
+
+// On a 32-bit optimized build, the mismatch is about 1.4e-14.
+double const kTolerance = 1e-13;
+
+void ExpectJetsClose(const J &x, const J &y) {
+ ExpectClose(x.a, y.a, kTolerance);
+ ExpectClose(x.v[0], y.v[0], kTolerance);
+ ExpectClose(x.v[1], y.v[1], kTolerance);
+}
+
+TEST(Jet, Jet) {
+ // Pick arbitrary values for x and y.
+ J x = MakeJet(2.3, -2.7, 1e-3);
+ J y = MakeJet(1.7, 0.5, 1e+2);
+
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ { // Check that log(exp(x)) == x.
+ J z = exp(x);
+ J w = log(z);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, x);
+ }
+
+ { // Check that (x * y) / x == y.
+ J z = x * y;
+ J w = z / x;
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, y);
+ }
+
+ { // Check that sqrt(x * x) == x.
+ J z = x * x;
+ J w = sqrt(z);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, x);
+ }
+
+ { // Check that sqrt(y) * sqrt(y) == y.
+ J z = sqrt(y);
+ J w = z * z;
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, y);
+ }
+
+ { // Check that cos(2*x) = cos(x)^2 - sin(x)^2
+ J z = cos(J(2.0) * x);
+ J w = cos(x)*cos(x) - sin(x)*sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, z);
+ }
+
+ { // Check that sin(2*x) = 2*cos(x)*sin(x)
+ J z = sin(J(2.0) * x);
+ J w = J(2.0)*cos(x)*sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, z);
+ }
+
+ { // Check that cos(x)*cos(x) + sin(x)*sin(x) = 1
+ J z = cos(x) * cos(x);
+ J w = sin(x) * sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z + w, J(1.0));
+ }
+
+ { // Check that atan2(r*sin(t), r*cos(t)) = t.
+ J t = MakeJet(0.7, -0.3, +1.5);
+ J r = MakeJet(2.3, 0.13, -2.4);
+ VL << "t = " << t;
+ VL << "r = " << r;
+
+ J u = atan2(r * sin(t), r * cos(t));
+ VL << "u = " << u;
+
+ ExpectJetsClose(u, t);
+ }
+
+ { // Check that tan(x) = sin(x) / cos(x).
+ J z = tan(x);
+ J w = sin(x) / cos(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z, w);
+ }
+
+ { // Check that tan(atan(x)) = x.
+ J z = tan(atan(x));
+ J w = x;
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z, w);
+ }
+
+ { // Check that cosh(x)*cosh(x) - sinh(x)*sinh(x) = 1
+ J z = cosh(x) * cosh(x);
+ J w = sinh(x) * sinh(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z - w, J(1.0));
+ }
+
+ { // Check that tanh(x + y) = (tanh(x) + tanh(y)) / (1 + tanh(x) tanh(y))
+ J z = tanh(x + y);
+ J w = (tanh(x) + tanh(y)) / (J(1.0) + tanh(x) * tanh(y));
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z, w);
+ }
+
+ { // Check that pow(x, 1) == x.
+ VL << "x = " << x;
+
+ J u = pow(x, 1.);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(x, 1) == x.
+ J y = MakeJet(1, 0.0, 0.0);
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ J u = pow(x, y);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ J u = pow(kE, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "log(x) = " << logx;
+
+ J u = pow(e, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "logx = " << logx;
+
+ J u = pow(e, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(x,y) = exp(y*log(x)).
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "logx = " << logx;
+
+ J u = pow(e, y*logx);
+ J v = pow(x, y);
+ VL << "u = " << u;
+ VL << "v = " << v;
+
+ ExpectJetsClose(v, u);
+ }
+
+ { // Check that pow(0, y) == 0 for y > 1, with both arguments Jets.
+ // This tests special case handling inside pow().
+ J a = MakeJet(0, 1, 2);
+ J b = MakeJet(2, 3, 4);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ ExpectJetsClose(c, MakeJet(0, 0, 0));
+ }
+
+ { // Check that pow(0, y) == 0 for y == 1, with both arguments Jets.
+ // This tests special case handling inside pow().
+ J a = MakeJet(0, 1, 2);
+ J b = MakeJet(1, 3, 4);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ ExpectJetsClose(c, MakeJet(0, 1, 2));
+ }
+
+ { // Check that pow(0, <1) is not finite, with both arguments Jets.
+ for (int i = 1; i < 10; i++) {
+ J a = MakeJet(0, 1, 2);
+ J b = MakeJet(i*0.1, 3, 4); // b = 0.1 ... 0.9
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ EXPECT_EQ(c.a, 0.0);
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ }
+ for (int i = -10; i < 0; i++) {
+ J a = MakeJet(0, 1, 2);
+ J b = MakeJet(i*0.1, 3, 4); // b = -1,-0.9 ... -0.1
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ EXPECT_FALSE(IsFinite(c.a));
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ }
+
+ {
+ // The special case of 0^0 = 1 defined by the C standard.
+ J a = MakeJet(0, 1, 2);
+ J b = MakeJet(0, 3, 4);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ EXPECT_EQ(c.a, 1.0);
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ }
+ }
+
+ { // Check that pow(<0, b) is correct for integer b.
+ // This tests special case handling inside pow().
+ J a = MakeJet(-1.5, 3, 4);
+
+ // b integer:
+ for (int i = -10; i <= 10; i++) {
+ J b = MakeJet(i, 0, 5);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ ExpectClose(c.a, pow(-1.5, i), kTolerance);
+ EXPECT_TRUE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ ExpectClose(c.v[0], i * pow(-1.5, i - 1) * 3.0, kTolerance);
+ }
+ }
+
+ { // Check that pow(<0, b) is correct for noninteger b.
+ // This tests special case handling inside pow().
+ J a = MakeJet(-1.5, 3, 4);
+ J b = MakeJet(-2.5, 0, 5);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ EXPECT_FALSE(IsFinite(c.a));
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ }
+
+ {
+ // Check that pow(0,y) == 0 for y == 2, with the second argument a
+ // Jet. This tests special case handling inside pow().
+ double a = 0;
+ J b = MakeJet(2, 3, 4);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ ExpectJetsClose(c, MakeJet(0, 0, 0));
+ }
+
+ {
+ // Check that pow(<0,y) is correct for integer y. This tests special case
+ // handling inside pow().
+ double a = -1.5;
+ for (int i = -10; i <= 10; i++) {
+ J b = MakeJet(i, 3, 0);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ ExpectClose(c.a, pow(-1.5, i), kTolerance);
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_TRUE(IsFinite(c.v[1]));
+ ExpectClose(c.v[1], 0, kTolerance);
+ }
+ }
+
+ {
+ // Check that pow(<0,y) is correct for noninteger y. This tests special
+ // case handling inside pow().
+ double a = -1.5;
+ J b = MakeJet(-3.14, 3, 0);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ J c = pow(a, b);
+ VL << "a^b = " << c;
+ EXPECT_FALSE(IsFinite(c.a));
+ EXPECT_FALSE(IsFinite(c.v[0]));
+ EXPECT_FALSE(IsFinite(c.v[1]));
+ }
+
+ { // Check that 1 + x == x + 1.
+ J a = x + 1.0;
+ J b = 1.0 + x;
+ J c = x;
+ c += 1.0;
+
+ ExpectJetsClose(a, b);
+ ExpectJetsClose(a, c);
+ }
+
+ { // Check that 1 - x == -(x - 1).
+ J a = 1.0 - x;
+ J b = -(x - 1.0);
+ J c = x;
+ c -= 1.0;
+
+ ExpectJetsClose(a, b);
+ ExpectJetsClose(a, -c);
+ }
+
+ { // Check that (x/s)*s == (x*s)/s.
+ J a = x / 5.0;
+ J b = x * 5.0;
+ J c = x;
+ c /= 5.0;
+ J d = x;
+ d *= 5.0;
+
+ ExpectJetsClose(5.0 * a, b / 5.0);
+ ExpectJetsClose(a, c);
+ ExpectJetsClose(b, d);
+ }
+
+ { // Check that x / y == 1 / (y / x).
+ J a = x / y;
+ J b = 1.0 / (y / x);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ ExpectJetsClose(a, b);
+ }
+
+ { // Check that abs(-x * x) == sqrt(x * x).
+ ExpectJetsClose(abs(-x), sqrt(x * x));
+ }
+
+ { // Check that cos(acos(x)) == x.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ ExpectJetsClose(cos(acos(a)), a);
+ ExpectJetsClose(acos(cos(a)), a);
+
+ J b = MakeJet(0.6, 0.5, 1e+2);
+ ExpectJetsClose(cos(acos(b)), b);
+ ExpectJetsClose(acos(cos(b)), b);
+ }
+
+ { // Check that sin(asin(x)) == x.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ ExpectJetsClose(sin(asin(a)), a);
+ ExpectJetsClose(asin(sin(a)), a);
+
+ J b = MakeJet(0.4, 0.5, 1e+2);
+ ExpectJetsClose(sin(asin(b)), b);
+ ExpectJetsClose(asin(sin(b)), b);
+ }
+
+ {
+ J zero = J(0.0);
+
+ // Check that J0(0) == 1.
+ ExpectJetsClose(BesselJ0(zero), J(1.0));
+
+ // Check that J1(0) == 0.
+ ExpectJetsClose(BesselJ1(zero), zero);
+
+ // Check that J2(0) == 0.
+ ExpectJetsClose(BesselJn(2, zero), zero);
+
+ // Check that J3(0) == 0.
+ ExpectJetsClose(BesselJn(3, zero), zero);
+
+ J z = MakeJet(0.1, -2.7, 1e-3);
+
+ // Check that J0(z) == Jn(0,z).
+ ExpectJetsClose(BesselJ0(z), BesselJn(0, z));
+
+ // Check that J1(z) == Jn(1,z).
+ ExpectJetsClose(BesselJ1(z), BesselJn(1, z));
+
+ // Check that J0(z)+J2(z) == (2/z)*J1(z).
+ // See formula http://dlmf.nist.gov/10.6.E1
+ ExpectJetsClose(BesselJ0(z) + BesselJn(2, z), (2.0 / z) * BesselJ1(z));
+ }
+
+ { // Check that floor of a positive number works.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ J b = floor(a);
+ J expected = MakeJet(floor(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+
+ { // Check that floor of a negative number works.
+ J a = MakeJet(-1.1, -2.7, 1e-3);
+ J b = floor(a);
+ J expected = MakeJet(floor(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+
+ { // Check that floor of a positive number works.
+ J a = MakeJet(10.123, -2.7, 1e-3);
+ J b = floor(a);
+ J expected = MakeJet(floor(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+
+ { // Check that ceil of a positive number works.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ J b = ceil(a);
+ J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+
+ { // Check that ceil of a negative number works.
+ J a = MakeJet(-1.1, -2.7, 1e-3);
+ J b = ceil(a);
+ J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+
+ { // Check that ceil of a positive number works.
+ J a = MakeJet(10.123, -2.7, 1e-3);
+ J b = ceil(a);
+ J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+ EXPECT_EQ(expected, b);
+ }
+}
+
+TEST(Jet, JetsInEigenMatrices) {
+ J x = MakeJet(2.3, -2.7, 1e-3);
+ J y = MakeJet(1.7, 0.5, 1e+2);
+ J z = MakeJet(5.3, -4.7, 1e-3);
+ J w = MakeJet(9.7, 1.5, 10.1);
+
+ Eigen::Matrix<J, 2, 2> M;
+ Eigen::Matrix<J, 2, 1> v, r1, r2;
+
+ M << x, y, z, w;
+ v << x, z;
+
+ // Check that M * v == (v^T * M^T)^T
+ r1 = M * v;
+ r2 = (v.transpose() * M.transpose()).transpose();
+
+ ExpectJetsClose(r1(0), r2(0));
+ ExpectJetsClose(r1(1), r2(1));
+}
+
+TEST(JetTraitsTest, ClassificationMixed) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::quiet_NaN();
+ a.v[1] = std::numeric_limits<double>::infinity();
+ a.v[2] = -std::numeric_limits<double>::infinity();
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_TRUE(IsInfinite(a));
+ EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationNaN) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::quiet_NaN();
+ a.v[1] = 0.0;
+ a.v[2] = 0.0;
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_FALSE(IsInfinite(a));
+ EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationInf) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::infinity();
+ a.v[1] = 0.0;
+ a.v[2] = 0.0;
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_TRUE(IsInfinite(a));
+ EXPECT_FALSE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationFinite) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = 100.0;
+ a.v[1] = 1.0;
+ a.v[2] = 3.14159;
+ EXPECT_TRUE(IsFinite(a));
+ EXPECT_TRUE(IsNormal(a));
+ EXPECT_FALSE(IsInfinite(a));
+ EXPECT_FALSE(IsNaN(a));
+}
+
+// ScalarBinaryOpTraits is only supported on Eigen versions >= 3.3
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+TEST(JetTraitsTest, MatrixScalarUnaryOps) {
+ const J x = MakeJet(2.3, -2.7, 1e-3);
+ const J y = MakeJet(1.7, 0.5, 1e+2);
+ Eigen::Matrix<J, 2, 1> a;
+ a << x, y;
+
+ const J sum = a.sum();
+ const J sum2 = a(0) + a(1);
+ ExpectJetsClose(sum, sum2);
+}
+
+TEST(JetTraitsTest, MatrixScalarBinaryOps) {
+ const J x = MakeJet(2.3, -2.7, 1e-3);
+ const J y = MakeJet(1.7, 0.5, 1e+2);
+ const J z = MakeJet(5.3, -4.7, 1e-3);
+ const J w = MakeJet(9.7, 1.5, 10.1);
+
+ Eigen::Matrix<J, 2, 2> M;
+ Eigen::Vector2d v;
+
+ M << x, y, z, w;
+ v << 0.6, -2.1;
+
+ // Check that M * v == M * v.cast<J>().
+ const Eigen::Matrix<J, 2, 1> r1 = M * v;
+ const Eigen::Matrix<J, 2, 1> r2 = M * v.cast<J>();
+
+ ExpectJetsClose(r1(0), r2(0));
+ ExpectJetsClose(r1(1), r2(1));
+
+ // Check that M * a == M * T(a).
+ const double a = 3.1;
+ const Eigen::Matrix<J, 2, 2> r3 = M * a;
+ const Eigen::Matrix<J, 2, 2> r4 = M * J(a);
+
+ ExpectJetsClose(r3(0, 0), r4(0, 0));
+ ExpectJetsClose(r3(1, 0), r4(1, 0));
+ ExpectJetsClose(r3(0, 1), r4(0, 1));
+ ExpectJetsClose(r3(1, 1), r4(1, 1));
+}
+
+TEST(JetTraitsTest, ArrayScalarUnaryOps) {
+ const J x = MakeJet(2.3, -2.7, 1e-3);
+ const J y = MakeJet(1.7, 0.5, 1e+2);
+ Eigen::Array<J, 2, 1> a;
+ a << x, y;
+
+ const J sum = a.sum();
+ const J sum2 = a(0) + a(1);
+ ExpectJetsClose(sum, sum2);
+}
+
+TEST(JetTraitsTest, ArrayScalarBinaryOps) {
+ const J x = MakeJet(2.3, -2.7, 1e-3);
+ const J y = MakeJet(1.7, 0.5, 1e+2);
+
+ Eigen::Array<J, 2, 1> a;
+ Eigen::Array2d b;
+
+ a << x, y;
+ b << 0.6, -2.1;
+
+ // Check that a * b == a * b.cast<T>()
+ const Eigen::Array<J, 2, 1> r1 = a * b;
+ const Eigen::Array<J, 2, 1> r2 = a * b.cast<J>();
+
+ ExpectJetsClose(r1(0), r2(0));
+ ExpectJetsClose(r1(1), r2(1));
+
+ // Check that a * c == a * T(c).
+ const double c = 3.1;
+ const Eigen::Array<J, 2, 1> r3 = a * c;
+ const Eigen::Array<J, 2, 1> r4 = a * J(c);
+
+ ExpectJetsClose(r3(0), r3(0));
+ ExpectJetsClose(r4(1), r4(1));
+}
+#endif // EIGEN_VERSION_AT_LEAST(3, 3, 0)
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/lapack.h"
+
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+#include "glog/logging.h"
+
+// C interface to the LAPACK Cholesky factorization and triangular solve.
+extern "C" void dpotrf_(char* uplo,
+ int* n,
+ double* a,
+ int* lda,
+ int* info);
+
+extern "C" void dpotrs_(char* uplo,
+ int* n,
+ int* nrhs,
+ double* a,
+ int* lda,
+ double* b,
+ int* ldb,
+ int* info);
+
+extern "C" void dgels_(char* uplo,
+ int* m,
+ int* n,
+ int* nrhs,
+ double* a,
+ int* lda,
+ double* b,
+ int* ldb,
+ double* work,
+ int* lwork,
+ int* info);
+
+
+namespace ceres {
+namespace internal {
+
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky(
+ int num_rows,
+ const double* in_lhs,
+ double* rhs_and_solution,
+ std::string* message) {
+#ifdef CERES_NO_LAPACK
+ LOG(FATAL) << "Ceres was built without a BLAS library.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+#else
+ char uplo = 'L';
+ int n = num_rows;
+ int info = 0;
+ int nrhs = 1;
+ double* lhs = const_cast<double*>(in_lhs);
+
+ dpotrf_(&uplo, &n, lhs, &n, &info);
+ if (info < 0) {
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+ << "Please report it."
+ << "LAPACK::dpotrf fatal error."
+ << "Argument: " << -info << " is invalid.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ if (info > 0) {
+ *message =
+ StringPrintf(
+ "LAPACK::dpotrf numerical failure. "
+ "The leading minor of order %d is not positive definite.", info);
+ return LINEAR_SOLVER_FAILURE;
+ }
+
+ dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info);
+ if (info < 0) {
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+ << "Please report it."
+ << "LAPACK::dpotrs fatal error."
+ << "Argument: " << -info << " is invalid.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ *message = "Success";
+ return LINEAR_SOLVER_SUCCESS;
+#endif
+}
+
+int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) {
+#ifdef CERES_NO_LAPACK
+ LOG(FATAL) << "Ceres was built without a LAPACK library.";
+ return -1;
+#else
+ char trans = 'N';
+ int nrhs = 1;
+ int lwork = -1;
+ double work;
+ int info = 0;
+ dgels_(&trans,
+ &num_rows,
+ &num_cols,
+ &nrhs,
+ NULL,
+ &num_rows,
+ NULL,
+ &num_rows,
+ &work,
+ &lwork,
+ &info);
+
+ if (info < 0) {
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+ << "Please report it."
+ << "LAPACK::dgels fatal error."
+ << "Argument: " << -info << " is invalid.";
+ }
+ return static_cast<int>(work);
+#endif
+}
+
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR(
+ int num_rows,
+ int num_cols,
+ const double* in_lhs,
+ int work_size,
+ double* work,
+ double* rhs_and_solution,
+ std::string* message) {
+#ifdef CERES_NO_LAPACK
+ LOG(FATAL) << "Ceres was built without a LAPACK library.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+#else
+ char trans = 'N';
+ int m = num_rows;
+ int n = num_cols;
+ int nrhs = 1;
+ int lda = num_rows;
+ int ldb = num_rows;
+ int info = 0;
+ double* lhs = const_cast<double*>(in_lhs);
+
+ dgels_(&trans,
+ &m,
+ &n,
+ &nrhs,
+ lhs,
+ &lda,
+ rhs_and_solution,
+ &ldb,
+ work,
+ &work_size,
+ &info);
+
+ if (info < 0) {
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+ << "Please report it."
+ << "LAPACK::dgels fatal error."
+ << "Argument: " << -info << " is invalid.";
+ }
+
+ *message = "Success.";
+ return LINEAR_SOLVER_SUCCESS;
+#endif
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_LAPACK_H_
+#define CERES_INTERNAL_LAPACK_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class LAPACK {
+ public:
+ // Solve
+ //
+ // lhs * solution = rhs
+ //
+ // using a Cholesky factorization. Here
+ // lhs is a symmetric positive definite matrix. It is assumed to be
+ // column major and only the lower triangular part of the matrix is
+ // referenced.
+ //
+ // This function uses the LAPACK dpotrf and dpotrs routines.
+ //
+ // The return value and the message string together describe whether
+ // the solver terminated successfully or not and if so, what was the
+ // reason for failure.
+ static LinearSolverTerminationType SolveInPlaceUsingCholesky(
+ int num_rows,
+ const double* lhs,
+ double* rhs_and_solution,
+ std::string* message);
+
+ // The SolveUsingQR function requires a buffer for its temporary
+ // computation. This function given the size of the lhs matrix will
+ // return the size of the buffer needed.
+ static int EstimateWorkSizeForQR(int num_rows, int num_cols);
+
+ // Solve
+ //
+ // lhs * solution = rhs
+ //
+ // using a dense QR factorization. lhs is an arbitrary (possibly
+ // rectangular) matrix with full column rank.
+ //
+ // work is an array of size work_size that this routine uses for its
+ // temporary storage. The optimal size of this array can be obtained
+ // by calling EstimateWorkSizeForQR.
+ //
+ // When calling, rhs_and_solution contains the rhs, and upon return
+ // the first num_col entries are the solution.
+ //
+ // This function uses the LAPACK dgels routine.
+ //
+ // The return value and the message string together describe whether
+ // the solver terminated successfully or not and if so, what was the
+ // reason for failure.
+ static LinearSolverTerminationType SolveInPlaceUsingQR(
+ int num_rows,
+ int num_cols,
+ const double* lhs,
+ int work_size,
+ double* work,
+ double* rhs_and_solution,
+ std::string* message);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LAPACK_H_
--- /dev/null
+// 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/levenberg_marquardt_strategy.h"
+
+#include <cmath>
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LevenbergMarquardtStrategy::LevenbergMarquardtStrategy(
+ const TrustRegionStrategy::Options& options)
+ : linear_solver_(options.linear_solver),
+ radius_(options.initial_radius),
+ max_radius_(options.max_radius),
+ min_diagonal_(options.min_lm_diagonal),
+ max_diagonal_(options.max_lm_diagonal),
+ decrease_factor_(2.0),
+ reuse_diagonal_(false) {
+ CHECK_NOTNULL(linear_solver_);
+ CHECK_GT(min_diagonal_, 0.0);
+ CHECK_LE(min_diagonal_, max_diagonal_);
+ CHECK_GT(max_radius_, 0.0);
+}
+
+LevenbergMarquardtStrategy::~LevenbergMarquardtStrategy() {
+}
+
+TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) {
+ CHECK_NOTNULL(jacobian);
+ CHECK_NOTNULL(residuals);
+ CHECK_NOTNULL(step);
+
+ const int num_parameters = jacobian->num_cols();
+ if (!reuse_diagonal_) {
+ if (diagonal_.rows() != num_parameters) {
+ diagonal_.resize(num_parameters, 1);
+ }
+
+ jacobian->SquaredColumnNorm(diagonal_.data());
+ for (int i = 0; i < num_parameters; ++i) {
+ diagonal_[i] = std::min(std::max(diagonal_[i], min_diagonal_),
+ max_diagonal_);
+ }
+ }
+
+ lm_diagonal_ = (diagonal_ / radius_).array().sqrt();
+
+ LinearSolver::PerSolveOptions solve_options;
+ solve_options.D = lm_diagonal_.data();
+ solve_options.q_tolerance = per_solve_options.eta;
+ // Disable r_tolerance checking. Since we only care about
+ // termination via the q_tolerance. As Nash and Sofer show,
+ // r_tolerance based termination is essentially useless in
+ // Truncated Newton methods.
+ solve_options.r_tolerance = -1.0;
+
+ // Invalidate the output array lm_step, so that we can detect if
+ // the linear solver generated numerical garbage. This is known
+ // to happen for the DENSE_QR and then DENSE_SCHUR solver when
+ // the Jacobin is severly rank deficient and mu is too small.
+ InvalidateArray(num_parameters, step);
+
+ // Instead of solving Jx = -r, solve Jy = r.
+ // Then x can be found as x = -y, but the inputs jacobian and residuals
+ // do not need to be modified.
+ LinearSolver::Summary linear_solver_summary =
+ linear_solver_->Solve(jacobian, residuals, solve_options, step);
+
+ if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+ LOG(WARNING) << "Linear solver fatal error: "
+ << linear_solver_summary.message;
+ } else if (linear_solver_summary.termination_type == LINEAR_SOLVER_FAILURE) {
+ LOG(WARNING) << "Linear solver failure. Failed to compute a step: "
+ << linear_solver_summary.message;
+ } else if (!IsArrayValid(num_parameters, step)) {
+ LOG(WARNING) << "Linear solver failure. Failed to compute a finite step.";
+ linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+ } else {
+ VectorRef(step, num_parameters) *= -1.0;
+ }
+ reuse_diagonal_ = true;
+
+ if (per_solve_options.dump_format_type == CONSOLE ||
+ (per_solve_options.dump_format_type != CONSOLE &&
+ !per_solve_options.dump_filename_base.empty())) {
+ if (!DumpLinearLeastSquaresProblem(per_solve_options.dump_filename_base,
+ per_solve_options.dump_format_type,
+ jacobian,
+ solve_options.D,
+ residuals,
+ step,
+ 0)) {
+ LOG(ERROR) << "Unable to dump trust region problem."
+ << " Filename base: " << per_solve_options.dump_filename_base;
+ }
+ }
+
+
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+ return summary;
+}
+
+void LevenbergMarquardtStrategy::StepAccepted(double step_quality) {
+ CHECK_GT(step_quality, 0.0);
+ radius_ = radius_ / std::max(1.0 / 3.0,
+ 1.0 - pow(2.0 * step_quality - 1.0, 3));
+ radius_ = std::min(max_radius_, radius_);
+ decrease_factor_ = 2.0;
+ reuse_diagonal_ = false;
+}
+
+void LevenbergMarquardtStrategy::StepRejected(double step_quality) {
+ radius_ = radius_ / decrease_factor_;
+ decrease_factor_ *= 2.0;
+ reuse_diagonal_ = true;
+}
+
+double LevenbergMarquardtStrategy::Radius() const {
+ return radius_;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+#define CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Levenberg-Marquardt step computation and trust region sizing
+// strategy based on on "Methods for Nonlinear Least Squares" by
+// K. Madsen, H.B. Nielsen and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+class LevenbergMarquardtStrategy : public TrustRegionStrategy {
+ public:
+ explicit LevenbergMarquardtStrategy(
+ const TrustRegionStrategy::Options& options);
+ virtual ~LevenbergMarquardtStrategy();
+
+ // TrustRegionStrategy interface
+ virtual TrustRegionStrategy::Summary ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step);
+ virtual void StepAccepted(double step_quality);
+ virtual void StepRejected(double step_quality);
+ virtual void StepIsInvalid() {
+ // Treat the current step as a rejected step with no increase in
+ // solution quality. Since rejected steps lead to decrease in the
+ // size of the trust region, the next time ComputeStep is called,
+ // this will lead to a better conditioned system.
+ StepRejected(0.0);
+ }
+
+ virtual double Radius() const;
+
+ private:
+ LinearSolver* linear_solver_;
+ double radius_;
+ double max_radius_;
+ const double min_diagonal_;
+ const double max_diagonal_;
+ double decrease_factor_;
+ bool reuse_diagonal_;
+ Vector diagonal_; // diagonal_ = diag(J'J)
+ // Scaled copy of diagonal_. Stored here as optimization to prevent
+ // allocations in every iteration and reuse when a step fails and
+ // ComputeStep is called again.
+ Vector lm_diagonal_; // lm_diagonal_ = diagonal_ / radius_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
--- /dev/null
+// 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/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gmock/mock-log.h"
+#include "gtest/gtest.h"
+
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::ScopedMockLog;
+using testing::_;
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-16;
+
+// Linear solver that takes as input a vector and checks that the
+// caller passes the same vector as LinearSolver::PerSolveOptions.D.
+class RegularizationCheckingLinearSolver : public DenseSparseMatrixSolver {
+ public:
+ RegularizationCheckingLinearSolver(const int num_cols, const double* diagonal)
+ : num_cols_(num_cols),
+ diagonal_(diagonal) {
+ }
+
+ virtual ~RegularizationCheckingLinearSolver() {}
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(per_solve_options.D);
+ for (int i = 0; i < num_cols_; ++i) {
+ EXPECT_NEAR(per_solve_options.D[i], diagonal_[i], kTolerance)
+ << i << " " << per_solve_options.D[i] << " " << diagonal_[i];
+ }
+ return LinearSolver::Summary();
+ }
+
+ const int num_cols_;
+ const double* diagonal_;
+};
+
+TEST(LevenbergMarquardtStrategy, AcceptRejectStepRadiusScaling) {
+ TrustRegionStrategy::Options options;
+ options.initial_radius = 2.0;
+ options.max_radius = 20.0;
+ options.min_lm_diagonal = 1e-8;
+ options.max_lm_diagonal = 1e8;
+
+ // We need a non-null pointer here, so anything should do.
+ scoped_ptr<LinearSolver> linear_solver(
+ new RegularizationCheckingLinearSolver(0, NULL));
+ options.linear_solver = linear_solver.get();
+
+ LevenbergMarquardtStrategy lms(options);
+ EXPECT_EQ(lms.Radius(), options.initial_radius);
+ lms.StepRejected(0.0);
+ EXPECT_EQ(lms.Radius(), 1.0);
+ lms.StepRejected(-1.0);
+ EXPECT_EQ(lms.Radius(), 0.25);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0);
+ lms.StepAccepted(0.25);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), options.max_radius);
+}
+
+TEST(LevenbergMarquardtStrategy, CorrectDiagonalToLinearSolver) {
+ Matrix jacobian(2, 3);
+ jacobian.setZero();
+ jacobian(0, 0) = 0.0;
+ jacobian(0, 1) = 1.0;
+ jacobian(1, 1) = 1.0;
+ jacobian(0, 2) = 100.0;
+
+ double residual = 1.0;
+ double x[3];
+ DenseSparseMatrix dsm(jacobian);
+
+ TrustRegionStrategy::Options options;
+ options.initial_radius = 2.0;
+ options.max_radius = 20.0;
+ options.min_lm_diagonal = 1e-2;
+ options.max_lm_diagonal = 1e2;
+
+ double diagonal[3];
+ diagonal[0] = options.min_lm_diagonal;
+ diagonal[1] = 2.0;
+ diagonal[2] = options.max_lm_diagonal;
+ for (int i = 0; i < 3; ++i) {
+ diagonal[i] = sqrt(diagonal[i] / options.initial_radius);
+ }
+
+ RegularizationCheckingLinearSolver linear_solver(3, diagonal);
+ options.linear_solver = &linear_solver;
+
+ LevenbergMarquardtStrategy lms(options);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ {
+ ScopedMockLog log;
+ EXPECT_CALL(log, Log(_, _, _)).Times(AnyNumber());
+ // This using directive is needed get around the fact that there
+ // are versions of glog which are not in the google namespace.
+ using namespace google;
+
+#if defined(_MSC_VER)
+ // Use GLOG_WARNING to support MSVC if GLOG_NO_ABBREVIATED_SEVERITIES
+ // is defined.
+ EXPECT_CALL(log, Log(GLOG_WARNING, _,
+ HasSubstr("Failed to compute a step")));
+#else
+ EXPECT_CALL(log, Log(google::WARNING, _,
+ HasSubstr("Failed to compute a step")));
+#endif
+
+ TrustRegionStrategy::Summary summary =
+ lms.ComputeStep(pso, &dsm, &residual, x);
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_FAILURE);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/line_search.h"
+
+#include <iomanip>
+#include <iostream> // NOLINT
+
+#include "ceres/evaluator.h"
+#include "ceres/fpclassify.h"
+#include "ceres/function_sample.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/map_util.h"
+#include "ceres/polynomial.h"
+#include "ceres/stringprintf.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::ostream;
+using std::string;
+using std::vector;
+
+namespace {
+// Precision used for floating point values in error message output.
+const int kErrorMessageNumericPrecision = 8;
+} // namespace
+
+ostream& operator<<(ostream &os, const FunctionSample& sample);
+
+// Convenience stream operator for pushing FunctionSamples into log messages.
+ostream& operator<<(ostream &os, const FunctionSample& sample) {
+ os << sample.ToDebugString();
+ return os;
+}
+
+LineSearch::LineSearch(const LineSearch::Options& options)
+ : options_(options) {}
+
+LineSearch* LineSearch::Create(const LineSearchType line_search_type,
+ const LineSearch::Options& options,
+ string* error) {
+ LineSearch* line_search = NULL;
+ switch (line_search_type) {
+ case ceres::ARMIJO:
+ line_search = new ArmijoLineSearch(options);
+ break;
+ case ceres::WOLFE:
+ line_search = new WolfeLineSearch(options);
+ break;
+ default:
+ *error = string("Invalid line search algorithm type: ") +
+ LineSearchTypeToString(line_search_type) +
+ string(", unable to create line search.");
+ return NULL;
+ }
+ return line_search;
+}
+
+LineSearchFunction::LineSearchFunction(Evaluator* evaluator)
+ : evaluator_(evaluator),
+ position_(evaluator->NumParameters()),
+ direction_(evaluator->NumEffectiveParameters()),
+ scaled_direction_(evaluator->NumEffectiveParameters()),
+ initial_evaluator_residual_time_in_seconds(0.0),
+ initial_evaluator_jacobian_time_in_seconds(0.0) {}
+
+void LineSearchFunction::Init(const Vector& position,
+ const Vector& direction) {
+ position_ = position;
+ direction_ = direction;
+}
+
+void LineSearchFunction::Evaluate(const double x,
+ const bool evaluate_gradient,
+ FunctionSample* output) {
+ output->x = x;
+ output->vector_x_is_valid = false;
+ output->value_is_valid = false;
+ output->gradient_is_valid = false;
+ output->vector_gradient_is_valid = false;
+
+ scaled_direction_ = output->x * direction_;
+ output->vector_x.resize(position_.rows(), 1);
+ if (!evaluator_->Plus(position_.data(),
+ scaled_direction_.data(),
+ output->vector_x.data())) {
+ return;
+ }
+ output->vector_x_is_valid = true;
+
+ double* gradient = NULL;
+ if (evaluate_gradient) {
+ output->vector_gradient.resize(direction_.rows(), 1);
+ gradient = output->vector_gradient.data();
+ }
+ const bool eval_status = evaluator_->Evaluate(
+ output->vector_x.data(), &(output->value), NULL, gradient, NULL);
+
+ if (!eval_status || !IsFinite(output->value)) {
+ return;
+ }
+
+ output->value_is_valid = true;
+ if (!evaluate_gradient) {
+ return;
+ }
+
+ output->gradient = direction_.dot(output->vector_gradient);
+ if (!IsFinite(output->gradient)) {
+ return;
+ }
+
+ output->gradient_is_valid = true;
+ output->vector_gradient_is_valid = true;
+}
+
+double LineSearchFunction::DirectionInfinityNorm() const {
+ return direction_.lpNorm<Eigen::Infinity>();
+}
+
+void LineSearchFunction::ResetTimeStatistics() {
+ const map<string, double> evaluator_time_statistics =
+ evaluator_->TimeStatistics();
+ initial_evaluator_residual_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+ initial_evaluator_jacobian_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+}
+
+void LineSearchFunction::TimeStatistics(
+ double* cost_evaluation_time_in_seconds,
+ double* gradient_evaluation_time_in_seconds) const {
+ const map<string, double> evaluator_time_statistics =
+ evaluator_->TimeStatistics();
+ *cost_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0) -
+ initial_evaluator_residual_time_in_seconds;
+ // Strictly speaking this will slightly underestimate the time spent
+ // evaluating the gradient of the line search univariate cost function as it
+ // does not count the time spent performing the dot product with the direction
+ // vector. However, this will typically be small by comparison, and also
+ // allows direct subtraction of the timing information from the totals for
+ // the evaluator returned in the solver summary.
+ *gradient_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0) -
+ initial_evaluator_jacobian_time_in_seconds;
+}
+
+void LineSearch::Search(double step_size_estimate,
+ double initial_cost,
+ double initial_gradient,
+ Summary* summary) const {
+ const double start_time = WallTimeInSeconds();
+ *CHECK_NOTNULL(summary) = LineSearch::Summary();
+
+ summary->cost_evaluation_time_in_seconds = 0.0;
+ summary->gradient_evaluation_time_in_seconds = 0.0;
+ summary->polynomial_minimization_time_in_seconds = 0.0;
+ options().function->ResetTimeStatistics();
+ this->DoSearch(step_size_estimate, initial_cost, initial_gradient, summary);
+ options().function->
+ TimeStatistics(&summary->cost_evaluation_time_in_seconds,
+ &summary->gradient_evaluation_time_in_seconds);
+
+ summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+// Returns step_size \in [min_step_size, max_step_size] which minimizes the
+// polynomial of degree defined by interpolation_type which interpolates all
+// of the provided samples with valid values.
+double LineSearch::InterpolatingPolynomialMinimizingStepSize(
+ const LineSearchInterpolationType& interpolation_type,
+ const FunctionSample& lowerbound,
+ const FunctionSample& previous,
+ const FunctionSample& current,
+ const double min_step_size,
+ const double max_step_size) const {
+ if (!current.value_is_valid ||
+ (interpolation_type == BISECTION &&
+ max_step_size <= current.x)) {
+ // Either: sample is invalid; or we are using BISECTION and contracting
+ // the step size.
+ return std::min(std::max(current.x * 0.5, min_step_size), max_step_size);
+ } else if (interpolation_type == BISECTION) {
+ CHECK_GT(max_step_size, current.x);
+ // We are expanding the search (during a Wolfe bracketing phase) using
+ // BISECTION interpolation. Using BISECTION when trying to expand is
+ // strictly speaking an oxymoron, but we define this to mean always taking
+ // the maximum step size so that the Armijo & Wolfe implementations are
+ // agnostic to the interpolation type.
+ return max_step_size;
+ }
+ // Only check if lower-bound is valid here, where it is required
+ // to avoid replicating current.value_is_valid == false
+ // behaviour in WolfeLineSearch.
+ CHECK(lowerbound.value_is_valid)
+ << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+ << "Ceres bug: lower-bound sample for interpolation is invalid, "
+ << "please contact the developers!, interpolation_type: "
+ << LineSearchInterpolationTypeToString(interpolation_type)
+ << ", lowerbound: " << lowerbound << ", previous: " << previous
+ << ", current: " << current;
+
+ // Select step size by interpolating the function and gradient values
+ // and minimizing the corresponding polynomial.
+ vector<FunctionSample> samples;
+ samples.push_back(lowerbound);
+
+ if (interpolation_type == QUADRATIC) {
+ // Two point interpolation using function values and the
+ // gradient at the lower bound.
+ samples.push_back(FunctionSample(current.x, current.value));
+
+ if (previous.value_is_valid) {
+ // Three point interpolation, using function values and the
+ // gradient at the lower bound.
+ samples.push_back(FunctionSample(previous.x, previous.value));
+ }
+ } else if (interpolation_type == CUBIC) {
+ // Two point interpolation using the function values and the gradients.
+ samples.push_back(current);
+
+ if (previous.value_is_valid) {
+ // Three point interpolation using the function values and
+ // the gradients.
+ samples.push_back(previous);
+ }
+ } else {
+ LOG(FATAL) << "Ceres bug: No handler for interpolation_type: "
+ << LineSearchInterpolationTypeToString(interpolation_type)
+ << ", please contact the developers!";
+ }
+
+ double step_size = 0.0, unused_min_value = 0.0;
+ MinimizeInterpolatingPolynomial(samples, min_step_size, max_step_size,
+ &step_size, &unused_min_value);
+ return step_size;
+}
+
+ArmijoLineSearch::ArmijoLineSearch(const LineSearch::Options& options)
+ : LineSearch(options) {}
+
+void ArmijoLineSearch::DoSearch(const double step_size_estimate,
+ const double initial_cost,
+ const double initial_gradient,
+ Summary* summary) const {
+ CHECK_GE(step_size_estimate, 0.0);
+ CHECK_GT(options().sufficient_decrease, 0.0);
+ CHECK_LT(options().sufficient_decrease, 1.0);
+ CHECK_GT(options().max_num_iterations, 0);
+ LineSearchFunction* function = options().function;
+
+ // Note initial_cost & initial_gradient are evaluated at step_size = 0,
+ // not step_size_estimate, which is our starting guess.
+ FunctionSample initial_position(0.0, initial_cost, initial_gradient);
+ initial_position.vector_x = function->position();
+ initial_position.vector_x_is_valid = true;
+
+ const double descent_direction_max_norm = function->DirectionInfinityNorm();
+ FunctionSample previous;
+ FunctionSample current;
+
+ // As the Armijo line search algorithm always uses the initial point, for
+ // which both the function value and derivative are known, when fitting a
+ // minimizing polynomial, we can fit up to a quadratic without requiring the
+ // gradient at the current query point.
+ const bool kEvaluateGradient = options().interpolation_type == CUBIC;
+
+ ++summary->num_function_evaluations;
+ if (kEvaluateGradient) {
+ ++summary->num_gradient_evaluations;
+ }
+
+ function->Evaluate(step_size_estimate, kEvaluateGradient, ¤t);
+ while (!current.value_is_valid ||
+ current.value > (initial_cost
+ + options().sufficient_decrease
+ * initial_gradient
+ * current.x)) {
+ // If current.value_is_valid is false, we treat it as if the cost at that
+ // point is not large enough to satisfy the sufficient decrease condition.
+ ++summary->num_iterations;
+ if (summary->num_iterations >= options().max_num_iterations) {
+ summary->error =
+ StringPrintf("Line search failed: Armijo failed to find a point "
+ "satisfying the sufficient decrease condition within "
+ "specified max_num_iterations: %d.",
+ options().max_num_iterations);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return;
+ }
+
+ const double polynomial_minimization_start_time = WallTimeInSeconds();
+ const double step_size =
+ this->InterpolatingPolynomialMinimizingStepSize(
+ options().interpolation_type,
+ initial_position,
+ previous,
+ current,
+ (options().max_step_contraction * current.x),
+ (options().min_step_contraction * current.x));
+ summary->polynomial_minimization_time_in_seconds +=
+ (WallTimeInSeconds() - polynomial_minimization_start_time);
+
+ if (step_size * descent_direction_max_norm < options().min_step_size) {
+ summary->error =
+ StringPrintf("Line search failed: step_size too small: %.5e "
+ "with descent_direction_max_norm: %.5e.", step_size,
+ descent_direction_max_norm);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return;
+ }
+
+ previous = current;
+
+ ++summary->num_function_evaluations;
+ if (kEvaluateGradient) {
+ ++summary->num_gradient_evaluations;
+ }
+
+ function->Evaluate(step_size, kEvaluateGradient, ¤t);
+ }
+
+ summary->optimal_point = current;
+ summary->success = true;
+}
+
+WolfeLineSearch::WolfeLineSearch(const LineSearch::Options& options)
+ : LineSearch(options) {}
+
+void WolfeLineSearch::DoSearch(const double step_size_estimate,
+ const double initial_cost,
+ const double initial_gradient,
+ Summary* summary) const {
+ // All parameters should have been validated by the Solver, but as
+ // invalid values would produce crazy nonsense, hard check them here.
+ CHECK_GE(step_size_estimate, 0.0);
+ CHECK_GT(options().sufficient_decrease, 0.0);
+ CHECK_GT(options().sufficient_curvature_decrease,
+ options().sufficient_decrease);
+ CHECK_LT(options().sufficient_curvature_decrease, 1.0);
+ CHECK_GT(options().max_step_expansion, 1.0);
+
+ // Note initial_cost & initial_gradient are evaluated at step_size = 0,
+ // not step_size_estimate, which is our starting guess.
+ FunctionSample initial_position(0.0, initial_cost, initial_gradient);
+ initial_position.vector_x = options().function->position();
+ initial_position.vector_x_is_valid = true;
+ bool do_zoom_search = false;
+ // Important: The high/low in bracket_high & bracket_low refer to their
+ // _function_ values, not their step sizes i.e. it is _not_ required that
+ // bracket_low.x < bracket_high.x.
+ FunctionSample solution, bracket_low, bracket_high;
+
+ // Wolfe bracketing phase: Increases step_size until either it finds a point
+ // that satisfies the (strong) Wolfe conditions, or an interval that brackets
+ // step sizes which satisfy the conditions. From Nocedal & Wright [1] p61 the
+ // interval: (step_size_{k-1}, step_size_{k}) contains step lengths satisfying
+ // the strong Wolfe conditions if one of the following conditions are met:
+ //
+ // 1. step_size_{k} violates the sufficient decrease (Armijo) condition.
+ // 2. f(step_size_{k}) >= f(step_size_{k-1}).
+ // 3. f'(step_size_{k}) >= 0.
+ //
+ // Caveat: If f(step_size_{k}) is invalid, then step_size is reduced, ignoring
+ // this special case, step_size monotonically increases during bracketing.
+ if (!this->BracketingPhase(initial_position,
+ step_size_estimate,
+ &bracket_low,
+ &bracket_high,
+ &do_zoom_search,
+ summary)) {
+ // Failed to find either a valid point, a valid bracket satisfying the Wolfe
+ // conditions, or even a step size > minimum tolerance satisfying the Armijo
+ // condition.
+ return;
+ }
+
+ if (!do_zoom_search) {
+ // Either: Bracketing phase already found a point satisfying the strong
+ // Wolfe conditions, thus no Zoom required.
+ //
+ // Or: Bracketing failed to find a valid bracket or a point satisfying the
+ // strong Wolfe conditions within max_num_iterations, or whilst searching
+ // shrank the bracket width until it was below our minimum tolerance.
+ // As these are 'artificial' constraints, and we would otherwise fail to
+ // produce a valid point when ArmijoLineSearch would succeed, we return the
+ // point with the lowest cost found thus far which satsifies the Armijo
+ // condition (but not the Wolfe conditions).
+ summary->optimal_point = bracket_low;
+ summary->success = true;
+ return;
+ }
+
+ VLOG(3) << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+ << "Starting line search zoom phase with bracket_low: "
+ << bracket_low << ", bracket_high: " << bracket_high
+ << ", bracket width: " << fabs(bracket_low.x - bracket_high.x)
+ << ", bracket abs delta cost: "
+ << fabs(bracket_low.value - bracket_high.value);
+
+ // Wolfe Zoom phase: Called when the Bracketing phase finds an interval of
+ // non-zero, finite width that should bracket step sizes which satisfy the
+ // (strong) Wolfe conditions (before finding a step size that satisfies the
+ // conditions). Zoom successively decreases the size of the interval until a
+ // step size which satisfies the Wolfe conditions is found. The interval is
+ // defined by bracket_low & bracket_high, which satisfy:
+ //
+ // 1. The interval bounded by step sizes: bracket_low.x & bracket_high.x
+ // contains step sizes that satsify the strong Wolfe conditions.
+ // 2. bracket_low.x is of all the step sizes evaluated *which satisifed the
+ // Armijo sufficient decrease condition*, the one which generated the
+ // smallest function value, i.e. bracket_low.value <
+ // f(all other steps satisfying Armijo).
+ // - Note that this does _not_ (necessarily) mean that initially
+ // bracket_low.value < bracket_high.value (although this is typical)
+ // e.g. when bracket_low = initial_position, and bracket_high is the
+ // first sample, and which does not satisfy the Armijo condition,
+ // but still has bracket_high.value < initial_position.value.
+ // 3. bracket_high is chosen after bracket_low, s.t.
+ // bracket_low.gradient * (bracket_high.x - bracket_low.x) < 0.
+ if (!this->ZoomPhase(initial_position,
+ bracket_low,
+ bracket_high,
+ &solution,
+ summary) && !solution.value_is_valid) {
+ // Failed to find a valid point (given the specified decrease parameters)
+ // within the specified bracket.
+ return;
+ }
+ // Ensure that if we ran out of iterations whilst zooming the bracket, or
+ // shrank the bracket width to < tolerance and failed to find a point which
+ // satisfies the strong Wolfe curvature condition, that we return the point
+ // amongst those found thus far, which minimizes f() and satisfies the Armijo
+ // condition.
+
+ if (!solution.value_is_valid || solution.value > bracket_low.value) {
+ summary->optimal_point = bracket_low;
+ } else {
+ summary->optimal_point = solution;
+ }
+
+ summary->success = true;
+}
+
+// Returns true if either:
+//
+// A termination condition satisfying the (strong) Wolfe bracketing conditions
+// is found:
+//
+// - A valid point, defined as a bracket of zero width [zoom not required].
+// - A valid bracket (of width > tolerance), [zoom required].
+//
+// Or, searching was stopped due to an 'artificial' constraint, i.e. not
+// a condition imposed / required by the underlying algorithm, but instead an
+// engineering / implementation consideration. But a step which exceeds the
+// minimum step size, and satsifies the Armijo condition was still found,
+// and should thus be used [zoom not required].
+//
+// Returns false if no step size > minimum step size was found which
+// satisfies at least the Armijo condition.
+bool WolfeLineSearch::BracketingPhase(
+ const FunctionSample& initial_position,
+ const double step_size_estimate,
+ FunctionSample* bracket_low,
+ FunctionSample* bracket_high,
+ bool* do_zoom_search,
+ Summary* summary) const {
+ LineSearchFunction* function = options().function;
+
+ FunctionSample previous = initial_position;
+ FunctionSample current;
+
+ const double descent_direction_max_norm =
+ function->DirectionInfinityNorm();
+
+ *do_zoom_search = false;
+ *bracket_low = initial_position;
+
+ // As we require the gradient to evaluate the Wolfe condition, we always
+ // calculate it together with the value, irrespective of the interpolation
+ // type. As opposed to only calculating the gradient after the Armijo
+ // condition is satisifed, as the computational saving from this approach
+ // would be slight (perhaps even negative due to the extra call). Also,
+ // always calculating the value & gradient together protects against us
+ // reporting invalid solutions if the cost function returns slightly different
+ // function values when evaluated with / without gradients (due to numerical
+ // issues).
+ ++summary->num_function_evaluations;
+ ++summary->num_gradient_evaluations;
+ const bool kEvaluateGradient = true;
+ function->Evaluate(step_size_estimate, kEvaluateGradient, ¤t);
+ while (true) {
+ ++summary->num_iterations;
+
+ if (current.value_is_valid &&
+ (current.value > (initial_position.value
+ + options().sufficient_decrease
+ * initial_position.gradient
+ * current.x) ||
+ (previous.value_is_valid && current.value > previous.value))) {
+ // Bracket found: current step size violates Armijo sufficient decrease
+ // condition, or has stepped past an inflection point of f() relative to
+ // previous step size.
+ *do_zoom_search = true;
+ *bracket_low = previous;
+ *bracket_high = current;
+ VLOG(3) << std::scientific
+ << std::setprecision(kErrorMessageNumericPrecision)
+ << "Bracket found: current step (" << current.x
+ << ") violates Armijo sufficient condition, or has passed an "
+ << "inflection point of f() based on value.";
+ break;
+ }
+
+ if (current.value_is_valid &&
+ fabs(current.gradient) <=
+ -options().sufficient_curvature_decrease * initial_position.gradient) {
+ // Current step size satisfies the strong Wolfe conditions, and is thus a
+ // valid termination point, therefore a Zoom not required.
+ *bracket_low = current;
+ *bracket_high = current;
+ VLOG(3) << std::scientific
+ << std::setprecision(kErrorMessageNumericPrecision)
+ << "Bracketing phase found step size: " << current.x
+ << ", satisfying strong Wolfe conditions, initial_position: "
+ << initial_position << ", current: " << current;
+ break;
+
+ } else if (current.value_is_valid && current.gradient >= 0) {
+ // Bracket found: current step size has stepped past an inflection point
+ // of f(), but Armijo sufficient decrease is still satisfied and
+ // f(current) is our best minimum thus far. Remember step size
+ // monotonically increases, thus previous_step_size < current_step_size
+ // even though f(previous) > f(current).
+ *do_zoom_search = true;
+ // Note inverse ordering from first bracket case.
+ *bracket_low = current;
+ *bracket_high = previous;
+ VLOG(3) << "Bracket found: current step (" << current.x
+ << ") satisfies Armijo, but has gradient >= 0, thus have passed "
+ << "an inflection point of f().";
+ break;
+
+ } else if (current.value_is_valid &&
+ fabs(current.x - previous.x) * descent_direction_max_norm
+ < options().min_step_size) {
+ // We have shrunk the search bracket to a width less than our tolerance,
+ // and still not found either a point satisfying the strong Wolfe
+ // conditions, or a valid bracket containing such a point. Stop searching
+ // and set bracket_low to the size size amongst all those tested which
+ // minimizes f() and satisfies the Armijo condition.
+ LOG_IF(WARNING, !options().is_silent)
+ << "Line search failed: Wolfe bracketing phase shrank "
+ << "bracket width: " << fabs(current.x - previous.x)
+ << ", to < tolerance: " << options().min_step_size
+ << ", with descent_direction_max_norm: "
+ << descent_direction_max_norm << ", and failed to find "
+ << "a point satisfying the strong Wolfe conditions or a "
+ << "bracketing containing such a point. Accepting "
+ << "point found satisfying Armijo condition only, to "
+ << "allow continuation.";
+ *bracket_low = current;
+ break;
+
+ } else if (summary->num_iterations >= options().max_num_iterations) {
+ // Check num iterations bound here so that we always evaluate the
+ // max_num_iterations-th iteration against all conditions, and
+ // then perform no additional (unused) evaluations.
+ summary->error =
+ StringPrintf("Line search failed: Wolfe bracketing phase failed to "
+ "find a point satisfying strong Wolfe conditions, or a "
+ "bracket containing such a point within specified "
+ "max_num_iterations: %d", options().max_num_iterations);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ // Ensure that bracket_low is always set to the step size amongst all
+ // those tested which minimizes f() and satisfies the Armijo condition
+ // when we terminate due to the 'artificial' max_num_iterations condition.
+ *bracket_low =
+ current.value_is_valid && current.value < bracket_low->value
+ ? current : *bracket_low;
+ break;
+ }
+ // Either: f(current) is invalid; or, f(current) is valid, but does not
+ // satisfy the strong Wolfe conditions itself, or the conditions for
+ // being a boundary of a bracket.
+
+ // If f(current) is valid, (but meets no criteria) expand the search by
+ // increasing the step size.
+ const double max_step_size =
+ current.value_is_valid
+ ? (current.x * options().max_step_expansion) : current.x;
+
+ // We are performing 2-point interpolation only here, but the API of
+ // InterpolatingPolynomialMinimizingStepSize() allows for up to
+ // 3-point interpolation, so pad call with a sample with an invalid
+ // value that will therefore be ignored.
+ const FunctionSample unused_previous;
+ DCHECK(!unused_previous.value_is_valid);
+ // Contracts step size if f(current) is not valid.
+ const double polynomial_minimization_start_time = WallTimeInSeconds();
+ const double step_size =
+ this->InterpolatingPolynomialMinimizingStepSize(
+ options().interpolation_type,
+ previous,
+ unused_previous,
+ current,
+ previous.x,
+ max_step_size);
+ summary->polynomial_minimization_time_in_seconds +=
+ (WallTimeInSeconds() - polynomial_minimization_start_time);
+ if (step_size * descent_direction_max_norm < options().min_step_size) {
+ summary->error =
+ StringPrintf("Line search failed: step_size too small: %.5e "
+ "with descent_direction_max_norm: %.5e", step_size,
+ descent_direction_max_norm);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return false;
+ }
+
+ previous = current.value_is_valid ? current : previous;
+ ++summary->num_function_evaluations;
+ ++summary->num_gradient_evaluations;
+ function->Evaluate(step_size, kEvaluateGradient, ¤t);
+ }
+
+ // Ensure that even if a valid bracket was found, we will only mark a zoom
+ // as required if the bracket's width is greater than our minimum tolerance.
+ if (*do_zoom_search &&
+ fabs(bracket_high->x - bracket_low->x) * descent_direction_max_norm
+ < options().min_step_size) {
+ *do_zoom_search = false;
+ }
+
+ return true;
+}
+
+// Returns true iff solution satisfies the strong Wolfe conditions. Otherwise,
+// on return false, if we stopped searching due to the 'artificial' condition of
+// reaching max_num_iterations, solution is the step size amongst all those
+// tested, which satisfied the Armijo decrease condition and minimized f().
+bool WolfeLineSearch::ZoomPhase(const FunctionSample& initial_position,
+ FunctionSample bracket_low,
+ FunctionSample bracket_high,
+ FunctionSample* solution,
+ Summary* summary) const {
+ LineSearchFunction* function = options().function;
+
+ CHECK(bracket_low.value_is_valid && bracket_low.gradient_is_valid)
+ << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+ << "Ceres bug: f_low input to Wolfe Zoom invalid, please contact "
+ << "the developers!, initial_position: " << initial_position
+ << ", bracket_low: " << bracket_low
+ << ", bracket_high: "<< bracket_high;
+ // We do not require bracket_high.gradient_is_valid as the gradient condition
+ // for a valid bracket is only dependent upon bracket_low.gradient, and
+ // in order to minimize jacobian evaluations, bracket_high.gradient may
+ // not have been calculated (if bracket_high.value does not satisfy the
+ // Armijo sufficient decrease condition and interpolation method does not
+ // require it).
+ //
+ // We also do not require that: bracket_low.value < bracket_high.value,
+ // although this is typical. This is to deal with the case when
+ // bracket_low = initial_position, bracket_high is the first sample,
+ // and bracket_high does not satisfy the Armijo condition, but still has
+ // bracket_high.value < initial_position.value.
+ CHECK(bracket_high.value_is_valid)
+ << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+ << "Ceres bug: f_high input to Wolfe Zoom invalid, please "
+ << "contact the developers!, initial_position: " << initial_position
+ << ", bracket_low: " << bracket_low
+ << ", bracket_high: "<< bracket_high;
+
+ if (bracket_low.gradient * (bracket_high.x - bracket_low.x) >= 0) {
+ // The third condition for a valid initial bracket:
+ //
+ // 3. bracket_high is chosen after bracket_low, s.t.
+ // bracket_low.gradient * (bracket_high.x - bracket_low.x) < 0.
+ //
+ // is not satisfied. As this can happen when the users' cost function
+ // returns inconsistent gradient values relative to the function values,
+ // we do not CHECK_LT(), but we do stop processing and return an invalid
+ // value.
+ summary->error =
+ StringPrintf("Line search failed: Wolfe zoom phase passed a bracket "
+ "which does not satisfy: bracket_low.gradient * "
+ "(bracket_high.x - bracket_low.x) < 0 [%.8e !< 0] "
+ "with initial_position: %s, bracket_low: %s, bracket_high:"
+ " %s, the most likely cause of which is the cost function "
+ "returning inconsistent gradient & function values.",
+ bracket_low.gradient * (bracket_high.x - bracket_low.x),
+ initial_position.ToDebugString().c_str(),
+ bracket_low.ToDebugString().c_str(),
+ bracket_high.ToDebugString().c_str());
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ solution->value_is_valid = false;
+ return false;
+ }
+
+ const int num_bracketing_iterations = summary->num_iterations;
+ const double descent_direction_max_norm = function->DirectionInfinityNorm();
+
+ while (true) {
+ // Set solution to bracket_low, as it is our best step size (smallest f())
+ // found thus far and satisfies the Armijo condition, even though it does
+ // not satisfy the Wolfe condition.
+ *solution = bracket_low;
+ if (summary->num_iterations >= options().max_num_iterations) {
+ summary->error =
+ StringPrintf("Line search failed: Wolfe zoom phase failed to "
+ "find a point satisfying strong Wolfe conditions "
+ "within specified max_num_iterations: %d, "
+ "(num iterations taken for bracketing: %d).",
+ options().max_num_iterations, num_bracketing_iterations);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return false;
+ }
+ if (fabs(bracket_high.x - bracket_low.x) * descent_direction_max_norm
+ < options().min_step_size) {
+ // Bracket width has been reduced below tolerance, and no point satisfying
+ // the strong Wolfe conditions has been found.
+ summary->error =
+ StringPrintf("Line search failed: Wolfe zoom bracket width: %.5e "
+ "too small with descent_direction_max_norm: %.5e.",
+ fabs(bracket_high.x - bracket_low.x),
+ descent_direction_max_norm);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return false;
+ }
+
+ ++summary->num_iterations;
+ // Polynomial interpolation requires inputs ordered according to step size,
+ // not f(step size).
+ const FunctionSample& lower_bound_step =
+ bracket_low.x < bracket_high.x ? bracket_low : bracket_high;
+ const FunctionSample& upper_bound_step =
+ bracket_low.x < bracket_high.x ? bracket_high : bracket_low;
+ // We are performing 2-point interpolation only here, but the API of
+ // InterpolatingPolynomialMinimizingStepSize() allows for up to
+ // 3-point interpolation, so pad call with a sample with an invalid
+ // value that will therefore be ignored.
+ const FunctionSample unused_previous;
+ DCHECK(!unused_previous.value_is_valid);
+ const double polynomial_minimization_start_time = WallTimeInSeconds();
+ const double step_size =
+ this->InterpolatingPolynomialMinimizingStepSize(
+ options().interpolation_type,
+ lower_bound_step,
+ unused_previous,
+ upper_bound_step,
+ lower_bound_step.x,
+ upper_bound_step.x);
+ summary->polynomial_minimization_time_in_seconds +=
+ (WallTimeInSeconds() - polynomial_minimization_start_time);
+ // No check on magnitude of step size being too small here as it is
+ // lower-bounded by the initial bracket start point, which was valid.
+ //
+ // As we require the gradient to evaluate the Wolfe condition, we always
+ // calculate it together with the value, irrespective of the interpolation
+ // type. As opposed to only calculating the gradient after the Armijo
+ // condition is satisifed, as the computational saving from this approach
+ // would be slight (perhaps even negative due to the extra call). Also,
+ // always calculating the value & gradient together protects against us
+ // reporting invalid solutions if the cost function returns slightly
+ // different function values when evaluated with / without gradients (due
+ // to numerical issues).
+ ++summary->num_function_evaluations;
+ ++summary->num_gradient_evaluations;
+ const bool kEvaluateGradient = true;
+ function->Evaluate(step_size, kEvaluateGradient, solution);
+ if (!solution->value_is_valid || !solution->gradient_is_valid) {
+ summary->error =
+ StringPrintf("Line search failed: Wolfe Zoom phase found "
+ "step_size: %.5e, for which function is invalid, "
+ "between low_step: %.5e and high_step: %.5e "
+ "at which function is valid.",
+ solution->x, bracket_low.x, bracket_high.x);
+ LOG_IF(WARNING, !options().is_silent) << summary->error;
+ return false;
+ }
+
+ VLOG(3) << "Zoom iteration: "
+ << summary->num_iterations - num_bracketing_iterations
+ << ", bracket_low: " << bracket_low
+ << ", bracket_high: " << bracket_high
+ << ", minimizing solution: " << *solution;
+
+ if ((solution->value > (initial_position.value
+ + options().sufficient_decrease
+ * initial_position.gradient
+ * solution->x)) ||
+ (solution->value >= bracket_low.value)) {
+ // Armijo sufficient decrease not satisfied, or not better
+ // than current lowest sample, use as new upper bound.
+ bracket_high = *solution;
+ continue;
+ }
+
+ // Armijo sufficient decrease satisfied, check strong Wolfe condition.
+ if (fabs(solution->gradient) <=
+ -options().sufficient_curvature_decrease * initial_position.gradient) {
+ // Found a valid termination point satisfying strong Wolfe conditions.
+ VLOG(3) << std::scientific
+ << std::setprecision(kErrorMessageNumericPrecision)
+ << "Zoom phase found step size: " << solution->x
+ << ", satisfying strong Wolfe conditions.";
+ break;
+
+ } else if (solution->gradient * (bracket_high.x - bracket_low.x) >= 0) {
+ bracket_high = bracket_low;
+ }
+
+ bracket_low = *solution;
+ }
+ // Solution contains a valid point which satisfies the strong Wolfe
+ // conditions.
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Interface for and implementation of various Line search algorithms.
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_H_
+#define CERES_INTERNAL_LINE_SEARCH_H_
+
+#include <string>
+#include <vector>
+#include "ceres/function_sample.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class LineSearchFunction;
+
+// Line search is another name for a one dimensional optimization
+// algorithm. The name "line search" comes from the fact one
+// dimensional optimization problems that arise as subproblems of
+// general multidimensional optimization problems.
+//
+// While finding the exact minimum of a one dimensionl function is
+// hard, instances of LineSearch find a point that satisfies a
+// sufficient decrease condition. Depending on the particular
+// condition used, we get a variety of different line search
+// algorithms, e.g., Armijo, Wolfe etc.
+class LineSearch {
+ public:
+ struct Summary;
+
+ struct Options {
+ Options()
+ : interpolation_type(CUBIC),
+ sufficient_decrease(1e-4),
+ max_step_contraction(1e-3),
+ min_step_contraction(0.9),
+ min_step_size(1e-9),
+ max_num_iterations(20),
+ sufficient_curvature_decrease(0.9),
+ max_step_expansion(10.0),
+ is_silent(false),
+ function(NULL) {}
+
+ // Degree of the polynomial used to approximate the objective
+ // function.
+ LineSearchInterpolationType interpolation_type;
+
+ // Armijo and Wolfe line search parameters.
+
+ // Solving the line search problem exactly is computationally
+ // prohibitive. Fortunately, line search based optimization
+ // algorithms can still guarantee convergence if instead of an
+ // exact solution, the line search algorithm returns a solution
+ // which decreases the value of the objective function
+ // sufficiently. More precisely, we are looking for a step_size
+ // s.t.
+ //
+ // f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+ double sufficient_decrease;
+
+ // In each iteration of the Armijo / Wolfe line search,
+ //
+ // new_step_size >= max_step_contraction * step_size
+ //
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double max_step_contraction;
+
+ // In each iteration of the Armijo / Wolfe line search,
+ //
+ // new_step_size <= min_step_contraction * step_size
+ // Note that by definition, for contraction:
+ //
+ // 0 < max_step_contraction < min_step_contraction < 1
+ //
+ double min_step_contraction;
+
+ // If during the line search, the step_size falls below this
+ // value, it is truncated to zero.
+ double min_step_size;
+
+ // Maximum number of trial step size iterations during each line search,
+ // if a step size satisfying the search conditions cannot be found within
+ // this number of trials, the line search will terminate.
+ int max_num_iterations;
+
+ // Wolfe-specific line search parameters.
+
+ // The strong Wolfe conditions consist of the Armijo sufficient
+ // decrease condition, and an additional requirement that the
+ // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+ // conditions) of the gradient along the search direction
+ // decreases sufficiently. Precisely, this second condition
+ // is that we seek a step_size s.t.
+ //
+ // |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+ //
+ // Where f() is the line search objective and f'() is the derivative
+ // of f w.r.t step_size (d f / d step_size).
+ double sufficient_curvature_decrease;
+
+ // During the bracketing phase of the Wolfe search, the step size is
+ // increased until either a point satisfying the Wolfe conditions is
+ // found, or an upper bound for a bracket containing a point satisfying
+ // the conditions is found. Precisely, at each iteration of the
+ // expansion:
+ //
+ // new_step_size <= max_step_expansion * step_size.
+ //
+ // By definition for expansion, max_step_expansion > 1.0.
+ double max_step_expansion;
+
+ bool is_silent;
+
+ // The one dimensional function that the line search algorithm
+ // minimizes.
+ LineSearchFunction* function;
+ };
+
+ // Result of the line search.
+ struct Summary {
+ Summary()
+ : success(false),
+ num_function_evaluations(0),
+ num_gradient_evaluations(0),
+ num_iterations(0),
+ cost_evaluation_time_in_seconds(-1.0),
+ gradient_evaluation_time_in_seconds(-1.0),
+ polynomial_minimization_time_in_seconds(-1.0),
+ total_time_in_seconds(-1.0) {}
+
+ bool success;
+ FunctionSample optimal_point;
+ int num_function_evaluations;
+ int num_gradient_evaluations;
+ int num_iterations;
+ // Cumulative time spent evaluating the value of the cost function across
+ // all iterations.
+ double cost_evaluation_time_in_seconds;
+ // Cumulative time spent evaluating the gradient of the cost function across
+ // all iterations.
+ double gradient_evaluation_time_in_seconds;
+ // Cumulative time spent minimizing the interpolating polynomial to compute
+ // the next candidate step size across all iterations.
+ double polynomial_minimization_time_in_seconds;
+ double total_time_in_seconds;
+ std::string error;
+ };
+
+ explicit LineSearch(const LineSearch::Options& options);
+ virtual ~LineSearch() {}
+
+ static LineSearch* Create(const LineSearchType line_search_type,
+ const LineSearch::Options& options,
+ std::string* error);
+
+ // Perform the line search.
+ //
+ // step_size_estimate must be a positive number.
+ //
+ // initial_cost and initial_gradient are the values and gradient of
+ // the function at zero.
+ // summary must not be null and will contain the result of the line
+ // search.
+ //
+ // Summary::success is true if a non-zero step size is found.
+ void Search(double step_size_estimate,
+ double initial_cost,
+ double initial_gradient,
+ Summary* summary) const;
+ double InterpolatingPolynomialMinimizingStepSize(
+ const LineSearchInterpolationType& interpolation_type,
+ const FunctionSample& lowerbound_sample,
+ const FunctionSample& previous_sample,
+ const FunctionSample& current_sample,
+ const double min_step_size,
+ const double max_step_size) const;
+
+ protected:
+ const LineSearch::Options& options() const { return options_; }
+
+ private:
+ virtual void DoSearch(double step_size_estimate,
+ double initial_cost,
+ double initial_gradient,
+ Summary* summary) const = 0;
+
+ private:
+ LineSearch::Options options_;
+};
+
+// An object used by the line search to access the function values
+// and gradient of the one dimensional function being optimized.
+//
+// In practice, this object provides access to the objective
+// function value and the directional derivative of the underlying
+// optimization problem along a specific search direction.
+class LineSearchFunction {
+ public:
+ explicit LineSearchFunction(Evaluator* evaluator);
+ void Init(const Vector& position, const Vector& direction);
+
+ // Evaluate the line search objective
+ //
+ // f(x) = p(position + x * direction)
+ //
+ // Where, p is the objective function of the general optimization
+ // problem.
+ //
+ // evaluate_gradient controls whether the gradient will be evaluated
+ // or not.
+ //
+ // On return output->*_is_valid indicate indicate whether the
+ // corresponding fields have numerically valid values or not.
+ void Evaluate(double x, bool evaluate_gradient, FunctionSample* output);
+
+ double DirectionInfinityNorm() const;
+
+ // Resets to now, the start point for the results from TimeStatistics().
+ void ResetTimeStatistics();
+ void TimeStatistics(double* cost_evaluation_time_in_seconds,
+ double* gradient_evaluation_time_in_seconds) const;
+ const Vector& position() const { return position_; }
+ const Vector& direction() const { return direction_; }
+
+ private:
+ Evaluator* evaluator_;
+ Vector position_;
+ Vector direction_;
+
+ // scaled_direction = x * direction_;
+ Vector scaled_direction_;
+
+ // We may not exclusively own the evaluator (e.g. in the Trust Region
+ // minimizer), hence we need to save the initial evaluation durations for the
+ // value & gradient to accurately determine the duration of the evaluations
+ // we invoked. These are reset by a call to ResetTimeStatistics().
+ double initial_evaluator_residual_time_in_seconds;
+ double initial_evaluator_jacobian_time_in_seconds;
+};
+
+// Backtracking and interpolation based Armijo line search. This
+// implementation is based on the Armijo line search that ships in the
+// minFunc package by Mark Schmidt.
+//
+// For more details: http://www.di.ens.fr/~mschmidt/Software/minFunc.html
+class ArmijoLineSearch : public LineSearch {
+ public:
+ explicit ArmijoLineSearch(const LineSearch::Options& options);
+ virtual ~ArmijoLineSearch() {}
+
+ private:
+ virtual void DoSearch(double step_size_estimate,
+ double initial_cost,
+ double initial_gradient,
+ Summary* summary) const;
+};
+
+// Bracketing / Zoom Strong Wolfe condition line search. This implementation
+// is based on the pseudo-code algorithm presented in Nocedal & Wright [1]
+// (p60-61) with inspiration from the WolfeLineSearch which ships with the
+// minFunc package by Mark Schmidt [2].
+//
+// [1] Nocedal J., Wright S., Numerical Optimization, 2nd Ed., Springer, 1999.
+// [2] http://www.di.ens.fr/~mschmidt/Software/minFunc.html.
+class WolfeLineSearch : public LineSearch {
+ public:
+ explicit WolfeLineSearch(const LineSearch::Options& options);
+ virtual ~WolfeLineSearch() {}
+
+ // Returns true iff either a valid point, or valid bracket are found.
+ bool BracketingPhase(const FunctionSample& initial_position,
+ const double step_size_estimate,
+ FunctionSample* bracket_low,
+ FunctionSample* bracket_high,
+ bool* perform_zoom_search,
+ Summary* summary) const;
+ // Returns true iff final_line_sample satisfies strong Wolfe conditions.
+ bool ZoomPhase(const FunctionSample& initial_position,
+ FunctionSample bracket_low,
+ FunctionSample bracket_high,
+ FunctionSample* solution,
+ Summary* summary) const;
+
+ private:
+ virtual void DoSearch(double step_size_estimate,
+ double initial_cost,
+ double initial_gradient,
+ Summary* summary) const;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINE_SEARCH_H_
--- /dev/null
+// 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/line_search_direction.h"
+#include "ceres/line_search_minimizer.h"
+#include "ceres/low_rank_inverse_hessian.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+class SteepestDescent : public LineSearchDirection {
+ public:
+ virtual ~SteepestDescent() {}
+ bool NextDirection(const LineSearchMinimizer::State& previous,
+ const LineSearchMinimizer::State& current,
+ Vector* search_direction) {
+ *search_direction = -current.gradient;
+ return true;
+ }
+};
+
+class NonlinearConjugateGradient : public LineSearchDirection {
+ public:
+ NonlinearConjugateGradient(const NonlinearConjugateGradientType type,
+ const double function_tolerance)
+ : type_(type),
+ function_tolerance_(function_tolerance) {
+ }
+
+ bool NextDirection(const LineSearchMinimizer::State& previous,
+ const LineSearchMinimizer::State& current,
+ Vector* search_direction) {
+ double beta = 0.0;
+ Vector gradient_change;
+ switch (type_) {
+ case FLETCHER_REEVES:
+ beta = current.gradient_squared_norm / previous.gradient_squared_norm;
+ break;
+ case POLAK_RIBIERE:
+ gradient_change = current.gradient - previous.gradient;
+ beta = (current.gradient.dot(gradient_change) /
+ previous.gradient_squared_norm);
+ break;
+ case HESTENES_STIEFEL:
+ gradient_change = current.gradient - previous.gradient;
+ beta = (current.gradient.dot(gradient_change) /
+ previous.search_direction.dot(gradient_change));
+ break;
+ default:
+ LOG(FATAL) << "Unknown nonlinear conjugate gradient type: " << type_;
+ }
+
+ *search_direction = -current.gradient + beta * previous.search_direction;
+ const double directional_derivative =
+ current.gradient.dot(*search_direction);
+ if (directional_derivative > -function_tolerance_) {
+ LOG(WARNING) << "Restarting non-linear conjugate gradients: "
+ << directional_derivative;
+ *search_direction = -current.gradient;
+ }
+
+ return true;
+ }
+
+ private:
+ const NonlinearConjugateGradientType type_;
+ const double function_tolerance_;
+};
+
+class LBFGS : public LineSearchDirection {
+ public:
+ LBFGS(const int num_parameters,
+ const int max_lbfgs_rank,
+ const bool use_approximate_eigenvalue_bfgs_scaling)
+ : low_rank_inverse_hessian_(num_parameters,
+ max_lbfgs_rank,
+ use_approximate_eigenvalue_bfgs_scaling),
+ is_positive_definite_(true) {}
+
+ virtual ~LBFGS() {}
+
+ bool NextDirection(const LineSearchMinimizer::State& previous,
+ const LineSearchMinimizer::State& current,
+ Vector* search_direction) {
+ CHECK(is_positive_definite_)
+ << "Ceres bug: NextDirection() called on L-BFGS after inverse Hessian "
+ << "approximation has become indefinite, please contact the "
+ << "developers!";
+
+ low_rank_inverse_hessian_.Update(
+ previous.search_direction * previous.step_size,
+ current.gradient - previous.gradient);
+
+ search_direction->setZero();
+ low_rank_inverse_hessian_.RightMultiply(current.gradient.data(),
+ search_direction->data());
+ *search_direction *= -1.0;
+
+ if (search_direction->dot(current.gradient) >= 0.0) {
+ LOG(WARNING) << "Numerical failure in L-BFGS update: inverse Hessian "
+ << "approximation is not positive definite, and thus "
+ << "initial gradient for search direction is positive: "
+ << search_direction->dot(current.gradient);
+ is_positive_definite_ = false;
+ return false;
+ }
+
+ return true;
+ }
+
+ private:
+ LowRankInverseHessian low_rank_inverse_hessian_;
+ bool is_positive_definite_;
+};
+
+class BFGS : public LineSearchDirection {
+ public:
+ BFGS(const int num_parameters,
+ const bool use_approximate_eigenvalue_scaling)
+ : num_parameters_(num_parameters),
+ use_approximate_eigenvalue_scaling_(use_approximate_eigenvalue_scaling),
+ initialized_(false),
+ is_positive_definite_(true) {
+ LOG_IF(WARNING, num_parameters_ >= 1e3)
+ << "BFGS line search being created with: " << num_parameters_
+ << " parameters, this will allocate a dense approximate inverse Hessian"
+ << " of size: " << num_parameters_ << " x " << num_parameters_
+ << ", consider using the L-BFGS memory-efficient line search direction "
+ << "instead.";
+ // Construct inverse_hessian_ after logging warning about size s.t. if the
+ // allocation crashes us, the log will highlight what the issue likely was.
+ inverse_hessian_ = Matrix::Identity(num_parameters, num_parameters);
+ }
+
+ virtual ~BFGS() {}
+
+ bool NextDirection(const LineSearchMinimizer::State& previous,
+ const LineSearchMinimizer::State& current,
+ Vector* search_direction) {
+ CHECK(is_positive_definite_)
+ << "Ceres bug: NextDirection() called on BFGS after inverse Hessian "
+ << "approximation has become indefinite, please contact the "
+ << "developers!";
+
+ const Vector delta_x = previous.search_direction * previous.step_size;
+ const Vector delta_gradient = current.gradient - previous.gradient;
+ const double delta_x_dot_delta_gradient = delta_x.dot(delta_gradient);
+
+ // The (L)BFGS algorithm explicitly requires that the secant equation:
+ //
+ // B_{k+1} * s_k = y_k
+ //
+ // Is satisfied at each iteration, where B_{k+1} is the approximated
+ // Hessian at the k+1-th iteration, s_k = (x_{k+1} - x_{k}) and
+ // y_k = (grad_{k+1} - grad_{k}). As the approximated Hessian must be
+ // positive definite, this is equivalent to the condition:
+ //
+ // s_k^T * y_k > 0 [s_k^T * B_{k+1} * s_k = s_k^T * y_k > 0]
+ //
+ // This condition would always be satisfied if the function was strictly
+ // convex, alternatively, it is always satisfied provided that a Wolfe line
+ // search is used (even if the function is not strictly convex). See [1]
+ // (p138) for a proof.
+ //
+ // Although Ceres will always use a Wolfe line search when using (L)BFGS,
+ // practical implementation considerations mean that the line search
+ // may return a point that satisfies only the Armijo condition, and thus
+ // could violate the Secant equation. As such, we will only use a step
+ // to update the Hessian approximation if:
+ //
+ // s_k^T * y_k > tolerance
+ //
+ // It is important that tolerance is very small (and >=0), as otherwise we
+ // might skip the update too often and fail to capture important curvature
+ // information in the Hessian. For example going from 1e-10 -> 1e-14
+ // improves the NIST benchmark score from 43/54 to 53/54.
+ //
+ // [1] Nocedal J, Wright S, Numerical Optimization, 2nd Ed. Springer, 1999.
+ //
+ // TODO(alexs.mac): Consider using Damped BFGS update instead of
+ // skipping update.
+ const double kBFGSSecantConditionHessianUpdateTolerance = 1e-14;
+ if (delta_x_dot_delta_gradient <=
+ kBFGSSecantConditionHessianUpdateTolerance) {
+ VLOG(2) << "Skipping BFGS Update, delta_x_dot_delta_gradient too "
+ << "small: " << delta_x_dot_delta_gradient << ", tolerance: "
+ << kBFGSSecantConditionHessianUpdateTolerance
+ << " (Secant condition).";
+ } else {
+ // Update dense inverse Hessian approximation.
+
+ if (!initialized_ && use_approximate_eigenvalue_scaling_) {
+ // Rescale the initial inverse Hessian approximation (H_0) to be
+ // iteratively updated so that it is of similar 'size' to the true
+ // inverse Hessian at the start point. As shown in [1]:
+ //
+ // \gamma = (delta_gradient_{0}' * delta_x_{0}) /
+ // (delta_gradient_{0}' * delta_gradient_{0})
+ //
+ // Satisfies:
+ //
+ // (1 / \lambda_m) <= \gamma <= (1 / \lambda_1)
+ //
+ // Where \lambda_1 & \lambda_m are the smallest and largest eigenvalues
+ // of the true initial Hessian (not the inverse) respectively. Thus,
+ // \gamma is an approximate eigenvalue of the true inverse Hessian, and
+ // choosing: H_0 = I * \gamma will yield a starting point that has a
+ // similar scale to the true inverse Hessian. This technique is widely
+ // reported to often improve convergence, however this is not
+ // universally true, particularly if there are errors in the initial
+ // gradients, or if there are significant differences in the sensitivity
+ // of the problem to the parameters (i.e. the range of the magnitudes of
+ // the components of the gradient is large).
+ //
+ // The original origin of this rescaling trick is somewhat unclear, the
+ // earliest reference appears to be Oren [1], however it is widely
+ // discussed without specific attributation in various texts including
+ // [2] (p143).
+ //
+ // [1] Oren S.S., Self-scaling variable metric (SSVM) algorithms
+ // Part II: Implementation and experiments, Management Science,
+ // 20(5), 863-874, 1974.
+ // [2] Nocedal J., Wright S., Numerical Optimization, Springer, 1999.
+ const double approximate_eigenvalue_scale =
+ delta_x_dot_delta_gradient / delta_gradient.dot(delta_gradient);
+ inverse_hessian_ *= approximate_eigenvalue_scale;
+
+ VLOG(4) << "Applying approximate_eigenvalue_scale: "
+ << approximate_eigenvalue_scale << " to initial inverse "
+ << "Hessian approximation.";
+ }
+ initialized_ = true;
+
+ // Efficient O(num_parameters^2) BFGS update [2].
+ //
+ // Starting from dense BFGS update detailed in Nocedal [2] p140/177 and
+ // using: y_k = delta_gradient, s_k = delta_x:
+ //
+ // \rho_k = 1.0 / (s_k' * y_k)
+ // V_k = I - \rho_k * y_k * s_k'
+ // H_k = (V_k' * H_{k-1} * V_k) + (\rho_k * s_k * s_k')
+ //
+ // This update involves matrix, matrix products which naively O(N^3),
+ // however we can exploit our knowledge that H_k is positive definite
+ // and thus by defn. symmetric to reduce the cost of the update:
+ //
+ // Expanding the update above yields:
+ //
+ // H_k = H_{k-1} +
+ // \rho_k * ( (1.0 + \rho_k * y_k' * H_k * y_k) * s_k * s_k' -
+ // (s_k * y_k' * H_k + H_k * y_k * s_k') )
+ //
+ // Using: A = (s_k * y_k' * H_k), and the knowledge that H_k = H_k', the
+ // last term simplifies to (A + A'). Note that although A is not symmetric
+ // (A + A') is symmetric. For ease of construction we also define
+ // B = (1 + \rho_k * y_k' * H_k * y_k) * s_k * s_k', which is by defn
+ // symmetric due to construction from: s_k * s_k'.
+ //
+ // Now we can write the BFGS update as:
+ //
+ // H_k = H_{k-1} + \rho_k * (B - (A + A'))
+
+ // For efficiency, as H_k is by defn. symmetric, we will only maintain the
+ // *lower* triangle of H_k (and all intermediary terms).
+
+ const double rho_k = 1.0 / delta_x_dot_delta_gradient;
+
+ // Calculate: A = s_k * y_k' * H_k
+ Matrix A = delta_x * (delta_gradient.transpose() *
+ inverse_hessian_.selfadjointView<Eigen::Lower>());
+
+ // Calculate scalar: (1 + \rho_k * y_k' * H_k * y_k)
+ const double delta_x_times_delta_x_transpose_scale_factor =
+ (1.0 + (rho_k * delta_gradient.transpose() *
+ inverse_hessian_.selfadjointView<Eigen::Lower>() *
+ delta_gradient));
+ // Calculate: B = (1 + \rho_k * y_k' * H_k * y_k) * s_k * s_k'
+ Matrix B = Matrix::Zero(num_parameters_, num_parameters_);
+ B.selfadjointView<Eigen::Lower>().
+ rankUpdate(delta_x, delta_x_times_delta_x_transpose_scale_factor);
+
+ // Finally, update inverse Hessian approximation according to:
+ // H_k = H_{k-1} + \rho_k * (B - (A + A')). Note that (A + A') is
+ // symmetric, even though A is not.
+ inverse_hessian_.triangularView<Eigen::Lower>() +=
+ rho_k * (B - A - A.transpose());
+ }
+
+ *search_direction =
+ inverse_hessian_.selfadjointView<Eigen::Lower>() *
+ (-1.0 * current.gradient);
+
+ if (search_direction->dot(current.gradient) >= 0.0) {
+ LOG(WARNING) << "Numerical failure in BFGS update: inverse Hessian "
+ << "approximation is not positive definite, and thus "
+ << "initial gradient for search direction is positive: "
+ << search_direction->dot(current.gradient);
+ is_positive_definite_ = false;
+ return false;
+ }
+
+ return true;
+ }
+
+ private:
+ const int num_parameters_;
+ const bool use_approximate_eigenvalue_scaling_;
+ Matrix inverse_hessian_;
+ bool initialized_;
+ bool is_positive_definite_;
+};
+
+LineSearchDirection*
+LineSearchDirection::Create(const LineSearchDirection::Options& options) {
+ if (options.type == STEEPEST_DESCENT) {
+ return new SteepestDescent;
+ }
+
+ if (options.type == NONLINEAR_CONJUGATE_GRADIENT) {
+ return new NonlinearConjugateGradient(
+ options.nonlinear_conjugate_gradient_type,
+ options.function_tolerance);
+ }
+
+ if (options.type == ceres::LBFGS) {
+ return new ceres::internal::LBFGS(
+ options.num_parameters,
+ options.max_lbfgs_rank,
+ options.use_approximate_eigenvalue_bfgs_scaling);
+ }
+
+ if (options.type == ceres::BFGS) {
+ return new ceres::internal::BFGS(
+ options.num_parameters,
+ options.use_approximate_eigenvalue_bfgs_scaling);
+ }
+
+ LOG(ERROR) << "Unknown line search direction type: " << options.type;
+ return NULL;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
+#define CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/line_search_minimizer.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class LineSearchDirection {
+ public:
+ struct Options {
+ Options()
+ : num_parameters(0),
+ type(LBFGS),
+ nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+ function_tolerance(1e-12),
+ max_lbfgs_rank(20),
+ use_approximate_eigenvalue_bfgs_scaling(true) {
+ }
+
+ int num_parameters;
+ LineSearchDirectionType type;
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+ double function_tolerance;
+ int max_lbfgs_rank;
+ bool use_approximate_eigenvalue_bfgs_scaling;
+ };
+
+ static LineSearchDirection* Create(const Options& options);
+
+ virtual ~LineSearchDirection() {}
+ virtual bool NextDirection(const LineSearchMinimizer::State& previous,
+ const LineSearchMinimizer::State& current,
+ Vector* search_direction) = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
--- /dev/null
+// 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)
+//
+// Generic loop for line search based optimization algorithms.
+//
+// This is primarily inpsired by the minFunc packaged written by Mark
+// Schmidt.
+//
+// http://www.di.ens.fr/~mschmidt/Software/minFunc.html
+//
+// For details on the theory and implementation see "Numerical
+// Optimization" by Nocedal & Wright.
+
+#include "ceres/line_search_minimizer.h"
+
+#include <algorithm>
+#include <cstdlib>
+#include <cmath>
+#include <string>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/array_utils.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/line_search.h"
+#include "ceres/line_search_direction.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool EvaluateGradientNorms(Evaluator* evaluator,
+ const Vector& x,
+ LineSearchMinimizer::State* state,
+ std::string* message) {
+ Vector negative_gradient = -state->gradient;
+ Vector projected_gradient_step(x.size());
+ if (!evaluator->Plus(
+ x.data(), negative_gradient.data(), projected_gradient_step.data())) {
+ *message = "projected_gradient_step = Plus(x, -gradient) failed.";
+ return false;
+ }
+
+ state->gradient_squared_norm = (x - projected_gradient_step).squaredNorm();
+ state->gradient_max_norm =
+ (x - projected_gradient_step).lpNorm<Eigen::Infinity>();
+ return true;
+}
+
+} // namespace
+
+void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary) {
+ const bool is_not_silent = !options.is_silent;
+ double start_time = WallTimeInSeconds();
+ double iteration_start_time = start_time;
+
+ Evaluator* evaluator = CHECK_NOTNULL(options.evaluator.get());
+ const int num_parameters = evaluator->NumParameters();
+ const int num_effective_parameters = evaluator->NumEffectiveParameters();
+
+ summary->termination_type = NO_CONVERGENCE;
+ summary->num_successful_steps = 0;
+ summary->num_unsuccessful_steps = 0;
+
+ VectorRef x(parameters, num_parameters);
+
+ State current_state(num_parameters, num_effective_parameters);
+ State previous_state(num_parameters, num_effective_parameters);
+
+ IterationSummary iteration_summary;
+ iteration_summary.iteration = 0;
+ iteration_summary.step_is_valid = false;
+ iteration_summary.step_is_successful = false;
+ iteration_summary.cost_change = 0.0;
+ iteration_summary.gradient_max_norm = 0.0;
+ iteration_summary.gradient_norm = 0.0;
+ iteration_summary.step_norm = 0.0;
+ iteration_summary.linear_solver_iterations = 0;
+ iteration_summary.step_solver_time_in_seconds = 0;
+
+ // Do initial cost and gradient evaluation.
+ if (!evaluator->Evaluate(x.data(),
+ &(current_state.cost),
+ NULL,
+ current_state.gradient.data(),
+ NULL)) {
+ summary->termination_type = FAILURE;
+ summary->message = "Initial cost and jacobian evaluation failed.";
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+
+ if (!EvaluateGradientNorms(evaluator, x, ¤t_state, &summary->message)) {
+ summary->termination_type = FAILURE;
+ summary->message = "Initial cost and jacobian evaluation failed. "
+ "More details: " + summary->message;
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+
+ summary->initial_cost = current_state.cost + summary->fixed_cost;
+ iteration_summary.cost = current_state.cost + summary->fixed_cost;
+
+ iteration_summary.gradient_norm = sqrt(current_state.gradient_squared_norm);
+ iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
+ if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
+ summary->message = StringPrintf("Gradient tolerance reached. "
+ "Gradient max norm: %e <= %e",
+ iteration_summary.gradient_max_norm,
+ options.gradient_tolerance);
+ summary->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+
+ iteration_summary.iteration_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time;
+ iteration_summary.cumulative_time_in_seconds =
+ WallTimeInSeconds() - start_time
+ + summary->preprocessor_time_in_seconds;
+ summary->iterations.push_back(iteration_summary);
+
+ LineSearchDirection::Options line_search_direction_options;
+ line_search_direction_options.num_parameters = num_effective_parameters;
+ line_search_direction_options.type = options.line_search_direction_type;
+ line_search_direction_options.nonlinear_conjugate_gradient_type =
+ options.nonlinear_conjugate_gradient_type;
+ line_search_direction_options.max_lbfgs_rank = options.max_lbfgs_rank;
+ line_search_direction_options.use_approximate_eigenvalue_bfgs_scaling =
+ options.use_approximate_eigenvalue_bfgs_scaling;
+ scoped_ptr<LineSearchDirection> line_search_direction(
+ LineSearchDirection::Create(line_search_direction_options));
+
+ LineSearchFunction line_search_function(evaluator);
+
+ LineSearch::Options line_search_options;
+ line_search_options.interpolation_type =
+ options.line_search_interpolation_type;
+ line_search_options.min_step_size = options.min_line_search_step_size;
+ line_search_options.sufficient_decrease =
+ options.line_search_sufficient_function_decrease;
+ line_search_options.max_step_contraction =
+ options.max_line_search_step_contraction;
+ line_search_options.min_step_contraction =
+ options.min_line_search_step_contraction;
+ line_search_options.max_num_iterations =
+ options.max_num_line_search_step_size_iterations;
+ line_search_options.sufficient_curvature_decrease =
+ options.line_search_sufficient_curvature_decrease;
+ line_search_options.max_step_expansion =
+ options.max_line_search_step_expansion;
+ line_search_options.is_silent = options.is_silent;
+ line_search_options.function = &line_search_function;
+
+ scoped_ptr<LineSearch>
+ line_search(LineSearch::Create(options.line_search_type,
+ line_search_options,
+ &summary->message));
+ if (line_search.get() == NULL) {
+ summary->termination_type = FAILURE;
+ LOG_IF(ERROR, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+
+ LineSearch::Summary line_search_summary;
+ int num_line_search_direction_restarts = 0;
+
+ while (true) {
+ if (!RunCallbacks(options, iteration_summary, summary)) {
+ break;
+ }
+
+ iteration_start_time = WallTimeInSeconds();
+ if (iteration_summary.iteration >= options.max_num_iterations) {
+ summary->message = "Maximum number of iterations reached.";
+ summary->termination_type = NO_CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+
+ const double total_solver_time = iteration_start_time - start_time +
+ summary->preprocessor_time_in_seconds;
+ if (total_solver_time >= options.max_solver_time_in_seconds) {
+ summary->message = "Maximum solver time reached.";
+ summary->termination_type = NO_CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+
+ iteration_summary = IterationSummary();
+ iteration_summary.iteration = summary->iterations.back().iteration + 1;
+ iteration_summary.step_is_valid = false;
+ iteration_summary.step_is_successful = false;
+
+ bool line_search_status = true;
+ if (iteration_summary.iteration == 1) {
+ current_state.search_direction = -current_state.gradient;
+ } else {
+ line_search_status = line_search_direction->NextDirection(
+ previous_state,
+ current_state,
+ ¤t_state.search_direction);
+ }
+
+ if (!line_search_status &&
+ num_line_search_direction_restarts >=
+ options.max_num_line_search_direction_restarts) {
+ // Line search direction failed to generate a new direction, and we
+ // have already reached our specified maximum number of restarts,
+ // terminate optimization.
+ summary->message =
+ StringPrintf("Line search direction failure: specified "
+ "max_num_line_search_direction_restarts: %d reached.",
+ options.max_num_line_search_direction_restarts);
+ summary->termination_type = FAILURE;
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ } else if (!line_search_status) {
+ // Restart line search direction with gradient descent on first iteration
+ // as we have not yet reached our maximum number of restarts.
+ CHECK_LT(num_line_search_direction_restarts,
+ options.max_num_line_search_direction_restarts);
+
+ ++num_line_search_direction_restarts;
+ LOG_IF(WARNING, is_not_silent)
+ << "Line search direction algorithm: "
+ << LineSearchDirectionTypeToString(
+ options.line_search_direction_type)
+ << ", failed to produce a valid new direction at "
+ << "iteration: " << iteration_summary.iteration
+ << ". Restarting, number of restarts: "
+ << num_line_search_direction_restarts << " / "
+ << options.max_num_line_search_direction_restarts
+ << " [max].";
+ line_search_direction.reset(
+ LineSearchDirection::Create(line_search_direction_options));
+ current_state.search_direction = -current_state.gradient;
+ }
+
+ line_search_function.Init(x, current_state.search_direction);
+ current_state.directional_derivative =
+ current_state.gradient.dot(current_state.search_direction);
+
+ // TODO(sameeragarwal): Refactor this into its own object and add
+ // explanations for the various choices.
+ //
+ // Note that we use !line_search_status to ensure that we treat cases when
+ // we restarted the line search direction equivalently to the first
+ // iteration.
+ const double initial_step_size =
+ (iteration_summary.iteration == 1 || !line_search_status)
+ ? std::min(1.0, 1.0 / current_state.gradient_max_norm)
+ : std::min(1.0, 2.0 * (current_state.cost - previous_state.cost) /
+ current_state.directional_derivative);
+ // By definition, we should only ever go forwards along the specified search
+ // direction in a line search, most likely cause for this being violated
+ // would be a numerical failure in the line search direction calculation.
+ if (initial_step_size < 0.0) {
+ summary->message =
+ StringPrintf("Numerical failure in line search, initial_step_size is "
+ "negative: %.5e, directional_derivative: %.5e, "
+ "(current_cost - previous_cost): %.5e",
+ initial_step_size, current_state.directional_derivative,
+ (current_state.cost - previous_state.cost));
+ summary->termination_type = FAILURE;
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+
+ line_search->Search(initial_step_size,
+ current_state.cost,
+ current_state.directional_derivative,
+ &line_search_summary);
+ if (!line_search_summary.success) {
+ summary->message =
+ StringPrintf("Numerical failure in line search, failed to find "
+ "a valid step size, (did not run out of iterations) "
+ "using initial_step_size: %.5e, initial_cost: %.5e, "
+ "initial_gradient: %.5e.",
+ initial_step_size, current_state.cost,
+ current_state.directional_derivative);
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ summary->termination_type = FAILURE;
+ break;
+ }
+
+ const FunctionSample& optimal_point = line_search_summary.optimal_point;
+ CHECK(optimal_point.vector_x_is_valid)
+ << "Congratulations, you found a bug in Ceres. Please report it.";
+ current_state.step_size = optimal_point.x;
+ previous_state = current_state;
+ iteration_summary.step_solver_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time;
+
+ if (optimal_point.vector_gradient_is_valid) {
+ current_state.cost = optimal_point.value;
+ current_state.gradient = optimal_point.vector_gradient;
+ } else {
+ if (!evaluator->Evaluate(optimal_point.vector_x.data(),
+ &(current_state.cost),
+ NULL,
+ current_state.gradient.data(),
+ NULL)) {
+ summary->termination_type = FAILURE;
+ summary->message = "Cost and jacobian evaluation failed.";
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+ }
+
+ if (!EvaluateGradientNorms(evaluator,
+ optimal_point.vector_x,
+ ¤t_state,
+ &summary->message)) {
+ summary->termination_type = FAILURE;
+ summary->message =
+ "Step failed to evaluate. This should not happen as the step was "
+ "valid when it was selected by the line search. More details: " +
+ summary->message;
+ LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+
+ // Compute the norm of the step in the ambient space.
+ iteration_summary.step_norm = (optimal_point.vector_x - x).norm();
+ const double x_norm = x.norm();
+ x = optimal_point.vector_x;
+
+ iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
+ iteration_summary.gradient_norm = sqrt(current_state.gradient_squared_norm);
+ iteration_summary.cost_change = previous_state.cost - current_state.cost;
+ iteration_summary.cost = current_state.cost + summary->fixed_cost;
+
+ iteration_summary.step_is_valid = true;
+ iteration_summary.step_is_successful = true;
+ iteration_summary.step_size = current_state.step_size;
+ iteration_summary.line_search_function_evaluations =
+ line_search_summary.num_function_evaluations;
+ iteration_summary.line_search_gradient_evaluations =
+ line_search_summary.num_gradient_evaluations;
+ iteration_summary.line_search_iterations =
+ line_search_summary.num_iterations;
+ iteration_summary.iteration_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time;
+ iteration_summary.cumulative_time_in_seconds =
+ WallTimeInSeconds() - start_time
+ + summary->preprocessor_time_in_seconds;
+ summary->iterations.push_back(iteration_summary);
+
+ // Iterations inside the line search algorithm are considered
+ // 'steps' in the broader context, to distinguish these inner
+ // iterations from from the outer iterations of the line search
+ // minimizer. The number of line search steps is the total number
+ // of inner line search iterations (or steps) across the entire
+ // minimization.
+ summary->num_line_search_steps += line_search_summary.num_iterations;
+ summary->line_search_cost_evaluation_time_in_seconds +=
+ line_search_summary.cost_evaluation_time_in_seconds;
+ summary->line_search_gradient_evaluation_time_in_seconds +=
+ line_search_summary.gradient_evaluation_time_in_seconds;
+ summary->line_search_polynomial_minimization_time_in_seconds +=
+ line_search_summary.polynomial_minimization_time_in_seconds;
+ summary->line_search_total_time_in_seconds +=
+ line_search_summary.total_time_in_seconds;
+ ++summary->num_successful_steps;
+
+ const double step_size_tolerance = options.parameter_tolerance *
+ (x_norm + options.parameter_tolerance);
+ if (iteration_summary.step_norm <= step_size_tolerance) {
+ summary->message =
+ StringPrintf("Parameter tolerance reached. "
+ "Relative step_norm: %e <= %e.",
+ (iteration_summary.step_norm /
+ (x_norm + options.parameter_tolerance)),
+ options.parameter_tolerance);
+ summary->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return;
+ }
+
+ if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
+ summary->message = StringPrintf("Gradient tolerance reached. "
+ "Gradient max norm: %e <= %e",
+ iteration_summary.gradient_max_norm,
+ options.gradient_tolerance);
+ summary->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+
+ const double absolute_function_tolerance =
+ options.function_tolerance * previous_state.cost;
+ if (fabs(iteration_summary.cost_change) <= absolute_function_tolerance) {
+ summary->message =
+ StringPrintf("Function tolerance reached. "
+ "|cost_change|/cost: %e <= %e",
+ fabs(iteration_summary.cost_change) /
+ previous_state.cost,
+ options.function_tolerance);
+ summary->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ break;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
+#define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
+
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Generic line search minimization algorithm.
+//
+// For example usage, see SolverImpl::Minimize.
+class LineSearchMinimizer : public Minimizer {
+ public:
+ struct State {
+ State(int num_parameters,
+ int num_effective_parameters)
+ : cost(0.0),
+ gradient(num_effective_parameters),
+ gradient_squared_norm(0.0),
+ search_direction(num_effective_parameters),
+ directional_derivative(0.0),
+ step_size(0.0) {
+ }
+
+ double cost;
+ Vector gradient;
+ double gradient_squared_norm;
+ double gradient_max_norm;
+ Vector search_direction;
+ double directional_derivative;
+ double step_size;
+ };
+
+ ~LineSearchMinimizer() {}
+ virtual void Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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 <cmath>
+#include <cstdlib>
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction {
+ public:
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+
+ cost[0] = parameters[0] * parameters[0];
+ if (gradient != NULL) {
+ gradient[0] = 2.0 * parameters[0];
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 1; }
+};
+
+TEST(LineSearchMinimizerTest, FinalCostIsZero) {
+ double parameters[1] = {2.0};
+ ceres::GradientProblem problem(new QuadraticFirstOrderFunction);
+ ceres::GradientProblemSolver::Options options;
+ ceres::GradientProblemSolver::Summary summary;
+ ceres::Solve(options, problem, parameters, &summary);
+ EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon());
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/line_search_preprocessor.h"
+
+#include <numeric>
+#include <string>
+#include "ceres/evaluator.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool IsProgramValid(const Program& program, std::string* error) {
+ if (program.IsBoundsConstrained()) {
+ *error = "LINE_SEARCH Minimizer does not support bounds.";
+ return false;
+ }
+ return program.ParameterBlocksAreFinite(error);
+}
+
+bool SetupEvaluator(PreprocessedProblem* pp) {
+ pp->evaluator_options = Evaluator::Options();
+ // This ensures that we get a Block Jacobian Evaluator without any
+ // requirement on orderings.
+ pp->evaluator_options.linear_solver_type = CGNR;
+ pp->evaluator_options.num_eliminate_blocks = 0;
+ pp->evaluator_options.num_threads = pp->options.num_threads;
+ pp->evaluator.reset(Evaluator::Create(pp->evaluator_options,
+ pp->reduced_program.get(),
+ &pp->error));
+ return (pp->evaluator.get() != NULL);
+}
+
+} // namespace
+
+LineSearchPreprocessor::~LineSearchPreprocessor() {
+}
+
+bool LineSearchPreprocessor::Preprocess(const Solver::Options& options,
+ ProblemImpl* problem,
+ PreprocessedProblem* pp) {
+ CHECK_NOTNULL(pp);
+ pp->options = options;
+ ChangeNumThreadsIfNeeded(&pp->options);
+
+ pp->problem = problem;
+ Program* program = problem->mutable_program();
+ if (!IsProgramValid(*program, &pp->error)) {
+ return false;
+ }
+
+ pp->reduced_program.reset(
+ program->CreateReducedProgram(&pp->removed_parameter_blocks,
+ &pp->fixed_cost,
+ &pp->error));
+
+ if (pp->reduced_program.get() == NULL) {
+ return false;
+ }
+
+ if (pp->reduced_program->NumParameterBlocks() == 0) {
+ return true;
+ }
+
+ if (!SetupEvaluator(pp)) {
+ return false;
+ }
+
+ SetupCommonMinimizerOptions(pp);
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
+#define CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
+
+#include "ceres/preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+class LineSearchPreprocessor : public Preprocessor {
+ public:
+ virtual ~LineSearchPreprocessor();
+ virtual bool Preprocess(const Solver::Options& options,
+ ProblemImpl* problem,
+ PreprocessedProblem* preprocessed_problem);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
--- /dev/null
+// 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 <map>
+
+#include "ceres/problem_impl.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/line_search_preprocessor.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(LineSearchPreprocessor, ZeroProblem) {
+ ProblemImpl problem;
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, ProblemWithInvalidParameterBlock) {
+ ProblemImpl problem;
+ double x = std::numeric_limits<double>::quiet_NaN();
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, ParameterBlockHasBounds) {
+ ProblemImpl problem;
+ double x = 1.0;
+ problem.AddParameterBlock(&x, 1);
+ problem.SetParameterUpperBound(&x, 0, 1.0);
+ problem.SetParameterLowerBound(&x, 0, 2.0);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+class FailingCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return false;
+ }
+};
+
+TEST(LineSearchPreprocessor, RemoveParameterBlocksFailed) {
+ ProblemImpl problem;
+ double x = 3.0;
+ problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, RemoveParameterBlocksSucceeds) {
+ ProblemImpl problem;
+ double x = 3.0;
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+TEST(LineSearchPreprocessor, NormalOperation) {
+ ProblemImpl problem;
+ double x = 1.0;
+ double y = 1.0;
+ double z = 1.0;
+ problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x, &y);
+ problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y, &z);
+
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+
+ LineSearchPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type, CGNR);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/linear_least_squares_problems.h"
+
+#include <cstdio>
+#include <string>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/file.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stringprintf.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
+ switch (id) {
+ case 0:
+ return LinearLeastSquaresProblem0();
+ case 1:
+ return LinearLeastSquaresProblem1();
+ case 2:
+ return LinearLeastSquaresProblem2();
+ case 3:
+ return LinearLeastSquaresProblem3();
+ case 4:
+ return LinearLeastSquaresProblem4();
+ default:
+ LOG(FATAL) << "Unknown problem id requested " << id;
+ }
+ return NULL;
+}
+
+/*
+A = [1 2]
+ [3 4]
+ [6 -10]
+
+b = [ 8
+ 18
+ -18]
+
+x = [2
+ 3]
+
+D = [1
+ 2]
+
+x_D = [1.78448275;
+ 2.82327586;]
+ */
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ TripletSparseMatrix* A = new TripletSparseMatrix(3, 2, 6);
+ problem->b.reset(new double[3]);
+ problem->D.reset(new double[2]);
+
+ problem->x.reset(new double[2]);
+ problem->x_D.reset(new double[2]);
+
+ int* Ai = A->mutable_rows();
+ int* Aj = A->mutable_cols();
+ double* Ax = A->mutable_values();
+
+ int counter = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j< 2; ++j) {
+ Ai[counter] = i;
+ Aj[counter] = j;
+ ++counter;
+ }
+ }
+
+ Ax[0] = 1.;
+ Ax[1] = 2.;
+ Ax[2] = 3.;
+ Ax[3] = 4.;
+ Ax[4] = 6;
+ Ax[5] = -10;
+ A->set_num_nonzeros(6);
+ problem->A.reset(A);
+
+ problem->b[0] = 8;
+ problem->b[1] = 18;
+ problem->b[2] = -18;
+
+ problem->x[0] = 2.0;
+ problem->x[1] = 3.0;
+
+ problem->D[0] = 1;
+ problem->D[1] = 2;
+
+ problem->x_D[0] = 1.78448275;
+ problem->x_D[1] = 2.82327586;
+ return problem;
+}
+
+
+/*
+ A = [1 0 | 2 0 0
+ 3 0 | 0 4 0
+ 0 5 | 0 0 6
+ 0 7 | 8 0 0
+ 0 9 | 1 0 0
+ 0 0 | 1 1 1]
+
+ b = [0
+ 1
+ 2
+ 3
+ 4
+ 5]
+
+ c = A'* b = [ 3
+ 67
+ 33
+ 9
+ 17]
+
+ A'A = [10 0 2 12 0
+ 0 155 65 0 30
+ 2 65 70 1 1
+ 12 0 1 17 1
+ 0 30 1 1 37]
+
+ S = [ 42.3419 -1.4000 -11.5806
+ -1.4000 2.6000 1.0000
+ 11.5806 1.0000 31.1935]
+
+ r = [ 4.3032
+ 5.4000
+ 5.0323]
+
+ S\r = [ 0.2102
+ 2.1367
+ 0.1388]
+
+ A\b = [-2.3061
+ 0.3172
+ 0.2102
+ 2.1367
+ 0.1388]
+*/
+// The following two functions create a TripletSparseMatrix and a
+// BlockSparseMatrix version of this problem.
+
+// TripletSparseMatrix version.
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
+ int num_rows = 6;
+ int num_cols = 5;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ TripletSparseMatrix* A = new TripletSparseMatrix(num_rows,
+ num_cols,
+ num_rows * num_cols);
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ int* rows = A->mutable_rows();
+ int* cols = A->mutable_cols();
+ double* values = A->mutable_values();
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ rows[nnz] = 0;
+ cols[nnz] = 0;
+ values[nnz++] = 1;
+
+ rows[nnz] = 0;
+ cols[nnz] = 2;
+ values[nnz++] = 2;
+ }
+
+ // Row 2
+ {
+ rows[nnz] = 1;
+ cols[nnz] = 0;
+ values[nnz++] = 3;
+
+ rows[nnz] = 1;
+ cols[nnz] = 3;
+ values[nnz++] = 4;
+ }
+
+ // Row 3
+ {
+ rows[nnz] = 2;
+ cols[nnz] = 1;
+ values[nnz++] = 5;
+
+ rows[nnz] = 2;
+ cols[nnz] = 4;
+ values[nnz++] = 6;
+ }
+
+ // Row 4
+ {
+ rows[nnz] = 3;
+ cols[nnz] = 1;
+ values[nnz++] = 7;
+
+ rows[nnz] = 3;
+ cols[nnz] = 2;
+ values[nnz++] = 8;
+ }
+
+ // Row 5
+ {
+ rows[nnz] = 4;
+ cols[nnz] = 1;
+ values[nnz++] = 9;
+
+ rows[nnz] = 4;
+ cols[nnz] = 2;
+ values[nnz++] = 1;
+ }
+
+ // Row 6
+ {
+ rows[nnz] = 5;
+ cols[nnz] = 2;
+ values[nnz++] = 1;
+
+ rows[nnz] = 5;
+ cols[nnz] = 3;
+ values[nnz++] = 1;
+
+ rows[nnz] = 5;
+ cols[nnz] = 4;
+ values[nnz++] = 1;
+ }
+
+ A->set_num_nonzeros(nnz);
+ CHECK(A->IsValid());
+
+ problem->A.reset(A);
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ return problem;
+}
+
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
+ int num_rows = 6;
+ int num_cols = 5;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+ scoped_array<double> values(new double[num_rows * num_cols]);
+
+ for (int c = 0; c < num_cols; ++c) {
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 1;
+ bs->cols.back().position = c;
+ }
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ values[nnz++] = 1;
+ values[nnz++] = 2;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 1));
+ }
+
+ // Row 2
+ {
+ values[nnz++] = 3;
+ values[nnz++] = 4;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 1;
+ row.cells.push_back(Cell(0, 2));
+ row.cells.push_back(Cell(3, 3));
+ }
+
+ // Row 3
+ {
+ values[nnz++] = 5;
+ values[nnz++] = 6;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 4));
+ row.cells.push_back(Cell(4, 5));
+ }
+
+ // Row 4
+ {
+ values[nnz++] = 7;
+ values[nnz++] = 8;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 3;
+ row.cells.push_back(Cell(1, 6));
+ row.cells.push_back(Cell(2, 7));
+ }
+
+ // Row 5
+ {
+ values[nnz++] = 9;
+ values[nnz++] = 1;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 8));
+ row.cells.push_back(Cell(2, 9));
+ }
+
+ // Row 6
+ {
+ values[nnz++] = 1;
+ values[nnz++] = 1;
+ values[nnz++] = 1;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 5;
+ row.cells.push_back(Cell(2, 10));
+ row.cells.push_back(Cell(3, 11));
+ row.cells.push_back(Cell(4, 12));
+ }
+
+ BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ problem->A.reset(A);
+
+ return problem;
+}
+
+
+/*
+ A = [1 0
+ 3 0
+ 0 5
+ 0 7
+ 0 9
+ 0 0]
+
+ b = [0
+ 1
+ 2
+ 3
+ 4
+ 5]
+*/
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
+ int num_rows = 5;
+ int num_cols = 2;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+ scoped_array<double> values(new double[num_rows * num_cols]);
+
+ for (int c = 0; c < num_cols; ++c) {
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 1;
+ bs->cols.back().position = c;
+ }
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ values[nnz++] = 1;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ }
+
+ // Row 2
+ {
+ values[nnz++] = 3;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 1;
+ row.cells.push_back(Cell(0, 1));
+ }
+
+ // Row 3
+ {
+ values[nnz++] = 5;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 2));
+ }
+
+ // Row 4
+ {
+ values[nnz++] = 7;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 3;
+ row.cells.push_back(Cell(1, 3));
+ }
+
+ // Row 5
+ {
+ values[nnz++] = 9;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 4));
+ }
+
+ BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ problem->A.reset(A);
+
+ return problem;
+}
+
+/*
+ A = [1 2 0 0 0 1 1
+ 1 4 0 0 0 5 6
+ 0 0 9 0 0 3 1]
+
+ b = [0
+ 1
+ 2]
+*/
+// BlockSparseMatrix version
+//
+// This problem has the unique property that it has two different
+// sized f-blocks, but only one of them occurs in the rows involving
+// the one e-block. So performing Schur elimination on this problem
+// tests the Schur Eliminator's ability to handle non-e-block rows
+// correctly when their structure does not conform to the static
+// structure determined by DetectStructure.
+//
+// NOTE: This problem is too small and rank deficient to be solved without
+// the diagonal regularization.
+LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
+ int num_rows = 3;
+ int num_cols = 7;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 1;
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+ scoped_array<double> values(new double[num_rows * num_cols]);
+
+ // Column block structure
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 2;
+ bs->cols.back().position = 0;
+
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 3;
+ bs->cols.back().position = 2;
+
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 2;
+ bs->cols.back().position = 5;
+
+ int nnz = 0;
+
+ // Row 1 & 2
+ {
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+
+ row.cells.push_back(Cell(0, nnz));
+ values[nnz++] = 1;
+ values[nnz++] = 2;
+ values[nnz++] = 1;
+ values[nnz++] = 4;
+
+ row.cells.push_back(Cell(2, nnz));
+ values[nnz++] = 1;
+ values[nnz++] = 1;
+ values[nnz++] = 5;
+ values[nnz++] = 6;
+ }
+
+ // Row 3
+ {
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+
+ row.cells.push_back(Cell(1, nnz));
+ values[nnz++] = 9;
+ values[nnz++] = 0;
+ values[nnz++] = 0;
+
+ row.cells.push_back(Cell(2, nnz));
+ values[nnz++] = 3;
+ values[nnz++] = 1;
+ }
+
+ BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = (i + 1) * 100;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ problem->A.reset(A);
+ return problem;
+}
+
+namespace {
+bool DumpLinearLeastSquaresProblemToConsole(const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ CHECK_NOTNULL(A);
+ Matrix AA;
+ A->ToDenseMatrix(&AA);
+ LOG(INFO) << "A^T: \n" << AA.transpose();
+
+ if (D != NULL) {
+ LOG(INFO) << "A's appended diagonal:\n"
+ << ConstVectorRef(D, A->num_cols());
+ }
+
+ if (b != NULL) {
+ LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
+ }
+
+ if (x != NULL) {
+ LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
+ }
+ return true;
+}
+
+void WriteArrayToFileOrDie(const string& filename,
+ const double* x,
+ const int size) {
+ CHECK_NOTNULL(x);
+ VLOG(2) << "Writing array to: " << filename;
+ FILE* fptr = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr);
+ for (int i = 0; i < size; ++i) {
+ fprintf(fptr, "%17f\n", x[i]);
+ }
+ fclose(fptr);
+}
+
+bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ CHECK_NOTNULL(A);
+ LOG(INFO) << "writing to: " << filename_base << "*";
+
+ string matlab_script;
+ StringAppendF(&matlab_script,
+ "function lsqp = load_trust_region_problem()\n");
+ StringAppendF(&matlab_script,
+ "lsqp.num_rows = %d;\n", A->num_rows());
+ StringAppendF(&matlab_script,
+ "lsqp.num_cols = %d;\n", A->num_cols());
+
+ {
+ string filename = filename_base + "_A.txt";
+ FILE* fptr = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr);
+ A->ToTextFile(fptr);
+ fclose(fptr);
+ StringAppendF(&matlab_script,
+ "tmp = load('%s', '-ascii');\n", filename.c_str());
+ StringAppendF(
+ &matlab_script,
+ "lsqp.A = sparse(tmp(:, 1) + 1, tmp(:, 2) + 1, tmp(:, 3), %d, %d);\n",
+ A->num_rows(),
+ A->num_cols());
+ }
+
+
+ if (D != NULL) {
+ string filename = filename_base + "_D.txt";
+ WriteArrayToFileOrDie(filename, D, A->num_cols());
+ StringAppendF(&matlab_script,
+ "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ if (b != NULL) {
+ string filename = filename_base + "_b.txt";
+ WriteArrayToFileOrDie(filename, b, A->num_rows());
+ StringAppendF(&matlab_script,
+ "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ if (x != NULL) {
+ string filename = filename_base + "_x.txt";
+ WriteArrayToFileOrDie(filename, x, A->num_cols());
+ StringAppendF(&matlab_script,
+ "lsqp.x = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ string matlab_filename = filename_base + ".m";
+ WriteStringToFileOrDie(matlab_script, matlab_filename);
+ return true;
+}
+} // namespace
+
+bool DumpLinearLeastSquaresProblem(const string& filename_base,
+ DumpFormatType dump_format_type,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ switch (dump_format_type) {
+ case CONSOLE:
+ return DumpLinearLeastSquaresProblemToConsole(A, D, b, x,
+ num_eliminate_blocks);
+ case TEXTFILE:
+ return DumpLinearLeastSquaresProblemToTextFile(filename_base,
+ A, D, b, x,
+ num_eliminate_blocks);
+ default:
+ LOG(FATAL) << "Unknown DumpFormatType " << dump_format_type;
+ }
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+
+#include <string>
+#include <vector>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Structure defining a linear least squares problem and if possible
+// ground truth solutions. To be used by various LinearSolver tests.
+struct LinearLeastSquaresProblem {
+ LinearLeastSquaresProblem()
+ : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
+ x(NULL), x_D(NULL) {
+ }
+
+ scoped_ptr<SparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> D;
+ // If using the schur eliminator then how many of the variable
+ // blocks are e_type blocks.
+ int num_eliminate_blocks;
+
+ // Solution to min_x |Ax - b|^2
+ scoped_array<double> x;
+ // Solution to min_x |Ax - b|^2 + |Dx|^2
+ scoped_array<double> x_D;
+};
+
+// Factories for linear least squares problem.
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
+
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem4();
+
+// Write the linear least squares problem to disk. The exact format
+// depends on dump_format_type.
+bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
+ DumpFormatType dump_format_type,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks);
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
--- /dev/null
+// 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/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+LinearOperator::~LinearOperator() {
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Base classes for access to an linear operator.
+
+#ifndef CERES_INTERNAL_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_LINEAR_OPERATOR_H_
+
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// This is an abstract base class for linear operators. It supports
+// access to size information and left and right multiply operators.
+class LinearOperator {
+ public:
+ virtual ~LinearOperator();
+
+ // y = y + Ax;
+ virtual void RightMultiply(const double* x, double* y) const = 0;
+ // y = y + A'x;
+ virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_OPERATOR_H_
--- /dev/null
+// 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/linear_solver.h"
+
+#include "ceres/cgnr_solver.h"
+#include "ceres/dense_normal_cholesky_solver.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/iterative_schur_complement_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/dynamic_sparse_normal_cholesky_solver.h"
+#include "ceres/sparse_normal_cholesky_solver.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LinearSolver::~LinearSolver() {
+}
+
+LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
+ LinearSolverType linear_solver_type) {
+ if (!IsSchurType(linear_solver_type)) {
+ return linear_solver_type;
+ }
+
+ if (linear_solver_type == SPARSE_SCHUR) {
+ return SPARSE_NORMAL_CHOLESKY;
+ }
+
+ if (linear_solver_type == DENSE_SCHUR) {
+ // TODO(sameeragarwal): This is probably not a great choice.
+ // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
+ // a BlockSparseMatrix as input.
+ return DENSE_QR;
+ }
+
+ if (linear_solver_type == ITERATIVE_SCHUR) {
+ return CGNR;
+ }
+
+ return linear_solver_type;
+}
+
+LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
+ switch (options.type) {
+ case CGNR:
+ return new CgnrSolver(options);
+
+ case SPARSE_NORMAL_CHOLESKY:
+#if defined(CERES_NO_SUITESPARSE) && \
+ defined(CERES_NO_CXSPARSE) && \
+ !defined(CERES_USE_EIGEN_SPARSE)
+ return NULL;
+#else
+ if (options.dynamic_sparsity) {
+ return new DynamicSparseNormalCholeskySolver(options);
+ }
+
+ return new SparseNormalCholeskySolver(options);
+#endif
+
+ case SPARSE_SCHUR:
+#if defined(CERES_NO_SUITESPARSE) && \
+ defined(CERES_NO_CXSPARSE) && \
+ !defined(CERES_USE_EIGEN_SPARSE)
+ return NULL;
+#else
+ return new SparseSchurComplementSolver(options);
+#endif
+
+ case DENSE_SCHUR:
+ return new DenseSchurComplementSolver(options);
+
+ case ITERATIVE_SCHUR:
+ if (options.use_explicit_schur_complement) {
+ return new SparseSchurComplementSolver(options);
+ } else {
+ return new IterativeSchurComplementSolver(options);
+ }
+
+ case DENSE_QR:
+ return new DenseQRSolver(options);
+
+ case DENSE_NORMAL_CHOLESKY:
+ return new DenseNormalCholeskySolver(options);
+
+ default:
+ LOG(FATAL) << "Unknown linear solver type :"
+ << options.type;
+ return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Abstract interface for objects solving linear systems of various
+// kinds.
+
+#ifndef CERES_INTERNAL_LINEAR_SOLVER_H_
+#define CERES_INTERNAL_LINEAR_SOLVER_H_
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/execution_summary.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+enum LinearSolverTerminationType {
+ // Termination criterion was met.
+ LINEAR_SOLVER_SUCCESS,
+
+ // Solver ran for max_num_iterations and terminated before the
+ // termination tolerance could be satisfied.
+ LINEAR_SOLVER_NO_CONVERGENCE,
+
+ // Solver was terminated due to numerical problems, generally due to
+ // the linear system being poorly conditioned.
+ LINEAR_SOLVER_FAILURE,
+
+ // Solver failed with a fatal error that cannot be recovered from,
+ // e.g. CHOLMOD ran out of memory when computing the symbolic or
+ // numeric factorization or an underlying library was called with
+ // the wrong arguments.
+ LINEAR_SOLVER_FATAL_ERROR
+};
+
+// This enum controls the fill-reducing ordering a sparse linear
+// algebra library should use before computing a sparse factorization
+// (usually Cholesky).
+enum OrderingType {
+ NATURAL, // Do not re-order the matrix. This is useful when the
+ // matrix has been ordered using a fill-reducing ordering
+ // already.
+ AMD // Use the Approximate Minimum Degree algorithm to re-order
+ // the matrix.
+};
+
+class LinearOperator;
+
+// Abstract base class for objects that implement algorithms for
+// solving linear systems
+//
+// Ax = b
+//
+// It is expected that a single instance of a LinearSolver object
+// maybe used multiple times for solving multiple linear systems with
+// the same sparsity structure. This allows them to cache and reuse
+// information across solves. This means that calling Solve on the
+// same LinearSolver instance with two different linear systems will
+// result in undefined behaviour.
+//
+// Subclasses of LinearSolver use two structs to configure themselves.
+// The Options struct configures the LinearSolver object for its
+// lifetime. The PerSolveOptions struct is used to specify options for
+// a particular Solve call.
+class LinearSolver {
+ public:
+ struct Options {
+ Options()
+ : type(SPARSE_NORMAL_CHOLESKY),
+ preconditioner_type(JACOBI),
+ visibility_clustering_type(CANONICAL_VIEWS),
+ dense_linear_algebra_library_type(EIGEN),
+ sparse_linear_algebra_library_type(SUITE_SPARSE),
+ use_postordering(false),
+ dynamic_sparsity(false),
+ use_explicit_schur_complement(false),
+ min_num_iterations(1),
+ max_num_iterations(1),
+ num_threads(1),
+ residual_reset_period(10),
+ row_block_size(Eigen::Dynamic),
+ e_block_size(Eigen::Dynamic),
+ f_block_size(Eigen::Dynamic) {
+ }
+
+ LinearSolverType type;
+ PreconditionerType preconditioner_type;
+ VisibilityClusteringType visibility_clustering_type;
+ DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+ // See solver.h for information about these flags.
+ bool use_postordering;
+ bool dynamic_sparsity;
+ bool use_explicit_schur_complement;
+
+ // Number of internal iterations that the solver uses. This
+ // parameter only makes sense for iterative solvers like CG.
+ int min_num_iterations;
+ int max_num_iterations;
+
+ // If possible, how many threads can the solver use.
+ int num_threads;
+
+ // Hints about the order in which the parameter blocks should be
+ // eliminated by the linear solver.
+ //
+ // For example if elimination_groups is a vector of size k, then
+ // the linear solver is informed that it should eliminate the
+ // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+ // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+ // on. Within each elimination group, the linear solver is free to
+ // choose how the parameter blocks are ordered. Different linear
+ // solvers have differing requirements on elimination_groups.
+ //
+ // The most common use is for Schur type solvers, where there
+ // should be at least two elimination groups and the first
+ // elimination group must form an independent set in the normal
+ // equations. The first elimination group corresponds to the
+ // num_eliminate_blocks in the Schur type solvers.
+ std::vector<int> elimination_groups;
+
+ // Iterative solvers, e.g. Preconditioned Conjugate Gradients
+ // maintain a cheap estimate of the residual which may become
+ // inaccurate over time. Thus for non-zero values of this
+ // parameter, the solver can be told to recalculate the value of
+ // the residual using a |b - Ax| evaluation.
+ int residual_reset_period;
+
+ // If the block sizes in a BlockSparseMatrix are fixed, then in
+ // some cases the Schur complement based solvers can detect and
+ // specialize on them.
+ //
+ // It is expected that these parameters are set programmatically
+ // rather than manually.
+ //
+ // Please see schur_complement_solver.h and schur_eliminator.h for
+ // more details.
+ int row_block_size;
+ int e_block_size;
+ int f_block_size;
+ };
+
+ // Options for the Solve method.
+ struct PerSolveOptions {
+ PerSolveOptions()
+ : D(NULL),
+ preconditioner(NULL),
+ r_tolerance(0.0),
+ q_tolerance(0.0) {
+ }
+
+ // This option only makes sense for unsymmetric linear solvers
+ // that can solve rectangular linear systems.
+ //
+ // Given a matrix A, an optional diagonal matrix D as a vector,
+ // and a vector b, the linear solver will solve for
+ //
+ // | A | x = | b |
+ // | D | | 0 |
+ //
+ // If D is null, then it is treated as zero, and the solver returns
+ // the solution to
+ //
+ // A x = b
+ //
+ // In either case, x is the vector that solves the following
+ // optimization problem.
+ //
+ // arg min_x ||Ax - b||^2 + ||Dx||^2
+ //
+ // Here A is a matrix of size m x n, with full column rank. If A
+ // does not have full column rank, the results returned by the
+ // solver cannot be relied on. D, if it is not null is an array of
+ // size n. b is an array of size m and x is an array of size n.
+ double * D;
+
+ // This option only makes sense for iterative solvers.
+ //
+ // In general the performance of an iterative linear solver
+ // depends on the condition number of the matrix A. For example
+ // the convergence rate of the conjugate gradients algorithm
+ // is proportional to the square root of the condition number.
+ //
+ // One particularly useful technique for improving the
+ // conditioning of a linear system is to precondition it. In its
+ // simplest form a preconditioner is a matrix M such that instead
+ // of solving Ax = b, we solve the linear system AM^{-1} y = b
+ // instead, where M is such that the condition number k(AM^{-1})
+ // is smaller than the conditioner k(A). Given the solution to
+ // this system, x = M^{-1} y. The iterative solver takes care of
+ // the mechanics of solving the preconditioned system and
+ // returning the corrected solution x. The user only needs to
+ // supply a linear operator.
+ //
+ // A null preconditioner is equivalent to an identity matrix being
+ // used a preconditioner.
+ LinearOperator* preconditioner;
+
+
+ // The following tolerance related options only makes sense for
+ // iterative solvers. Direct solvers ignore them.
+
+ // Solver terminates when
+ //
+ // |Ax - b| <= r_tolerance * |b|.
+ //
+ // This is the most commonly used termination criterion for
+ // iterative solvers.
+ double r_tolerance;
+
+ // For PSD matrices A, let
+ //
+ // Q(x) = x'Ax - 2b'x
+ //
+ // be the cost of the quadratic function defined by A and b. Then,
+ // the solver terminates at iteration i if
+ //
+ // i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+ //
+ // This termination criterion is more useful when using CG to
+ // solve the Newton step. This particular convergence test comes
+ // from Stephen Nash's work on truncated Newton
+ // methods. References:
+ //
+ // 1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+ // Direction Within A Truncated Newton Method, Operation
+ // Research Letters 9(1990) 219-221.
+ //
+ // 2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+ // Journal of Computational and Applied Mathematics,
+ // 124(1-2), 45-59, 2000.
+ //
+ double q_tolerance;
+ };
+
+ // Summary of a call to the Solve method. We should move away from
+ // the true/false method for determining solver success. We should
+ // let the summary object do the talking.
+ struct Summary {
+ Summary()
+ : residual_norm(0.0),
+ num_iterations(-1),
+ termination_type(LINEAR_SOLVER_FAILURE) {
+ }
+
+ double residual_norm;
+ int num_iterations;
+ LinearSolverTerminationType termination_type;
+ std::string message;
+ };
+
+ // If the optimization problem is such that there are no remaining
+ // e-blocks, a Schur type linear solver cannot be used. If the
+ // linear solver is of Schur type, this function implements a policy
+ // to select an alternate nearest linear solver to the one selected
+ // by the user. The input linear_solver_type is returned otherwise.
+ static LinearSolverType LinearSolverForZeroEBlocks(
+ LinearSolverType linear_solver_type);
+
+ virtual ~LinearSolver();
+
+ // Solve Ax = b.
+ virtual Summary Solve(LinearOperator* A,
+ const double* b,
+ const PerSolveOptions& per_solve_options,
+ double* x) = 0;
+
+ // The following two methods return copies instead of references so
+ // that the base class implementation does not have to worry about
+ // life time issues. Further, these calls are not expected to be
+ // frequent or performance sensitive.
+ virtual std::map<std::string, int> CallStatistics() const {
+ return std::map<std::string, int>();
+ }
+
+ virtual std::map<std::string, double> TimeStatistics() const {
+ return std::map<std::string, double>();
+ }
+
+ // Factory
+ static LinearSolver* Create(const Options& options);
+};
+
+// This templated subclass of LinearSolver serves as a base class for
+// other linear solvers that depend on the particular matrix layout of
+// the underlying linear operator. For example some linear solvers
+// need low level access to the TripletSparseMatrix implementing the
+// LinearOperator interface. This class hides those implementation
+// details behind a private virtual method, and has the Solve method
+// perform the necessary upcasting.
+template <typename MatrixType>
+class TypedLinearSolver : public LinearSolver {
+ public:
+ virtual ~TypedLinearSolver() {}
+ virtual LinearSolver::Summary Solve(
+ LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ ScopedExecutionTimer total_time("LinearSolver::Solve", &execution_summary_);
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(b);
+ CHECK_NOTNULL(x);
+ return SolveImpl(down_cast<MatrixType*>(A), b, per_solve_options, x);
+ }
+
+ virtual std::map<std::string, int> CallStatistics() const {
+ return execution_summary_.calls();
+ }
+
+ virtual std::map<std::string, double> TimeStatistics() const {
+ return execution_summary_.times();
+ }
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ MatrixType* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) = 0;
+
+ ExecutionSummary execution_summary_;
+};
+
+// Linear solvers that depend on acccess to the low level structure of
+// a SparseMatrix.
+typedef TypedLinearSolver<BlockSparseMatrix> BlockSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<CompressedRowSparseMatrix> CompressedRowSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<DenseSparseMatrix> DenseSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<TripletSparseMatrix> TripletSparseMatrixSolver; // NOLINT
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_SOLVER_H_
--- /dev/null
+// 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/local_parameterization.h"
+
+#include <algorithm>
+#include "Eigen/Geometry"
+#include "ceres/householder_vector.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+using std::vector;
+
+LocalParameterization::~LocalParameterization() {
+}
+
+bool LocalParameterization::MultiplyByJacobian(const double* x,
+ const int num_rows,
+ const double* global_matrix,
+ double* local_matrix) const {
+ Matrix jacobian(GlobalSize(), LocalSize());
+ if (!ComputeJacobian(x, jacobian.data())) {
+ return false;
+ }
+
+ MatrixRef(local_matrix, num_rows, LocalSize()) =
+ ConstMatrixRef(global_matrix, num_rows, GlobalSize()) * jacobian;
+ return true;
+}
+
+IdentityParameterization::IdentityParameterization(const int size)
+ : size_(size) {
+ CHECK_GT(size, 0);
+}
+
+bool IdentityParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ VectorRef(x_plus_delta, size_) =
+ ConstVectorRef(x, size_) + ConstVectorRef(delta, size_);
+ return true;
+}
+
+bool IdentityParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
+ return true;
+}
+
+bool IdentityParameterization::MultiplyByJacobian(const double* x,
+ const int num_cols,
+ const double* global_matrix,
+ double* local_matrix) const {
+ std::copy(global_matrix,
+ global_matrix + num_cols * GlobalSize(),
+ local_matrix);
+ return true;
+}
+
+SubsetParameterization::SubsetParameterization(
+ int size, const vector<int>& constant_parameters)
+ : local_size_(size - constant_parameters.size()), constancy_mask_(size, 0) {
+ vector<int> constant = constant_parameters;
+ std::sort(constant.begin(), constant.end());
+ CHECK_GE(constant.front(), 0)
+ << "Indices indicating constant parameter must be greater than zero.";
+ CHECK_LT(constant.back(), size)
+ << "Indices indicating constant parameter must be less than the size "
+ << "of the parameter block.";
+ CHECK(std::adjacent_find(constant.begin(), constant.end()) == constant.end())
+ << "The set of constant parameters cannot contain duplicates";
+ for (int i = 0; i < constant_parameters.size(); ++i) {
+ constancy_mask_[constant_parameters[i]] = 1;
+ }
+}
+
+bool SubsetParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ if (constancy_mask_[i]) {
+ x_plus_delta[i] = x[i];
+ } else {
+ x_plus_delta[i] = x[i] + delta[j++];
+ }
+ }
+ return true;
+}
+
+bool SubsetParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ if (local_size_ == 0) {
+ return true;
+ }
+
+ MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
+ m.setZero();
+ for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ if (!constancy_mask_[i]) {
+ m(i, j++) = 1.0;
+ }
+ }
+ return true;
+}
+
+bool SubsetParameterization::MultiplyByJacobian(const double* x,
+ const int num_rows,
+ const double* global_matrix,
+ double* local_matrix) const {
+ if (local_size_ == 0) {
+ return true;
+ }
+
+ for (int row = 0; row < num_rows; ++row) {
+ for (int col = 0, j = 0; col < constancy_mask_.size(); ++col) {
+ if (!constancy_mask_[col]) {
+ local_matrix[row * LocalSize() + j++] =
+ global_matrix[row * GlobalSize() + col];
+ }
+ }
+ }
+ return true;
+}
+
+bool QuaternionParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ const double norm_delta =
+ sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+ if (norm_delta > 0.0) {
+ const double sin_delta_by_delta = (sin(norm_delta) / norm_delta);
+ double q_delta[4];
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ } else {
+ for (int i = 0; i < 4; ++i) {
+ x_plus_delta[i] = x[i];
+ }
+ }
+ return true;
+}
+
+bool QuaternionParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ jacobian[0] = -x[1]; jacobian[1] = -x[2]; jacobian[2] = -x[3]; // NOLINT
+ jacobian[3] = x[0]; jacobian[4] = x[3]; jacobian[5] = -x[2]; // NOLINT
+ jacobian[6] = -x[3]; jacobian[7] = x[0]; jacobian[8] = x[1]; // NOLINT
+ jacobian[9] = x[2]; jacobian[10] = -x[1]; jacobian[11] = x[0]; // NOLINT
+ return true;
+}
+
+bool EigenQuaternionParameterization::Plus(const double* x_ptr,
+ const double* delta,
+ double* x_plus_delta_ptr) const {
+ Eigen::Map<Eigen::Quaterniond> x_plus_delta(x_plus_delta_ptr);
+ Eigen::Map<const Eigen::Quaterniond> x(x_ptr);
+
+ const double norm_delta =
+ sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+ if (norm_delta > 0.0) {
+ const double sin_delta_by_delta = sin(norm_delta) / norm_delta;
+
+ // Note, in the constructor w is first.
+ Eigen::Quaterniond delta_q(cos(norm_delta),
+ sin_delta_by_delta * delta[0],
+ sin_delta_by_delta * delta[1],
+ sin_delta_by_delta * delta[2]);
+ x_plus_delta = delta_q * x;
+ } else {
+ x_plus_delta = x;
+ }
+
+ return true;
+}
+
+bool EigenQuaternionParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ jacobian[0] = x[3]; jacobian[1] = x[2]; jacobian[2] = -x[1]; // NOLINT
+ jacobian[3] = -x[2]; jacobian[4] = x[3]; jacobian[5] = x[0]; // NOLINT
+ jacobian[6] = x[1]; jacobian[7] = -x[0]; jacobian[8] = x[3]; // NOLINT
+ jacobian[9] = -x[0]; jacobian[10] = -x[1]; jacobian[11] = -x[2]; // NOLINT
+ return true;
+}
+
+HomogeneousVectorParameterization::HomogeneousVectorParameterization(int size)
+ : size_(size) {
+ CHECK_GT(size_, 1) << "The size of the homogeneous vector needs to be "
+ << "greater than 1.";
+}
+
+bool HomogeneousVectorParameterization::Plus(const double* x_ptr,
+ const double* delta_ptr,
+ double* x_plus_delta_ptr) const {
+ ConstVectorRef x(x_ptr, size_);
+ ConstVectorRef delta(delta_ptr, size_ - 1);
+ VectorRef x_plus_delta(x_plus_delta_ptr, size_);
+
+ const double norm_delta = delta.norm();
+
+ if (norm_delta == 0.0) {
+ x_plus_delta = x;
+ return true;
+ }
+
+ // Map the delta from the minimum representation to the over parameterized
+ // homogeneous vector. See section A6.9.2 on page 624 of Hartley & Zisserman
+ // (2nd Edition) for a detailed description. Note there is a typo on Page
+ // 625, line 4 so check the book errata.
+ const double norm_delta_div_2 = 0.5 * norm_delta;
+ const double sin_delta_by_delta = sin(norm_delta_div_2) /
+ norm_delta_div_2;
+
+ Vector y(size_);
+ y.head(size_ - 1) = 0.5 * sin_delta_by_delta * delta;
+ y(size_ - 1) = cos(norm_delta_div_2);
+
+ Vector v(size_);
+ double beta;
+ internal::ComputeHouseholderVector<double>(x, &v, &beta);
+
+ // Apply the delta update to remain on the unit sphere. See section A6.9.3
+ // on page 625 of Hartley & Zisserman (2nd Edition) for a detailed
+ // description.
+ x_plus_delta = x.norm() * (y - v * (beta * (v.transpose() * y)));
+
+ return true;
+}
+
+bool HomogeneousVectorParameterization::ComputeJacobian(
+ const double* x_ptr, double* jacobian_ptr) const {
+ ConstVectorRef x(x_ptr, size_);
+ MatrixRef jacobian(jacobian_ptr, size_, size_ - 1);
+
+ Vector v(size_);
+ double beta;
+ internal::ComputeHouseholderVector<double>(x, &v, &beta);
+
+ // The Jacobian is equal to J = 0.5 * H.leftCols(size_ - 1) where H is the
+ // Householder matrix (H = I - beta * v * v').
+ for (int i = 0; i < size_ - 1; ++i) {
+ jacobian.col(i) = -0.5 * beta * v(i) * v;
+ jacobian.col(i)(i) += 0.5;
+ }
+ jacobian *= x.norm();
+
+ return true;
+}
+
+ProductParameterization::ProductParameterization(
+ LocalParameterization* local_param1,
+ LocalParameterization* local_param2) {
+ local_params_.push_back(local_param1);
+ local_params_.push_back(local_param2);
+ Init();
+}
+
+ProductParameterization::ProductParameterization(
+ LocalParameterization* local_param1,
+ LocalParameterization* local_param2,
+ LocalParameterization* local_param3) {
+ local_params_.push_back(local_param1);
+ local_params_.push_back(local_param2);
+ local_params_.push_back(local_param3);
+ Init();
+}
+
+ProductParameterization::ProductParameterization(
+ LocalParameterization* local_param1,
+ LocalParameterization* local_param2,
+ LocalParameterization* local_param3,
+ LocalParameterization* local_param4) {
+ local_params_.push_back(local_param1);
+ local_params_.push_back(local_param2);
+ local_params_.push_back(local_param3);
+ local_params_.push_back(local_param4);
+ Init();
+}
+
+ProductParameterization::~ProductParameterization() {
+ for (int i = 0; i < local_params_.size(); ++i) {
+ delete local_params_[i];
+ }
+}
+
+void ProductParameterization::Init() {
+ global_size_ = 0;
+ local_size_ = 0;
+ buffer_size_ = 0;
+ for (int i = 0; i < local_params_.size(); ++i) {
+ const LocalParameterization* param = local_params_[i];
+ buffer_size_ = std::max(buffer_size_,
+ param->LocalSize() * param->GlobalSize());
+ global_size_ += param->GlobalSize();
+ local_size_ += param->LocalSize();
+ }
+}
+
+bool ProductParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ int x_cursor = 0;
+ int delta_cursor = 0;
+ for (int i = 0; i < local_params_.size(); ++i) {
+ const LocalParameterization* param = local_params_[i];
+ if (!param->Plus(x + x_cursor,
+ delta + delta_cursor,
+ x_plus_delta + x_cursor)) {
+ return false;
+ }
+ delta_cursor += param->LocalSize();
+ x_cursor += param->GlobalSize();
+ }
+
+ return true;
+}
+
+bool ProductParameterization::ComputeJacobian(const double* x,
+ double* jacobian_ptr) const {
+ MatrixRef jacobian(jacobian_ptr, GlobalSize(), LocalSize());
+ jacobian.setZero();
+ internal::FixedArray<double> buffer(buffer_size_);
+
+ int x_cursor = 0;
+ int delta_cursor = 0;
+ for (int i = 0; i < local_params_.size(); ++i) {
+ const LocalParameterization* param = local_params_[i];
+ const int local_size = param->LocalSize();
+ const int global_size = param->GlobalSize();
+
+ if (!param->ComputeJacobian(x + x_cursor, buffer.get())) {
+ return false;
+ }
+ jacobian.block(x_cursor, delta_cursor, global_size, local_size)
+ = MatrixRef(buffer.get(), global_size, local_size);
+
+ delta_cursor += local_size;
+ x_cursor += global_size;
+ }
+
+ return true;
+}
+
+} // namespace ceres
--- /dev/null
+// 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 <cmath>
+#include <limits>
+#include "Eigen/Geometry"
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/fpclassify.h"
+#include "ceres/householder_vector.h"
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/random.h"
+#include "ceres/rotation.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(IdentityParameterization, EverythingTest) {
+ IdentityParameterization parameterization(3);
+ EXPECT_EQ(parameterization.GlobalSize(), 3);
+ EXPECT_EQ(parameterization.LocalSize(), 3);
+
+ double x[3] = {1.0, 2.0, 3.0};
+ double delta[3] = {0.0, 1.0, 2.0};
+ double x_plus_delta[3] = {0.0, 0.0, 0.0};
+ parameterization.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(x_plus_delta[0], 1.0);
+ EXPECT_EQ(x_plus_delta[1], 3.0);
+ EXPECT_EQ(x_plus_delta[2], 5.0);
+
+ double jacobian[9];
+ parameterization.ComputeJacobian(x, jacobian);
+ int k = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j, ++k) {
+ EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
+ }
+ }
+
+ Matrix global_matrix = Matrix::Ones(10, 3);
+ Matrix local_matrix = Matrix::Zero(10, 3);
+ parameterization.MultiplyByJacobian(x,
+ 10,
+ global_matrix.data(),
+ local_matrix.data());
+ EXPECT_EQ((local_matrix - global_matrix).norm(), 0.0);
+}
+
+
+TEST(SubsetParameterization, NegativeParameterIndexDeathTest) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(-1);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(2, constant_parameters),
+ "greater than zero");
+}
+
+TEST(SubsetParameterization, GreaterThanSizeParameterIndexDeathTest) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(2);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(2, constant_parameters),
+ "less than the size");
+}
+
+TEST(SubsetParameterization, DuplicateParametersDeathTest) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(1);
+ constant_parameters.push_back(1);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(2, constant_parameters),
+ "duplicates");
+}
+
+TEST(SubsetParameterization,
+ ProductParameterizationWithZeroLocalSizeSubsetParameterization1) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(0);
+ LocalParameterization* subset_param =
+ new SubsetParameterization(1, constant_parameters);
+ LocalParameterization* identity_param = new IdentityParameterization(2);
+ ProductParameterization product_param(subset_param, identity_param);
+ EXPECT_EQ(product_param.GlobalSize(), 3);
+ EXPECT_EQ(product_param.LocalSize(), 2);
+ double x[] = {1.0, 1.0, 1.0};
+ double delta[] = {2.0, 3.0};
+ double x_plus_delta[] = {0.0, 0.0, 0.0};
+ EXPECT_TRUE(product_param.Plus(x, delta, x_plus_delta));
+ EXPECT_EQ(x_plus_delta[0], x[0]);
+ EXPECT_EQ(x_plus_delta[1], x[1] + delta[0]);
+ EXPECT_EQ(x_plus_delta[2], x[2] + delta[1]);
+
+ Matrix actual_jacobian(3, 2);
+ EXPECT_TRUE(product_param.ComputeJacobian(x, actual_jacobian.data()));
+}
+
+TEST(SubsetParameterization,
+ ProductParameterizationWithZeroLocalSizeSubsetParameterization2) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(0);
+ LocalParameterization* subset_param =
+ new SubsetParameterization(1, constant_parameters);
+ LocalParameterization* identity_param = new IdentityParameterization(2);
+ ProductParameterization product_param(identity_param, subset_param);
+ EXPECT_EQ(product_param.GlobalSize(), 3);
+ EXPECT_EQ(product_param.LocalSize(), 2);
+ double x[] = {1.0, 1.0, 1.0};
+ double delta[] = {2.0, 3.0};
+ double x_plus_delta[] = {0.0, 0.0, 0.0};
+ EXPECT_TRUE(product_param.Plus(x, delta, x_plus_delta));
+ EXPECT_EQ(x_plus_delta[0], x[0] + delta[0]);
+ EXPECT_EQ(x_plus_delta[1], x[1] + delta[1]);
+ EXPECT_EQ(x_plus_delta[2], x[2]);
+
+ Matrix actual_jacobian(3, 2);
+ EXPECT_TRUE(product_param.ComputeJacobian(x, actual_jacobian.data()));
+}
+
+TEST(SubsetParameterization, NormalFunctionTest) {
+ const int kGlobalSize = 4;
+ const int kLocalSize = 3;
+
+ double x[kGlobalSize] = {1.0, 2.0, 3.0, 4.0};
+ for (int i = 0; i < kGlobalSize; ++i) {
+ std::vector<int> constant_parameters;
+ constant_parameters.push_back(i);
+ SubsetParameterization parameterization(kGlobalSize, constant_parameters);
+ double delta[kLocalSize] = {1.0, 2.0, 3.0};
+ double x_plus_delta[kGlobalSize] = {0.0, 0.0, 0.0};
+
+ parameterization.Plus(x, delta, x_plus_delta);
+ int k = 0;
+ for (int j = 0; j < kGlobalSize; ++j) {
+ if (j == i) {
+ EXPECT_EQ(x_plus_delta[j], x[j]);
+ } else {
+ EXPECT_EQ(x_plus_delta[j], x[j] + delta[k++]);
+ }
+ }
+
+ double jacobian[kGlobalSize * kLocalSize];
+ parameterization.ComputeJacobian(x, jacobian);
+ int delta_cursor = 0;
+ int jacobian_cursor = 0;
+ for (int j = 0; j < kGlobalSize; ++j) {
+ if (j != i) {
+ for (int k = 0; k < kLocalSize; ++k, jacobian_cursor++) {
+ EXPECT_EQ(jacobian[jacobian_cursor], delta_cursor == k ? 1.0 : 0.0);
+ }
+ ++delta_cursor;
+ } else {
+ for (int k = 0; k < kLocalSize; ++k, jacobian_cursor++) {
+ EXPECT_EQ(jacobian[jacobian_cursor], 0.0);
+ }
+ }
+ }
+
+ Matrix global_matrix = Matrix::Ones(10, kGlobalSize);
+ for (int row = 0; row < kGlobalSize; ++row) {
+ for (int col = 0; col < kGlobalSize; ++col) {
+ global_matrix(row, col) = col;
+ }
+ }
+
+ Matrix local_matrix = Matrix::Zero(10, kLocalSize);
+ parameterization.MultiplyByJacobian(x,
+ 10,
+ global_matrix.data(),
+ local_matrix.data());
+ Matrix expected_local_matrix =
+ global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
+ EXPECT_EQ((local_matrix - expected_local_matrix).norm(), 0.0);
+ }
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// quaternions.
+struct QuaternionPlus {
+ template<typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ const T squared_norm_delta =
+ delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+ T q_delta[4];
+ if (squared_norm_delta > T(0.0)) {
+ T norm_delta = sqrt(squared_norm_delta);
+ const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ } else {
+ // We do not just use q_delta = [1,0,0,0] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ q_delta[0] = T(1.0);
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+ }
+
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ return true;
+ }
+};
+
+template<typename Parameterization, typename Plus>
+void QuaternionParameterizationTestHelper(
+ const double* x, const double* delta,
+ const double* x_plus_delta_ref) {
+ const int kGlobalSize = 4;
+ const int kLocalSize = 3;
+
+ const double kTolerance = 1e-14;
+
+ double x_plus_delta[kGlobalSize] = {0.0, 0.0, 0.0, 0.0};
+ Parameterization parameterization;
+ parameterization.Plus(x, delta, x_plus_delta);
+ for (int i = 0; i < kGlobalSize; ++i) {
+ EXPECT_NEAR(x_plus_delta[i], x_plus_delta[i], kTolerance);
+ }
+
+ const double x_plus_delta_norm =
+ sqrt(x_plus_delta[0] * x_plus_delta[0] +
+ x_plus_delta[1] * x_plus_delta[1] +
+ x_plus_delta[2] * x_plus_delta[2] +
+ x_plus_delta[3] * x_plus_delta[3]);
+
+ EXPECT_NEAR(x_plus_delta_norm, 1.0, kTolerance);
+
+ double jacobian_ref[12];
+ double zero_delta[kLocalSize] = {0.0, 0.0, 0.0};
+ const double* parameters[2] = {x, zero_delta};
+ double* jacobian_array[2] = { NULL, jacobian_ref };
+
+ // Autodiff jacobian at delta_x = 0.
+ internal::AutoDiff<Plus,
+ double,
+ kGlobalSize,
+ kLocalSize>::Differentiate(Plus(),
+ parameters,
+ kGlobalSize,
+ x_plus_delta,
+ jacobian_array);
+
+ double jacobian[12];
+ parameterization.ComputeJacobian(x, jacobian);
+ for (int i = 0; i < 12; ++i) {
+ EXPECT_TRUE(IsFinite(jacobian[i]));
+ EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
+ << "Jacobian mismatch: i = " << i
+ << "\n Expected \n"
+ << ConstMatrixRef(jacobian_ref, kGlobalSize, kLocalSize)
+ << "\n Actual \n"
+ << ConstMatrixRef(jacobian, kGlobalSize, kLocalSize);
+ }
+
+ Matrix global_matrix = Matrix::Random(10, kGlobalSize);
+ Matrix local_matrix = Matrix::Zero(10, kLocalSize);
+ parameterization.MultiplyByJacobian(x,
+ 10,
+ global_matrix.data(),
+ local_matrix.data());
+ Matrix expected_local_matrix =
+ global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
+ EXPECT_NEAR((local_matrix - expected_local_matrix).norm(),
+ 0.0,
+ 10.0 * std::numeric_limits<double>::epsilon());
+}
+
+template <int N>
+void Normalize(double* x) {
+ VectorRef(x, N).normalize();
+}
+
+TEST(QuaternionParameterization, ZeroTest) {
+ double x[4] = {0.5, 0.5, 0.5, 0.5};
+ double delta[3] = {0.0, 0.0, 0.0};
+ double q_delta[4] = {1.0, 0.0, 0.0, 0.0};
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ QuaternionParameterizationTestHelper<QuaternionParameterization,
+ QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+TEST(QuaternionParameterization, NearZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ Normalize<4>(x);
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ for (int i = 0; i < 3; ++i) {
+ delta[i] = delta[i] * 1e-14;
+ }
+
+ double q_delta[4];
+ q_delta[0] = 1.0;
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ QuaternionParameterizationTestHelper<QuaternionParameterization,
+ QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+TEST(QuaternionParameterization, AwayFromZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ Normalize<4>(x);
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ const double delta_norm = sqrt(delta[0] * delta[0] +
+ delta[1] * delta[1] +
+ delta[2] * delta[2]);
+ double q_delta[4];
+ q_delta[0] = cos(delta_norm);
+ q_delta[1] = sin(delta_norm) / delta_norm * delta[0];
+ q_delta[2] = sin(delta_norm) / delta_norm * delta[1];
+ q_delta[3] = sin(delta_norm) / delta_norm * delta[2];
+
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ QuaternionParameterizationTestHelper<QuaternionParameterization,
+ QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// Eigen's quaternion.
+struct EigenQuaternionPlus {
+ template<typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ const T norm_delta =
+ sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+
+ Eigen::Quaternion<T> q_delta;
+ if (norm_delta > T(0.0)) {
+ const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+ q_delta.coeffs() << sin_delta_by_delta * delta[0],
+ sin_delta_by_delta * delta[1], sin_delta_by_delta * delta[2],
+ cos(norm_delta);
+ } else {
+ // We do not just use q_delta = [0,0,0,1] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ q_delta.coeffs() << delta[0], delta[1], delta[2], T(1.0);
+ }
+
+ Eigen::Map<Eigen::Quaternion<T> > x_plus_delta_ref(x_plus_delta);
+ Eigen::Map<const Eigen::Quaternion<T> > x_ref(x);
+ x_plus_delta_ref = q_delta * x_ref;
+ return true;
+ }
+};
+
+TEST(EigenQuaternionParameterization, ZeroTest) {
+ Eigen::Quaterniond x(0.5, 0.5, 0.5, 0.5);
+ double delta[3] = {0.0, 0.0, 0.0};
+ Eigen::Quaterniond q_delta(1.0, 0.0, 0.0, 0.0);
+ Eigen::Quaterniond x_plus_delta = q_delta * x;
+ QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+ EigenQuaternionPlus>(
+ x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+TEST(EigenQuaternionParameterization, NearZeroTest) {
+ Eigen::Quaterniond x(0.52, 0.25, 0.15, 0.45);
+ x.normalize();
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ for (int i = 0; i < 3; ++i) {
+ delta[i] = delta[i] * 1e-14;
+ }
+
+ // Note: w is first in the constructor.
+ Eigen::Quaterniond q_delta(1.0, delta[0], delta[1], delta[2]);
+
+ Eigen::Quaterniond x_plus_delta = q_delta * x;
+ QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+ EigenQuaternionPlus>(
+ x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+TEST(EigenQuaternionParameterization, AwayFromZeroTest) {
+ Eigen::Quaterniond x(0.52, 0.25, 0.15, 0.45);
+ x.normalize();
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ const double delta_norm = sqrt(delta[0] * delta[0] +
+ delta[1] * delta[1] +
+ delta[2] * delta[2]);
+
+ // Note: w is first in the constructor.
+ Eigen::Quaterniond q_delta(cos(delta_norm),
+ sin(delta_norm) / delta_norm * delta[0],
+ sin(delta_norm) / delta_norm * delta[1],
+ sin(delta_norm) / delta_norm * delta[2]);
+
+ Eigen::Quaterniond x_plus_delta = q_delta * x;
+ QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+ EigenQuaternionPlus>(
+ x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// homogeneous vectors. Note this explicitly defined for vectors of size 4.
+struct HomogeneousVectorParameterizationPlus {
+ template<typename Scalar>
+ bool operator()(const Scalar* p_x, const Scalar* p_delta,
+ Scalar* p_x_plus_delta) const {
+ Eigen::Map<const Eigen::Matrix<Scalar, 4, 1> > x(p_x);
+ Eigen::Map<const Eigen::Matrix<Scalar, 3, 1> > delta(p_delta);
+ Eigen::Map<Eigen::Matrix<Scalar, 4, 1> > x_plus_delta(p_x_plus_delta);
+
+ const Scalar squared_norm_delta =
+ delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+ Eigen::Matrix<Scalar, 4, 1> y;
+ Scalar one_half(0.5);
+ if (squared_norm_delta > Scalar(0.0)) {
+ Scalar norm_delta = sqrt(squared_norm_delta);
+ Scalar norm_delta_div_2 = 0.5 * norm_delta;
+ const Scalar sin_delta_by_delta = sin(norm_delta_div_2) /
+ norm_delta_div_2;
+ y[0] = sin_delta_by_delta * delta[0] * one_half;
+ y[1] = sin_delta_by_delta * delta[1] * one_half;
+ y[2] = sin_delta_by_delta * delta[2] * one_half;
+ y[3] = cos(norm_delta_div_2);
+
+ } else {
+ // We do not just use y = [0,0,0,1] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ y[0] = delta[0] * one_half;
+ y[1] = delta[1] * one_half;
+ y[2] = delta[2] * one_half;
+ y[3] = Scalar(1.0);
+ }
+
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> v(4);
+ Scalar beta;
+ internal::ComputeHouseholderVector<Scalar>(x, &v, &beta);
+
+ x_plus_delta = x.norm() * (y - v * (beta * v.dot(y)));
+
+ return true;
+ }
+};
+
+void HomogeneousVectorParameterizationHelper(const double* x,
+ const double* delta) {
+ const double kTolerance = 1e-14;
+
+ HomogeneousVectorParameterization homogeneous_vector_parameterization(4);
+
+ // Ensure the update maintains the norm.
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ homogeneous_vector_parameterization.Plus(x, delta, x_plus_delta);
+
+ const double x_plus_delta_norm =
+ sqrt(x_plus_delta[0] * x_plus_delta[0] +
+ x_plus_delta[1] * x_plus_delta[1] +
+ x_plus_delta[2] * x_plus_delta[2] +
+ x_plus_delta[3] * x_plus_delta[3]);
+
+ const double x_norm = sqrt(x[0] * x[0] + x[1] * x[1] +
+ x[2] * x[2] + x[3] * x[3]);
+
+ EXPECT_NEAR(x_plus_delta_norm, x_norm, kTolerance);
+
+ // Autodiff jacobian at delta_x = 0.
+ AutoDiffLocalParameterization<HomogeneousVectorParameterizationPlus, 4, 3>
+ autodiff_jacobian;
+
+ double jacobian_autodiff[12];
+ double jacobian_analytic[12];
+
+ homogeneous_vector_parameterization.ComputeJacobian(x, jacobian_analytic);
+ autodiff_jacobian.ComputeJacobian(x, jacobian_autodiff);
+
+ for (int i = 0; i < 12; ++i) {
+ EXPECT_TRUE(ceres::IsFinite(jacobian_analytic[i]));
+ EXPECT_NEAR(jacobian_analytic[i], jacobian_autodiff[i], kTolerance)
+ << "Jacobian mismatch: i = " << i << ", " << jacobian_analytic[i] << " "
+ << jacobian_autodiff[i];
+ }
+}
+
+TEST(HomogeneousVectorParameterization, ZeroTest) {
+ double x[4] = {0.0, 0.0, 0.0, 1.0};
+ Normalize<4>(x);
+ double delta[3] = {0.0, 0.0, 0.0};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, NearZeroTest1) {
+ double x[4] = {1e-5, 1e-5, 1e-5, 1.0};
+ Normalize<4>(x);
+ double delta[3] = {0.0, 1.0, 0.0};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, NearZeroTest2) {
+ double x[4] = {0.001, 0.0, 0.0, 0.0};
+ double delta[3] = {0.0, 1.0, 0.0};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest1) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ Normalize<4>(x);
+ double delta[3] = {0.0, 1.0, -0.5};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest2) {
+ double x[4] = {0.87, -0.25, -0.34, 0.45};
+ Normalize<4>(x);
+ double delta[3] = {0.0, 0.0, -0.5};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest3) {
+ double x[4] = {0.0, 0.0, 0.0, 2.0};
+ double delta[3] = {0.0, 0.0, 0};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest4) {
+ double x[4] = {0.2, -1.0, 0.0, 2.0};
+ double delta[3] = {1.4, 0.0, -0.5};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest5) {
+ double x[4] = {2.0, 0.0, 0.0, 0.0};
+ double delta[3] = {1.4, 0.0, -0.5};
+
+ HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, DeathTests) {
+ EXPECT_DEATH_IF_SUPPORTED(HomogeneousVectorParameterization x(1), "size");
+}
+
+
+class ProductParameterizationTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ const int global_size1 = 5;
+ std::vector<int> constant_parameters1;
+ constant_parameters1.push_back(2);
+ param1_.reset(new SubsetParameterization(global_size1,
+ constant_parameters1));
+
+ const int global_size2 = 3;
+ std::vector<int> constant_parameters2;
+ constant_parameters2.push_back(0);
+ constant_parameters2.push_back(1);
+ param2_.reset(new SubsetParameterization(global_size2,
+ constant_parameters2));
+
+ const int global_size3 = 4;
+ std::vector<int> constant_parameters3;
+ constant_parameters3.push_back(1);
+ param3_.reset(new SubsetParameterization(global_size3,
+ constant_parameters3));
+
+ const int global_size4 = 2;
+ std::vector<int> constant_parameters4;
+ constant_parameters4.push_back(1);
+ param4_.reset(new SubsetParameterization(global_size4,
+ constant_parameters4));
+ }
+
+ scoped_ptr<LocalParameterization> param1_;
+ scoped_ptr<LocalParameterization> param2_;
+ scoped_ptr<LocalParameterization> param3_;
+ scoped_ptr<LocalParameterization> param4_;
+};
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize2) {
+ LocalParameterization* param1 = param1_.release();
+ LocalParameterization* param2 = param2_.release();
+
+ ProductParameterization product_param(param1, param2);
+ EXPECT_EQ(product_param.LocalSize(),
+ param1->LocalSize() + param2->LocalSize());
+ EXPECT_EQ(product_param.GlobalSize(),
+ param1->GlobalSize() + param2->GlobalSize());
+}
+
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize3) {
+ LocalParameterization* param1 = param1_.release();
+ LocalParameterization* param2 = param2_.release();
+ LocalParameterization* param3 = param3_.release();
+
+ ProductParameterization product_param(param1, param2, param3);
+ EXPECT_EQ(product_param.LocalSize(),
+ param1->LocalSize() + param2->LocalSize() + param3->LocalSize());
+ EXPECT_EQ(product_param.GlobalSize(),
+ param1->GlobalSize() + param2->GlobalSize() + param3->GlobalSize());
+}
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize4) {
+ LocalParameterization* param1 = param1_.release();
+ LocalParameterization* param2 = param2_.release();
+ LocalParameterization* param3 = param3_.release();
+ LocalParameterization* param4 = param4_.release();
+
+ ProductParameterization product_param(param1, param2, param3, param4);
+ EXPECT_EQ(product_param.LocalSize(),
+ param1->LocalSize() +
+ param2->LocalSize() +
+ param3->LocalSize() +
+ param4->LocalSize());
+ EXPECT_EQ(product_param.GlobalSize(),
+ param1->GlobalSize() +
+ param2->GlobalSize() +
+ param3->GlobalSize() +
+ param4->GlobalSize());
+}
+
+TEST_F(ProductParameterizationTest, Plus) {
+ LocalParameterization* param1 = param1_.release();
+ LocalParameterization* param2 = param2_.release();
+ LocalParameterization* param3 = param3_.release();
+ LocalParameterization* param4 = param4_.release();
+
+ ProductParameterization product_param(param1, param2, param3, param4);
+ std::vector<double> x(product_param.GlobalSize(), 0.0);
+ std::vector<double> delta(product_param.LocalSize(), 0.0);
+ std::vector<double> x_plus_delta_expected(product_param.GlobalSize(), 0.0);
+ std::vector<double> x_plus_delta(product_param.GlobalSize(), 0.0);
+
+ for (int i = 0; i < product_param.GlobalSize(); ++i) {
+ x[i] = RandNormal();
+ }
+
+ for (int i = 0; i < product_param.LocalSize(); ++i) {
+ delta[i] = RandNormal();
+ }
+
+ EXPECT_TRUE(product_param.Plus(&x[0], &delta[0], &x_plus_delta_expected[0]));
+ int x_cursor = 0;
+ int delta_cursor = 0;
+
+ EXPECT_TRUE(param1->Plus(&x[x_cursor],
+ &delta[delta_cursor],
+ &x_plus_delta[x_cursor]));
+ x_cursor += param1->GlobalSize();
+ delta_cursor += param1->LocalSize();
+
+ EXPECT_TRUE(param2->Plus(&x[x_cursor],
+ &delta[delta_cursor],
+ &x_plus_delta[x_cursor]));
+ x_cursor += param2->GlobalSize();
+ delta_cursor += param2->LocalSize();
+
+ EXPECT_TRUE(param3->Plus(&x[x_cursor],
+ &delta[delta_cursor],
+ &x_plus_delta[x_cursor]));
+ x_cursor += param3->GlobalSize();
+ delta_cursor += param3->LocalSize();
+
+ EXPECT_TRUE(param4->Plus(&x[x_cursor],
+ &delta[delta_cursor],
+ &x_plus_delta[x_cursor]));
+ x_cursor += param4->GlobalSize();
+ delta_cursor += param4->LocalSize();
+
+ for (int i = 0; i < x.size(); ++i) {
+ EXPECT_EQ(x_plus_delta[i], x_plus_delta_expected[i]);
+ }
+}
+
+TEST_F(ProductParameterizationTest, ComputeJacobian) {
+ LocalParameterization* param1 = param1_.release();
+ LocalParameterization* param2 = param2_.release();
+ LocalParameterization* param3 = param3_.release();
+ LocalParameterization* param4 = param4_.release();
+
+ ProductParameterization product_param(param1, param2, param3, param4);
+ std::vector<double> x(product_param.GlobalSize(), 0.0);
+
+ for (int i = 0; i < product_param.GlobalSize(); ++i) {
+ x[i] = RandNormal();
+ }
+
+ Matrix jacobian = Matrix::Random(product_param.GlobalSize(),
+ product_param.LocalSize());
+ EXPECT_TRUE(product_param.ComputeJacobian(&x[0], jacobian.data()));
+ int x_cursor = 0;
+ int delta_cursor = 0;
+
+ Matrix jacobian1(param1->GlobalSize(), param1->LocalSize());
+ EXPECT_TRUE(param1->ComputeJacobian(&x[x_cursor], jacobian1.data()));
+ jacobian.block(x_cursor, delta_cursor,
+ param1->GlobalSize(),
+ param1->LocalSize())
+ -= jacobian1;
+ x_cursor += param1->GlobalSize();
+ delta_cursor += param1->LocalSize();
+
+ Matrix jacobian2(param2->GlobalSize(), param2->LocalSize());
+ EXPECT_TRUE(param2->ComputeJacobian(&x[x_cursor], jacobian2.data()));
+ jacobian.block(x_cursor, delta_cursor,
+ param2->GlobalSize(),
+ param2->LocalSize())
+ -= jacobian2;
+ x_cursor += param2->GlobalSize();
+ delta_cursor += param2->LocalSize();
+
+ Matrix jacobian3(param3->GlobalSize(), param3->LocalSize());
+ EXPECT_TRUE(param3->ComputeJacobian(&x[x_cursor], jacobian3.data()));
+ jacobian.block(x_cursor, delta_cursor,
+ param3->GlobalSize(),
+ param3->LocalSize())
+ -= jacobian3;
+ x_cursor += param3->GlobalSize();
+ delta_cursor += param3->LocalSize();
+
+ Matrix jacobian4(param4->GlobalSize(), param4->LocalSize());
+ EXPECT_TRUE(param4->ComputeJacobian(&x[x_cursor], jacobian4.data()));
+ jacobian.block(x_cursor, delta_cursor,
+ param4->GlobalSize(),
+ param4->LocalSize())
+ -= jacobian4;
+ x_cursor += param4->GlobalSize();
+ delta_cursor += param4->LocalSize();
+
+ EXPECT_NEAR(jacobian.norm(), 0.0, std::numeric_limits<double>::epsilon());
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Purpose: See .h file.
+
+#include "ceres/loss_function.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+
+namespace ceres {
+
+void TrivialLoss::Evaluate(double s, double rho[3]) const {
+ rho[0] = s;
+ rho[1] = 1.0;
+ rho[2] = 0.0;
+}
+
+void HuberLoss::Evaluate(double s, double rho[3]) const {
+ if (s > b_) {
+ // Outlier region.
+ // 'r' is always positive.
+ const double r = sqrt(s);
+ rho[0] = 2.0 * a_ * r - b_;
+ rho[1] = std::max(std::numeric_limits<double>::min(), a_ / r);
+ rho[2] = - rho[1] / (2.0 * s);
+ } else {
+ // Inlier region.
+ rho[0] = s;
+ rho[1] = 1.0;
+ rho[2] = 0.0;
+ }
+}
+
+void SoftLOneLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1.0 + s * c_;
+ const double tmp = sqrt(sum);
+ // 'sum' and 'tmp' are always positive, assuming that 's' is.
+ rho[0] = 2.0 * b_ * (tmp - 1.0);
+ rho[1] = std::max(std::numeric_limits<double>::min(), 1.0 / tmp);
+ rho[2] = - (c_ * rho[1]) / (2.0 * sum);
+}
+
+void CauchyLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1.0 + s * c_;
+ const double inv = 1.0 / sum;
+ // 'sum' and 'inv' are always positive, assuming that 's' is.
+ rho[0] = b_ * log(sum);
+ rho[1] = std::max(std::numeric_limits<double>::min(), inv);
+ rho[2] = - c_ * (inv * inv);
+}
+
+void ArctanLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1 + s * s * b_;
+ const double inv = 1 / sum;
+ // 'sum' and 'inv' are always positive.
+ rho[0] = a_ * atan2(s, a_);
+ rho[1] = std::max(std::numeric_limits<double>::min(), inv);
+ rho[2] = -2.0 * s * b_ * (inv * inv);
+}
+
+TolerantLoss::TolerantLoss(double a, double b)
+ : a_(a),
+ b_(b),
+ c_(b * log(1.0 + exp(-a / b))) {
+ CHECK_GE(a, 0.0);
+ CHECK_GT(b, 0.0);
+}
+
+void TolerantLoss::Evaluate(double s, double rho[3]) const {
+ const double x = (s - a_) / b_;
+ // The basic equation is rho[0] = b ln(1 + e^x). However, if e^x is too
+ // large, it will overflow. Since numerically 1 + e^x == e^x when the
+ // x is greater than about ln(2^53) for doubles, beyond this threshold
+ // we substitute x for ln(1 + e^x) as a numerically equivalent approximation.
+ static const double kLog2Pow53 = 36.7; // ln(MathLimits<double>::kEpsilon).
+ if (x > kLog2Pow53) {
+ rho[0] = s - a_ - c_;
+ rho[1] = 1.0;
+ rho[2] = 0.0;
+ } else {
+ const double e_x = exp(x);
+ rho[0] = b_ * log(1.0 + e_x) - c_;
+ rho[1] = std::max(std::numeric_limits<double>::min(), e_x / (1.0 + e_x));
+ rho[2] = 0.5 / (b_ * (1.0 + cosh(x)));
+ }
+}
+
+void TukeyLoss::Evaluate(double s, double* rho) const {
+ if (s <= a_squared_) {
+ // Inlier region.
+ const double value = 1.0 - s / a_squared_;
+ const double value_sq = value * value;
+ rho[0] = a_squared_ / 6.0 * (1.0 - value_sq * value);
+ rho[1] = 0.5 * value_sq;
+ rho[2] = -1.0 / a_squared_ * value;
+ } else {
+ // Outlier region.
+ rho[0] = a_squared_ / 6.0;
+ rho[1] = 0.0;
+ rho[2] = 0.0;
+ }
+}
+
+ComposedLoss::ComposedLoss(const LossFunction* f, Ownership ownership_f,
+ const LossFunction* g, Ownership ownership_g)
+ : f_(CHECK_NOTNULL(f)),
+ g_(CHECK_NOTNULL(g)),
+ ownership_f_(ownership_f),
+ ownership_g_(ownership_g) {
+}
+
+ComposedLoss::~ComposedLoss() {
+ if (ownership_f_ == DO_NOT_TAKE_OWNERSHIP) {
+ f_.release();
+ }
+ if (ownership_g_ == DO_NOT_TAKE_OWNERSHIP) {
+ g_.release();
+ }
+}
+
+void ComposedLoss::Evaluate(double s, double rho[3]) const {
+ double rho_f[3], rho_g[3];
+ g_->Evaluate(s, rho_g);
+ f_->Evaluate(rho_g[0], rho_f);
+ rho[0] = rho_f[0];
+ // f'(g(s)) * g'(s).
+ rho[1] = rho_f[1] * rho_g[1];
+ // f''(g(s)) * g'(s) * g'(s) + f'(g(s)) * g''(s).
+ rho[2] = rho_f[2] * rho_g[1] * rho_g[1] + rho_f[1] * rho_g[2];
+}
+
+void ScaledLoss::Evaluate(double s, double rho[3]) const {
+ if (rho_.get() == NULL) {
+ rho[0] = a_ * s;
+ rho[1] = a_;
+ rho[2] = 0.0;
+ } else {
+ rho_->Evaluate(s, rho);
+ rho[0] *= a_;
+ rho[1] *= a_;
+ rho[2] *= a_;
+ }
+}
+
+} // namespace ceres
--- /dev/null
+// 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/loss_function.h"
+
+#include <cstddef>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Helper function for testing a LossFunction callback.
+//
+// Compares the values of rho'(s) and rho''(s) computed by the
+// callback with estimates obtained by symmetric finite differencing
+// of rho(s).
+void AssertLossFunctionIsValid(const LossFunction& loss, double s) {
+ CHECK_GT(s, 0);
+
+ // Evaluate rho(s), rho'(s) and rho''(s).
+ double rho[3];
+ loss.Evaluate(s, rho);
+
+ // Use symmetric finite differencing to estimate rho'(s) and
+ // rho''(s).
+ const double kH = 1e-4;
+ // Values at s + kH.
+ double fwd[3];
+ // Values at s - kH.
+ double bwd[3];
+ loss.Evaluate(s + kH, fwd);
+ loss.Evaluate(s - kH, bwd);
+
+ // First derivative.
+ const double fd_1 = (fwd[0] - bwd[0]) / (2 * kH);
+ ASSERT_NEAR(fd_1, rho[1], 1e-6);
+
+ // Second derivative.
+ const double fd_2 = (fwd[0] - 2*rho[0] + bwd[0]) / (kH * kH);
+ ASSERT_NEAR(fd_2, rho[2], 1e-6);
+}
+} // namespace
+
+// Try two values of the scaling a = 0.7 and 1.3
+// (where scaling makes sense) and of the squared norm
+// s = 0.357 and 1.792
+//
+// Note that for the Huber loss the test exercises both code paths
+// (i.e. both small and large values of s).
+
+TEST(LossFunction, TrivialLoss) {
+ AssertLossFunctionIsValid(TrivialLoss(), 0.357);
+ AssertLossFunctionIsValid(TrivialLoss(), 1.792);
+}
+
+TEST(LossFunction, HuberLoss) {
+ AssertLossFunctionIsValid(HuberLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(HuberLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(HuberLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(HuberLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, SoftLOneLoss) {
+ AssertLossFunctionIsValid(SoftLOneLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(SoftLOneLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(SoftLOneLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(SoftLOneLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, CauchyLoss) {
+ AssertLossFunctionIsValid(CauchyLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(CauchyLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(CauchyLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(CauchyLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, ArctanLoss) {
+ AssertLossFunctionIsValid(ArctanLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(ArctanLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(ArctanLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(ArctanLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, TolerantLoss) {
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 0.357);
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 1.792);
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 55.5);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 0.357);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 1.792);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 55.5);
+ // Check the value at zero is actually zero.
+ double rho[3];
+ TolerantLoss(0.7, 0.4).Evaluate(0.0, rho);
+ ASSERT_NEAR(rho[0], 0.0, 1e-6);
+ // Check that loss before and after the approximation threshold are good.
+ // A threshold of 36.7 is used by the implementation.
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.6);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.7);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.8);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 1000.0);
+}
+
+TEST(LossFunction, TukeyLoss) {
+ AssertLossFunctionIsValid(TukeyLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(TukeyLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(TukeyLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(TukeyLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, ComposedLoss) {
+ {
+ HuberLoss f(0.7);
+ CauchyLoss g(1.3);
+ ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(c, 0.357);
+ AssertLossFunctionIsValid(c, 1.792);
+ }
+ {
+ CauchyLoss f(0.7);
+ HuberLoss g(1.3);
+ ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(c, 0.357);
+ AssertLossFunctionIsValid(c, 1.792);
+ }
+}
+
+TEST(LossFunction, ScaledLoss) {
+ // Wrap a few loss functions, and a few scale factors. This can't combine
+ // construction with the call to AssertLossFunctionIsValid() because Apple's
+ // GCC is unable to eliminate the copy of ScaledLoss, which is not copyable.
+ {
+ ScaledLoss scaled_loss(NULL, 6, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 0.323);
+ }
+ {
+ ScaledLoss scaled_loss(new TrivialLoss(), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 0.357);
+ }
+ {
+ ScaledLoss scaled_loss(new HuberLoss(0.7), 0.1, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new SoftLOneLoss(1.3), 0.1, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new CauchyLoss(1.3), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new ArctanLoss(1.3), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(
+ new TolerantLoss(1.3, 0.1), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(
+ new ComposedLoss(
+ new HuberLoss(0.8), TAKE_OWNERSHIP,
+ new TolerantLoss(1.3, 0.5), TAKE_OWNERSHIP), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+}
+
+TEST(LossFunction, LossFunctionWrapper) {
+ // Initialization
+ HuberLoss loss_function1(1.0);
+ LossFunctionWrapper loss_function_wrapper(new HuberLoss(1.0),
+ TAKE_OWNERSHIP);
+
+ double s = 0.862;
+ double rho_gold[3];
+ double rho[3];
+ loss_function1.Evaluate(s, rho_gold);
+ loss_function_wrapper.Evaluate(s, rho);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Resetting
+ HuberLoss loss_function2(0.5);
+ loss_function_wrapper.Reset(new HuberLoss(0.5), TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function2.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Not taking ownership.
+ HuberLoss loss_function3(0.3);
+ loss_function_wrapper.Reset(&loss_function3, DO_NOT_TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function3.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Set to NULL
+ TrivialLoss loss_function4;
+ loss_function_wrapper.Reset(NULL, TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function4.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Set to NULL, not taking ownership
+ loss_function_wrapper.Reset(NULL, DO_NOT_TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function4.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 <list>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/low_rank_inverse_hessian.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::list;
+
+// The (L)BFGS algorithm explicitly requires that the secant equation:
+//
+// B_{k+1} * s_k = y_k
+//
+// Is satisfied at each iteration, where B_{k+1} is the approximated
+// Hessian at the k+1-th iteration, s_k = (x_{k+1} - x_{k}) and
+// y_k = (grad_{k+1} - grad_{k}). As the approximated Hessian must be
+// positive definite, this is equivalent to the condition:
+//
+// s_k^T * y_k > 0 [s_k^T * B_{k+1} * s_k = s_k^T * y_k > 0]
+//
+// This condition would always be satisfied if the function was strictly
+// convex, alternatively, it is always satisfied provided that a Wolfe line
+// search is used (even if the function is not strictly convex). See [1]
+// (p138) for a proof.
+//
+// Although Ceres will always use a Wolfe line search when using (L)BFGS,
+// practical implementation considerations mean that the line search
+// may return a point that satisfies only the Armijo condition, and thus
+// could violate the Secant equation. As such, we will only use a step
+// to update the Hessian approximation if:
+//
+// s_k^T * y_k > tolerance
+//
+// It is important that tolerance is very small (and >=0), as otherwise we
+// might skip the update too often and fail to capture important curvature
+// information in the Hessian. For example going from 1e-10 -> 1e-14 improves
+// the NIST benchmark score from 43/54 to 53/54.
+//
+// [1] Nocedal J., Wright S., Numerical Optimization, 2nd Ed. Springer, 1999.
+//
+// TODO(alexs.mac): Consider using Damped BFGS update instead of
+// skipping update.
+const double kLBFGSSecantConditionHessianUpdateTolerance = 1e-14;
+
+LowRankInverseHessian::LowRankInverseHessian(
+ int num_parameters,
+ int max_num_corrections,
+ bool use_approximate_eigenvalue_scaling)
+ : num_parameters_(num_parameters),
+ max_num_corrections_(max_num_corrections),
+ use_approximate_eigenvalue_scaling_(use_approximate_eigenvalue_scaling),
+ approximate_eigenvalue_scale_(1.0),
+ delta_x_history_(num_parameters, max_num_corrections),
+ delta_gradient_history_(num_parameters, max_num_corrections),
+ delta_x_dot_delta_gradient_(max_num_corrections) {
+}
+
+bool LowRankInverseHessian::Update(const Vector& delta_x,
+ const Vector& delta_gradient) {
+ const double delta_x_dot_delta_gradient = delta_x.dot(delta_gradient);
+ if (delta_x_dot_delta_gradient <=
+ kLBFGSSecantConditionHessianUpdateTolerance) {
+ VLOG(2) << "Skipping L-BFGS Update, delta_x_dot_delta_gradient too "
+ << "small: " << delta_x_dot_delta_gradient << ", tolerance: "
+ << kLBFGSSecantConditionHessianUpdateTolerance
+ << " (Secant condition).";
+ return false;
+ }
+
+
+ int next = indices_.size();
+ // Once the size of the list reaches max_num_corrections_, simulate
+ // a circular buffer by removing the first element of the list and
+ // making it the next position where the LBFGS history is stored.
+ if (next == max_num_corrections_) {
+ next = indices_.front();
+ indices_.pop_front();
+ }
+
+ indices_.push_back(next);
+ delta_x_history_.col(next) = delta_x;
+ delta_gradient_history_.col(next) = delta_gradient;
+ delta_x_dot_delta_gradient_(next) = delta_x_dot_delta_gradient;
+ approximate_eigenvalue_scale_ =
+ delta_x_dot_delta_gradient / delta_gradient.squaredNorm();
+ return true;
+}
+
+void LowRankInverseHessian::RightMultiply(const double* x_ptr,
+ double* y_ptr) const {
+ ConstVectorRef gradient(x_ptr, num_parameters_);
+ VectorRef search_direction(y_ptr, num_parameters_);
+
+ search_direction = gradient;
+
+ const int num_corrections = indices_.size();
+ Vector alpha(num_corrections);
+
+ for (list<int>::const_reverse_iterator it = indices_.rbegin();
+ it != indices_.rend();
+ ++it) {
+ const double alpha_i = delta_x_history_.col(*it).dot(search_direction) /
+ delta_x_dot_delta_gradient_(*it);
+ search_direction -= alpha_i * delta_gradient_history_.col(*it);
+ alpha(*it) = alpha_i;
+ }
+
+ if (use_approximate_eigenvalue_scaling_) {
+ // Rescale the initial inverse Hessian approximation (H_0) to be iteratively
+ // updated so that it is of similar 'size' to the true inverse Hessian along
+ // the most recent search direction. As shown in [1]:
+ //
+ // \gamma_k = (delta_gradient_{k-1}' * delta_x_{k-1}) /
+ // (delta_gradient_{k-1}' * delta_gradient_{k-1})
+ //
+ // Satisfies:
+ //
+ // (1 / \lambda_m) <= \gamma_k <= (1 / \lambda_1)
+ //
+ // Where \lambda_1 & \lambda_m are the smallest and largest eigenvalues of
+ // the true Hessian (not the inverse) along the most recent search direction
+ // respectively. Thus \gamma is an approximate eigenvalue of the true
+ // inverse Hessian, and choosing: H_0 = I * \gamma will yield a starting
+ // point that has a similar scale to the true inverse Hessian. This
+ // technique is widely reported to often improve convergence, however this
+ // is not universally true, particularly if there are errors in the initial
+ // jacobians, or if there are significant differences in the sensitivity
+ // of the problem to the parameters (i.e. the range of the magnitudes of
+ // the components of the gradient is large).
+ //
+ // The original origin of this rescaling trick is somewhat unclear, the
+ // earliest reference appears to be Oren [1], however it is widely discussed
+ // without specific attributation in various texts including [2] (p143/178).
+ //
+ // [1] Oren S.S., Self-scaling variable metric (SSVM) algorithms Part II:
+ // Implementation and experiments, Management Science,
+ // 20(5), 863-874, 1974.
+ // [2] Nocedal J., Wright S., Numerical Optimization, Springer, 1999.
+ search_direction *= approximate_eigenvalue_scale_;
+
+ VLOG(4) << "Applying approximate_eigenvalue_scale: "
+ << approximate_eigenvalue_scale_ << " to initial inverse Hessian "
+ << "approximation.";
+ }
+
+ for (list<int>::const_iterator it = indices_.begin();
+ it != indices_.end();
+ ++it) {
+ const double beta = delta_gradient_history_.col(*it).dot(search_direction) /
+ delta_x_dot_delta_gradient_(*it);
+ search_direction += delta_x_history_.col(*it) * (alpha(*it) - beta);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Limited memory positive definite approximation to the inverse
+// Hessian, using the LBFGS algorithm
+
+#ifndef CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
+#define CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
+
+#include <list>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+// LowRankInverseHessian is a positive definite approximation to the
+// Hessian using the limited memory variant of the
+// Broyden-Fletcher-Goldfarb-Shanno (BFGS)secant formula for
+// approximating the Hessian.
+//
+// Other update rules like the Davidon-Fletcher-Powell (DFP) are
+// possible, but the BFGS rule is considered the best performing one.
+//
+// The limited memory variant was developed by Nocedal and further
+// enhanced with scaling rule by Byrd, Nocedal and Schanbel.
+//
+// Nocedal, J. (1980). "Updating Quasi-Newton Matrices with Limited
+// Storage". Mathematics of Computation 35 (151): 773–782.
+//
+// Byrd, R. H.; Nocedal, J.; Schnabel, R. B. (1994).
+// "Representations of Quasi-Newton Matrices and their use in
+// Limited Memory Methods". Mathematical Programming 63 (4):
+class LowRankInverseHessian : public LinearOperator {
+ public:
+ // num_parameters is the row/column size of the Hessian.
+ // max_num_corrections is the rank of the Hessian approximation.
+ // use_approximate_eigenvalue_scaling controls whether the initial
+ // inverse Hessian used during Right/LeftMultiply() is scaled by
+ // the approximate eigenvalue of the true inverse Hessian at the
+ // current operating point.
+ // The approximation uses:
+ // 2 * max_num_corrections * num_parameters + max_num_corrections
+ // doubles.
+ LowRankInverseHessian(int num_parameters,
+ int max_num_corrections,
+ bool use_approximate_eigenvalue_scaling);
+ virtual ~LowRankInverseHessian() {}
+
+ // Update the low rank approximation. delta_x is the change in the
+ // domain of Hessian, and delta_gradient is the change in the
+ // gradient. The update copies the delta_x and delta_gradient
+ // vectors, and gets rid of the oldest delta_x and delta_gradient
+ // vectors if the number of corrections is already equal to
+ // max_num_corrections.
+ bool Update(const Vector& delta_x, const Vector& delta_gradient);
+
+ // LinearOperator interface
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+ virtual int num_rows() const { return num_parameters_; }
+ virtual int num_cols() const { return num_parameters_; }
+
+ private:
+ const int num_parameters_;
+ const int max_num_corrections_;
+ const bool use_approximate_eigenvalue_scaling_;
+ double approximate_eigenvalue_scale_;
+ ColMajorMatrix delta_x_history_;
+ ColMajorMatrix delta_gradient_history_;
+ Vector delta_x_dot_delta_gradient_;
+ std::list<int> indices_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Originally by Anton Carver
+
+#ifndef CERES_INTERNAL_MAP_UTIL_H_
+#define CERES_INTERNAL_MAP_UTIL_H_
+
+#include <utility>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Perform a lookup in a map or hash_map, assuming that the key exists.
+// Crash if it does not.
+//
+// This is intended as a replacement for operator[] as an rvalue (for reading)
+// when the key is guaranteed to exist.
+//
+// operator[] is discouraged for several reasons:
+// * It has a side-effect of inserting missing keys
+// * It is not thread-safe (even when it is not inserting, it can still
+// choose to resize the underlying storage)
+// * It invalidates iterators (when it chooses to resize)
+// * It default constructs a value object even if it doesn't need to
+//
+// This version assumes the key is printable, and includes it in the fatal log
+// message.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindOrDie(const Collection& collection,
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ CHECK(it != collection.end()) << "Map key not found: " << key;
+ return it->second;
+}
+
+// Perform a lookup in a map or hash_map.
+// If the key is present in the map then the value associated with that
+// key is returned, otherwise the value passed as a default is returned.
+template <class Collection>
+const typename Collection::value_type::second_type
+FindWithDefault(const Collection& collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ typename Collection::const_iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return value;
+ }
+ return it->second;
+}
+
+// Insert a new key and value into a map or hash_map.
+// If the key is not present in the map the key and value are
+// inserted, otherwise nothing happens. True indicates that an insert
+// took place, false indicates the key was already present.
+template <class Collection>
+bool InsertIfNotPresent(
+ Collection * const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ std::pair<typename Collection::iterator, bool> ret =
+ collection->insert(typename Collection::value_type(key, value));
+ return ret.second;
+}
+
+// Perform a lookup in a map or hash_map.
+// Same as above but the returned pointer is not const and can be used to change
+// the stored value.
+template <class Collection>
+typename Collection::value_type::second_type*
+FindOrNull(Collection& collection, // NOLINT
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return 0;
+ }
+ return &it->second;
+}
+
+// Test to see if a set, map, hash_set or hash_map contains a particular key.
+// Returns true if the key is in the collection.
+template <class Collection, class Key>
+bool ContainsKey(const Collection& collection, const Key& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ return it != collection.end();
+}
+
+// Inserts a new key/value into a map or hash_map.
+// Dies if the key is already present.
+template<class Collection>
+void InsertOrDie(Collection* const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& data) {
+ typedef typename Collection::value_type value_type;
+ CHECK(collection->insert(value_type(key, data)).second)
+ << "duplicate key: " << key;
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MAP_UTIL_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "glog/logging.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+} // namespace ceres
--- /dev/null
+// 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: settinger@google.com (Scott Ettinger)
+// mierle@gmail.com (Keir Mierle)
+//
+// Simplified Glog style logging with Android support. Supported macros in
+// decreasing severity level per line:
+//
+// VLOG(2), VLOG(N)
+// VLOG(1),
+// LOG(INFO), VLOG(0), LG
+// LOG(WARNING),
+// LOG(ERROR),
+// LOG(FATAL),
+//
+// With VLOG(n), the output is directed to one of the 5 Android log levels:
+//
+// 2 - Verbose
+// 1 - Debug
+// 0 - Info
+// -1 - Warning
+// -2 - Error
+// -3 - Fatal
+//
+// Any logging of level 2 and above is directed to the Verbose level. All
+// Android log output is tagged with the string "native".
+//
+// If the symbol ANDROID is not defined, all output goes to std::cerr.
+// This allows code to be built on a different system for debug.
+//
+// Portions of this code are taken from the GLOG package. This code is only a
+// small subset of the GLOG functionality. Notable differences from GLOG
+// behavior include lack of support for displaying unprintable characters and
+// lack of stack trace information upon failure of the CHECK macros. On
+// non-Android systems, log output goes to std::cerr and is not written to a
+// file.
+//
+// CHECK macros are defined to test for conditions within code. Any CHECK that
+// fails will log the failure and terminate the application.
+// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
+// "Check failed 3 >= 4".
+//
+// The following CHECK macros are defined:
+//
+// CHECK(condition) - fails if condition is false and logs condition.
+// CHECK_NOTNULL(variable) - fails if the variable is NULL.
+//
+// The following binary check macros are also defined :
+//
+// Macro Operator equivalent
+// -------------------- -------------------
+// CHECK_EQ(val1, val2) val1 == val2
+// CHECK_NE(val1, val2) val1 != val2
+// CHECK_GT(val1, val2) val1 > val2
+// CHECK_GE(val1, val2) val1 >= val2
+// CHECK_LT(val1, val2) val1 < val2
+// CHECK_LE(val1, val2) val1 <= val2
+//
+// Debug only versions of all of the check macros are also defined. These
+// macros generate no code in a release build, but avoid unused variable
+// warnings / errors.
+//
+// To use the debug only versions, prepend a D to the normal check macros, e.g.
+// DCHECK_EQ(a, b).
+
+#ifndef CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+#define CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+
+#ifdef ANDROID
+# include <android/log.h>
+#endif // ANDROID
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+// For appropriate definition of CERES_EXPORT macro.
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+// Log severity level constants.
+const int FATAL = -3;
+const int ERROR = -2;
+const int WARNING = -1;
+const int INFO = 0;
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int INFO = ::INFO;
+const int WARNING = ::WARNING;
+const int ERROR = ::ERROR;
+const int FATAL = ::FATAL;
+
+// Sink class used for integration with mock and test functions. If sinks are
+// added, all log output is also sent to each sink through the send function.
+// In this implementation, WaitTillSent() is called immediately after the send.
+// This implementation is not thread safe.
+class CERES_EXPORT LogSink {
+ public:
+ virtual ~LogSink() {}
+ virtual void send(LogSeverity severity,
+ const char* full_filename,
+ const char* base_filename,
+ int line,
+ const struct tm* tm_time,
+ const char* message,
+ size_t message_len) = 0;
+ virtual void WaitTillSent() = 0;
+};
+
+// Global set of log sinks. The actual object is defined in logging.cc.
+extern CERES_EXPORT std::set<LogSink *> log_sinks_global;
+
+inline void InitGoogleLogging(char *argv) {
+ // Do nothing; this is ignored.
+}
+
+// Note: the Log sink functions are not thread safe.
+inline void AddLogSink(LogSink *sink) {
+ // TODO(settinger): Add locks for thread safety.
+ log_sinks_global.insert(sink);
+}
+inline void RemoveLogSink(LogSink *sink) {
+ log_sinks_global.erase(sink);
+}
+
+} // namespace google
+
+// ---------------------------- Logger Class --------------------------------
+
+// Class created for each use of the logging macros.
+// The logger acts as a stream and routes the final stream contents to the
+// Android logcat output at the proper filter level. If ANDROID is not
+// defined, output is directed to std::cerr. This class should not
+// be directly instantiated in code, rather it should be invoked through the
+// use of the log macros LG, LOG, or VLOG.
+class CERES_EXPORT MessageLogger {
+ public:
+ MessageLogger(const char *file, int line, const char *tag, int severity)
+ : file_(file), line_(line), tag_(tag), severity_(severity) {
+ // Pre-pend the stream with the file and line number.
+ StripBasename(std::string(file), &filename_only_);
+ stream_ << filename_only_ << ":" << line << " ";
+ }
+
+ // Output the contents of the stream to the proper channel on destruction.
+ ~MessageLogger() {
+ stream_ << "\n";
+
+#ifdef ANDROID
+ static const int android_log_levels[] = {
+ ANDROID_LOG_FATAL, // LOG(FATAL)
+ ANDROID_LOG_ERROR, // LOG(ERROR)
+ ANDROID_LOG_WARN, // LOG(WARNING)
+ ANDROID_LOG_INFO, // LOG(INFO), LG, VLOG(0)
+ ANDROID_LOG_DEBUG, // VLOG(1)
+ ANDROID_LOG_VERBOSE, // VLOG(2) .. VLOG(N)
+ };
+
+ // Bound the logging level.
+ const int kMaxVerboseLevel = 2;
+ int android_level_index = std::min(std::max(FATAL, severity_),
+ kMaxVerboseLevel) - FATAL;
+ int android_log_level = android_log_levels[android_level_index];
+
+ // Output the log string the Android log at the appropriate level.
+ __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
+
+ // Indicate termination if needed.
+ if (severity_ == FATAL) {
+ __android_log_write(ANDROID_LOG_FATAL,
+ tag_.c_str(),
+ "terminating.\n");
+ }
+#else
+ // If not building on Android, log all output to std::cerr.
+ std::cerr << stream_.str();
+#endif // ANDROID
+
+ LogToSinks(severity_);
+ WaitForSinks();
+
+ // Android logging at level FATAL does not terminate execution, so abort()
+ // is still required to stop the program.
+ if (severity_ == FATAL) {
+ abort();
+ }
+ }
+
+ // Return the stream associated with the logger object.
+ std::stringstream &stream() { return stream_; }
+
+ private:
+ void LogToSinks(int severity) {
+ time_t rawtime;
+ time (&rawtime);
+
+ struct tm timeinfo;
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
+ // On Windows, use secure localtime_s not localtime.
+ localtime_s(&timeinfo, &rawtime);
+#else
+ // On non-Windows systems, use threadsafe localtime_r not localtime.
+ localtime_r(&rawtime, &timeinfo);
+#endif
+
+ std::set<google::LogSink*>::iterator iter;
+ // Send the log message to all sinks.
+ for (iter = google::log_sinks_global.begin();
+ iter != google::log_sinks_global.end(); ++iter) {
+ (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+ &timeinfo, stream_.str().c_str(), stream_.str().size());
+ }
+ }
+
+ void WaitForSinks() {
+ // TODO(settinger): Add locks for thread safety.
+ std::set<google::LogSink *>::iterator iter;
+
+ // Call WaitTillSent() for all sinks.
+ for (iter = google::log_sinks_global.begin();
+ iter != google::log_sinks_global.end(); ++iter) {
+ (*iter)->WaitTillSent();
+ }
+ }
+
+ void StripBasename(const std::string &full_path, std::string *filename) {
+ // TODO(settinger): Add support for OSs with different path separators.
+ const char kSeparator = '/';
+ size_t pos = full_path.rfind(kSeparator);
+ if (pos != std::string::npos) {
+ *filename = full_path.substr(pos + 1, std::string::npos);
+ } else {
+ *filename = full_path;
+ }
+ }
+
+ std::string file_;
+ std::string filename_only_;
+ int line_;
+ std::string tag_;
+ std::stringstream stream_;
+ int severity_;
+};
+
+// ---------------------- Logging Macro definitions --------------------------
+
+// This class is used to explicitly ignore values in the conditional
+// logging macros. This avoids compiler warnings like "value computed
+// is not used" and "statement has no effect".
+class CERES_EXPORT LoggerVoidify {
+ public:
+ LoggerVoidify() { }
+ // This has to be an operator with a precedence lower than << but
+ // higher than ?:
+ void operator&(const std::ostream &s) { }
+};
+
+// Log only if condition is met. Otherwise evaluates to void.
+#define LOG_IF(severity, condition) \
+ !(condition) ? (void) 0 : LoggerVoidify() & \
+ MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+
+// Log only if condition is NOT met. Otherwise evaluates to void.
+#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
+
+// LG is a convenient shortcut for LOG(INFO). Its use is in new
+// google3 code is discouraged and the following shortcut exists for
+// backward compatibility with existing code.
+#ifdef MAX_LOG_LEVEL
+# define LOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
+# define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
+# define LG LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
+# define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
+#else
+# define LOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
+# define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT
+# define LG MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
+# define VLOG_IF(n, condition) LOG_IF(n, condition)
+#endif
+
+// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
+#ifndef MAX_LOG_LEVEL
+# define VLOG_IS_ON(x) (1)
+#else
+# define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
+#endif
+
+#ifndef NDEBUG
+# define DLOG LOG
+#else
+# define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
+ MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#endif
+
+
+// Log a message and terminate.
+template<class T>
+void LogMessageFatal(const char *file, int line, const T &message) {
+ MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
+ << message;
+}
+
+// ---------------------------- CHECK macros ---------------------------------
+
+// Check for a given boolean condition.
+#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+ << "Check failed: " #condition " "
+
+#ifndef NDEBUG
+// Debug only version of CHECK
+# define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+ << "Check failed: " #condition " "
+#else
+// Optimized version - generates no code.
+# define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
+ << "Check failed: " #condition " "
+#endif // NDEBUG
+
+// ------------------------- CHECK_OP macros ---------------------------------
+
+// Generic binary operator check macro. This should not be directly invoked,
+// instead use the binary comparison macros defined below.
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \
+ << "Check failed: " #val1 " " #op " " #val2 " "
+
+// Check_op macro definitions
+#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+
+#ifndef NDEBUG
+// Debug only versions of CHECK_OP macros.
+# define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+# define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+# define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+# define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+# define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+# define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+#else
+// These versions generate no code in optimized mode.
+# define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+# define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+# define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+# define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+# define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+# define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+#endif // NDEBUG
+
+// ---------------------------CHECK_NOTNULL macros ---------------------------
+
+// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
+// and smart pointers.
+template <typename T>
+T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
+ if (t == NULL) {
+ LogMessageFatal(file, line, std::string(names));
+ }
+ return t;
+}
+
+template <typename T>
+T* CheckNotNull(const char *file, int line, const char *names, T* t) {
+ return CheckNotNullCommon(file, line, names, t);
+}
+
+template <typename T>
+T& CheckNotNull(const char *file, int line, const char *names, T& t) {
+ return CheckNotNullCommon(file, line, names, t);
+}
+
+// Check that a pointer is not null.
+#define CHECK_NOTNULL(val) \
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+
+#ifndef NDEBUG
+// Debug only version of CHECK_NOTNULL
+#define DCHECK_NOTNULL(val) \
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#else
+// Optimized version - generates no code.
+#define DCHECK_NOTNULL(val) if (false)\
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#endif // NDEBUG
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
--- /dev/null
+// 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/line_search_minimizer.h"
+#include "ceres/minimizer.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Minimizer* Minimizer::Create(MinimizerType minimizer_type) {
+ if (minimizer_type == TRUST_REGION) {
+ return new TrustRegionMinimizer;
+ }
+
+ if (minimizer_type == LINE_SEARCH) {
+ return new LineSearchMinimizer;
+ }
+
+ LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+ return NULL;
+}
+
+
+Minimizer::~Minimizer() {}
+
+bool Minimizer::RunCallbacks(const Minimizer::Options& options,
+ const IterationSummary& iteration_summary,
+ Solver::Summary* summary) {
+ const bool is_not_silent = !options.is_silent;
+ CallbackReturnType status = SOLVER_CONTINUE;
+ int i = 0;
+ while (status == SOLVER_CONTINUE && i < options.callbacks.size()) {
+ status = (*options.callbacks[i])(iteration_summary);
+ ++i;
+ }
+ switch (status) {
+ case SOLVER_CONTINUE:
+ return true;
+ case SOLVER_TERMINATE_SUCCESSFULLY:
+ summary->termination_type = USER_SUCCESS;
+ summary->message =
+ "User callback returned SOLVER_TERMINATE_SUCCESSFULLY.";
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return false;
+ case SOLVER_ABORT:
+ summary->termination_type = USER_FAILURE;
+ summary->message = "User callback returned SOLVER_ABORT.";
+ VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ return false;
+ default:
+ LOG(FATAL) << "Unknown type of user callback status";
+ }
+ return false;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_MINIMIZER_H_
+#define CERES_INTERNAL_MINIMIZER_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class SparseMatrix;
+class TrustRegionStrategy;
+class CoordinateDescentMinimizer;
+class LinearSolver;
+
+// Interface for non-linear least squares solvers.
+class Minimizer {
+ public:
+ // Options struct to control the behaviour of the Minimizer. Please
+ // see solver.h for detailed information about the meaning and
+ // default values of each of these parameters.
+ struct Options {
+ Options() {
+ Init(Solver::Options());
+ }
+
+ explicit Options(const Solver::Options& options) {
+ Init(options);
+ }
+
+ void Init(const Solver::Options& options) {
+ num_threads = options.num_threads;
+ max_num_iterations = options.max_num_iterations;
+ max_solver_time_in_seconds = options.max_solver_time_in_seconds;
+ max_step_solver_retries = 5;
+ gradient_tolerance = options.gradient_tolerance;
+ parameter_tolerance = options.parameter_tolerance;
+ function_tolerance = options.function_tolerance;
+ min_relative_decrease = options.min_relative_decrease;
+ eta = options.eta;
+ jacobi_scaling = options.jacobi_scaling;
+ use_nonmonotonic_steps = options.use_nonmonotonic_steps;
+ max_consecutive_nonmonotonic_steps =
+ options.max_consecutive_nonmonotonic_steps;
+ trust_region_problem_dump_directory =
+ options.trust_region_problem_dump_directory;
+ trust_region_minimizer_iterations_to_dump =
+ options.trust_region_minimizer_iterations_to_dump;
+ trust_region_problem_dump_format_type =
+ options.trust_region_problem_dump_format_type;
+ max_num_consecutive_invalid_steps =
+ options.max_num_consecutive_invalid_steps;
+ min_trust_region_radius = options.min_trust_region_radius;
+ line_search_direction_type = options.line_search_direction_type;
+ line_search_type = options.line_search_type;
+ nonlinear_conjugate_gradient_type =
+ options.nonlinear_conjugate_gradient_type;
+ max_lbfgs_rank = options.max_lbfgs_rank;
+ use_approximate_eigenvalue_bfgs_scaling =
+ options.use_approximate_eigenvalue_bfgs_scaling;
+ line_search_interpolation_type =
+ options.line_search_interpolation_type;
+ min_line_search_step_size = options.min_line_search_step_size;
+ line_search_sufficient_function_decrease =
+ options.line_search_sufficient_function_decrease;
+ max_line_search_step_contraction =
+ options.max_line_search_step_contraction;
+ min_line_search_step_contraction =
+ options.min_line_search_step_contraction;
+ max_num_line_search_step_size_iterations =
+ options.max_num_line_search_step_size_iterations;
+ max_num_line_search_direction_restarts =
+ options.max_num_line_search_direction_restarts;
+ line_search_sufficient_curvature_decrease =
+ options.line_search_sufficient_curvature_decrease;
+ max_line_search_step_expansion =
+ options.max_line_search_step_expansion;
+ inner_iteration_tolerance = options.inner_iteration_tolerance;
+ is_silent = (options.logging_type == SILENT);
+ is_constrained = false;
+ callbacks = options.callbacks;
+ }
+
+ int max_num_iterations;
+ double max_solver_time_in_seconds;
+ int num_threads;
+
+ // Number of times the linear solver should be retried in case of
+ // numerical failure. The retries are done by exponentially scaling up
+ // mu at each retry. This leads to stronger and stronger
+ // regularization making the linear least squares problem better
+ // conditioned at each retry.
+ int max_step_solver_retries;
+ double gradient_tolerance;
+ double parameter_tolerance;
+ double function_tolerance;
+ double min_relative_decrease;
+ double eta;
+ bool jacobi_scaling;
+ bool use_nonmonotonic_steps;
+ int max_consecutive_nonmonotonic_steps;
+ std::vector<int> trust_region_minimizer_iterations_to_dump;
+ DumpFormatType trust_region_problem_dump_format_type;
+ std::string trust_region_problem_dump_directory;
+ int max_num_consecutive_invalid_steps;
+ double min_trust_region_radius;
+ LineSearchDirectionType line_search_direction_type;
+ LineSearchType line_search_type;
+ NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+ int max_lbfgs_rank;
+ bool use_approximate_eigenvalue_bfgs_scaling;
+ LineSearchInterpolationType line_search_interpolation_type;
+ double min_line_search_step_size;
+ double line_search_sufficient_function_decrease;
+ double max_line_search_step_contraction;
+ double min_line_search_step_contraction;
+ int max_num_line_search_step_size_iterations;
+ int max_num_line_search_direction_restarts;
+ double line_search_sufficient_curvature_decrease;
+ double max_line_search_step_expansion;
+ double inner_iteration_tolerance;
+
+ // If true, then all logging is disabled.
+ bool is_silent;
+
+ // Use a bounds constrained optimization algorithm.
+ bool is_constrained;
+
+ // List of callbacks that are executed by the Minimizer at the end
+ // of each iteration.
+ //
+ // The Options struct does not own these pointers.
+ std::vector<IterationCallback*> callbacks;
+
+ // Object responsible for evaluating the cost, residuals and
+ // Jacobian matrix.
+ shared_ptr<Evaluator> evaluator;
+
+ // Object responsible for actually computing the trust region
+ // step, and sizing the trust region radius.
+ shared_ptr<TrustRegionStrategy> trust_region_strategy;
+
+ // Object holding the Jacobian matrix. It is assumed that the
+ // sparsity structure of the matrix has already been initialized
+ // and will remain constant for the life time of the
+ // optimization.
+ shared_ptr<SparseMatrix> jacobian;
+
+ shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
+ };
+
+ static Minimizer* Create(MinimizerType minimizer_type);
+ static bool RunCallbacks(const Options& options,
+ const IterationSummary& iteration_summary,
+ Solver::Summary* summary);
+
+ virtual ~Minimizer();
+ // Note: The minimizer is expected to update the state of the
+ // parameters array every iteration. This is required for the
+ // StateUpdatingCallback to work.
+ virtual void Minimize(const Options& options,
+ double* parameters,
+ Solver::Summary* summary) = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MINIMIZER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "gtest/gtest.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class FakeIterationCallback : public IterationCallback {
+ public:
+ virtual ~FakeIterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ return SOLVER_CONTINUE;
+ }
+};
+
+TEST(Minimizer, InitializationCopiesCallbacks) {
+ FakeIterationCallback callback0;
+ FakeIterationCallback callback1;
+
+ Solver::Options solver_options;
+ solver_options.callbacks.push_back(&callback0);
+ solver_options.callbacks.push_back(&callback1);
+
+ Minimizer::Options minimizer_options(solver_options);
+ ASSERT_EQ(2, minimizer_options.callbacks.size());
+
+ EXPECT_EQ(minimizer_options.callbacks[0], &callback0);
+ EXPECT_EQ(minimizer_options.callbacks[1], &callback1);
+}
+
+class AbortingIterationCallback : public IterationCallback {
+ public:
+ virtual ~AbortingIterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ return SOLVER_ABORT;
+ }
+};
+
+TEST(Minimizer, UserAbortUpdatesSummaryMessage) {
+ AbortingIterationCallback callback;
+ Solver::Options solver_options;
+ solver_options.callbacks.push_back(&callback);
+ Minimizer::Options minimizer_options(solver_options);
+ Solver::Summary summary;
+ Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary);
+ EXPECT_EQ(summary.message, "User callback returned SOLVER_ABORT.");
+}
+
+class SucceedingIterationCallback : public IterationCallback {
+ public:
+ virtual ~SucceedingIterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ return SOLVER_TERMINATE_SUCCESSFULLY;
+ }
+};
+
+TEST(Minimizer, UserSuccessUpdatesSummaryMessage) {
+ SucceedingIterationCallback callback;
+ Solver::Options solver_options;
+ solver_options.callbacks.push_back(&callback);
+ Minimizer::Options minimizer_options(solver_options);
+ Solver::Summary summary;
+ Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary);
+ EXPECT_EQ(summary.message,
+ "User callback returned SOLVER_TERMINATE_SUCCESSFULLY.");
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: Craig Silverstein.
+//
+// A simple mutex wrapper, supporting locks and read-write locks.
+// You should assume the locks are *not* re-entrant.
+//
+// This class is meant to be internal-only and should be wrapped by an
+// internal namespace. Before you use this module, please give the
+// name of your internal namespace for this module. Or, if you want
+// to expose it, you'll want to move it to the Google namespace. We
+// cannot put this class in global namespace because there can be some
+// problems when we have multiple versions of Mutex in each shared object.
+//
+// NOTE: by default, we have #ifdef'ed out the TryLock() method.
+// This is for two reasons:
+// 1) TryLock() under Windows is a bit annoying (it requires a
+// #define to be defined very early).
+// 2) TryLock() is broken for NO_THREADS mode, at least in NDEBUG
+// mode.
+// If you need TryLock(), and either these two caveats are not a
+// problem for you, or you're willing to work around them, then
+// feel free to #define GMUTEX_TRYLOCK, or to remove the #ifdefs
+// in the code below.
+//
+// CYGWIN NOTE: Cygwin support for rwlock seems to be buggy:
+// http://www.cygwin.com/ml/cygwin/2008-12/msg00017.html
+// Because of that, we might as well use windows locks for
+// cygwin. They seem to be more reliable than the cygwin pthreads layer.
+//
+// TRICKY IMPLEMENTATION NOTE:
+// This class is designed to be safe to use during
+// dynamic-initialization -- that is, by global constructors that are
+// run before main() starts. The issue in this case is that
+// dynamic-initialization happens in an unpredictable order, and it
+// could be that someone else's dynamic initializer could call a
+// function that tries to acquire this mutex -- but that all happens
+// before this mutex's constructor has run. (This can happen even if
+// the mutex and the function that uses the mutex are in the same .cc
+// file.) Basically, because Mutex does non-trivial work in its
+// constructor, it's not, in the naive implementation, safe to use
+// before dynamic initialization has run on it.
+//
+// The solution used here is to pair the actual mutex primitive with a
+// bool that is set to true when the mutex is dynamically initialized.
+// (Before that it's false.) Then we modify all mutex routines to
+// look at the bool, and not try to lock/unlock until the bool makes
+// it to true (which happens after the Mutex constructor has run.)
+//
+// This works because before main() starts -- particularly, during
+// dynamic initialization -- there are no threads, so a) it's ok that
+// the mutex operations are a no-op, since we don't need locking then
+// anyway; and b) we can be quite confident our bool won't change
+// state between a call to Lock() and a call to Unlock() (that would
+// require a global constructor in one translation unit to call Lock()
+// and another global constructor in another translation unit to call
+// Unlock() later, which is pretty perverse).
+//
+// That said, it's tricky, and can conceivably fail; it's safest to
+// avoid trying to acquire a mutex in a global constructor, if you
+// can. One way it can fail is that a really smart compiler might
+// initialize the bool to true at static-initialization time (too
+// early) rather than at dynamic-initialization time. To discourage
+// that, we set is_safe_ to true in code (not the constructor
+// colon-initializer) and set it to true via a function that always
+// evaluates to true, but that the compiler can't know always
+// evaluates to true. This should be good enough.
+
+#ifndef CERES_INTERNAL_MUTEX_H_
+#define CERES_INTERNAL_MUTEX_H_
+
+#include "ceres/internal/port.h"
+
+#if defined(CERES_NO_THREADS)
+ typedef int MutexType; // to keep a lock-count
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+# define CERES_WIN32_LEAN_AND_MEAN // We only need minimal includes
+# ifdef CERES_GMUTEX_TRYLOCK
+ // We need Windows NT or later for TryEnterCriticalSection(). If you
+ // don't need that functionality, you can remove these _WIN32_WINNT
+ // lines, and change TryLock() to assert(0) or something.
+# ifndef _WIN32_WINNT
+# define _WIN32_WINNT 0x0400
+# endif
+# endif
+// Unfortunately, windows.h defines a bunch of macros with common
+// names. Two in particular need avoiding: ERROR and min/max.
+// To avoid macro definition of ERROR.
+# define NOGDI
+// To avoid macro definition of min/max.
+# ifndef NOMINMAX
+# define NOMINMAX
+# endif
+# include <windows.h>
+ typedef CRITICAL_SECTION MutexType;
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+ // Needed for pthread_rwlock_*. If it causes problems, you could take it
+ // out, but then you'd have to unset CERES_HAVE_RWLOCK (at least on linux --
+ // it *does* cause problems for FreeBSD, or MacOSX, but isn't needed for
+ // locking there.)
+# if defined(__linux__) && !defined(_XOPEN_SOURCE)
+# define _XOPEN_SOURCE 500 // may be needed to get the rwlock calls
+# endif
+# include <pthread.h>
+ typedef pthread_rwlock_t MutexType;
+#elif defined(CERES_HAVE_PTHREAD)
+# include <pthread.h>
+ typedef pthread_mutex_t MutexType;
+#else
+# error Need to implement mutex.h for your architecture, or #define NO_THREADS
+#endif
+
+// We need to include these header files after defining _XOPEN_SOURCE
+// as they may define the _XOPEN_SOURCE macro.
+#include <assert.h>
+#include <stdlib.h> // for abort()
+
+namespace ceres {
+namespace internal {
+
+class Mutex {
+ public:
+ // Create a Mutex that is not held by anybody. This constructor is
+ // typically used for Mutexes allocated on the heap or the stack.
+ // See below for a recommendation for constructing global Mutex
+ // objects.
+ inline Mutex();
+
+ // Destructor
+ inline ~Mutex();
+
+ inline void Lock(); // Block if needed until free then acquire exclusively
+ inline void Unlock(); // Release a lock acquired via Lock()
+#ifdef CERES_GMUTEX_TRYLOCK
+ inline bool TryLock(); // If free, Lock() and return true, else return false
+#endif
+ // Note that on systems that don't support read-write locks, these may
+ // be implemented as synonyms to Lock() and Unlock(). So you can use
+ // these for efficiency, but don't use them anyplace where being able
+ // to do shared reads is necessary to avoid deadlock.
+ inline void ReaderLock(); // Block until free or shared then acquire a share
+ inline void ReaderUnlock(); // Release a read share of this Mutex
+ inline void WriterLock() { Lock(); } // Acquire an exclusive lock
+ inline void WriterUnlock() { Unlock(); } // Release a lock from WriterLock()
+
+ // TODO(hamaji): Do nothing, implement correctly.
+ inline void AssertHeld() {}
+
+ private:
+ MutexType mutex_;
+ // We want to make sure that the compiler sets is_safe_ to true only
+ // when we tell it to, and never makes assumptions is_safe_ is
+ // always true. volatile is the most reliable way to do that.
+ volatile bool is_safe_;
+
+ inline void SetIsSafe() { is_safe_ = true; }
+
+ // Catch the error of writing Mutex when intending MutexLock.
+ Mutex(Mutex* /*ignored*/) {}
+ // Disallow "evil" constructors
+ Mutex(const Mutex&);
+ void operator=(const Mutex&);
+};
+
+// Now the implementation of Mutex for various systems
+#if defined(CERES_NO_THREADS)
+
+// When we don't have threads, we can be either reading or writing,
+// but not both. We can have lots of readers at once (in no-threads
+// mode, that's most likely to happen in recursive function calls),
+// but only one writer. We represent this by having mutex_ be -1 when
+// writing and a number > 0 when reading (and 0 when no lock is held).
+//
+// In debug mode, we assert these invariants, while in non-debug mode
+// we do nothing, for efficiency. That's why everything is in an
+// assert.
+
+Mutex::Mutex() : mutex_(0) { }
+Mutex::~Mutex() { assert(mutex_ == 0); }
+void Mutex::Lock() { assert(--mutex_ == -1); }
+void Mutex::Unlock() { assert(mutex_++ == -1); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { if (mutex_) return false; Lock(); return true; }
+#endif
+void Mutex::ReaderLock() { assert(++mutex_ > 0); }
+void Mutex::ReaderUnlock() { assert(mutex_-- > 0); }
+
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+
+Mutex::Mutex() { InitializeCriticalSection(&mutex_); SetIsSafe(); }
+Mutex::~Mutex() { DeleteCriticalSection(&mutex_); }
+void Mutex::Lock() { if (is_safe_) EnterCriticalSection(&mutex_); }
+void Mutex::Unlock() { if (is_safe_) LeaveCriticalSection(&mutex_); }
+#ifdef GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ TryEnterCriticalSection(&mutex_) != 0 : true; }
+#endif
+void Mutex::ReaderLock() { Lock(); } // we don't have read-write locks
+void Mutex::ReaderUnlock() { Unlock(); }
+
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */ \
+ if (is_safe_ && fncall(&mutex_) != 0) abort(); \
+} while (0)
+
+Mutex::Mutex() {
+ SetIsSafe();
+ if (is_safe_ && pthread_rwlock_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex() { CERES_SAFE_PTHREAD(pthread_rwlock_destroy); }
+void Mutex::Lock() { CERES_SAFE_PTHREAD(pthread_rwlock_wrlock); }
+void Mutex::Unlock() { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ pthread_rwlock_trywrlock(&mutex_) == 0 :
+ true; }
+#endif
+void Mutex::ReaderLock() { CERES_SAFE_PTHREAD(pthread_rwlock_rdlock); }
+void Mutex::ReaderUnlock() { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#undef CERES_SAFE_PTHREAD
+
+#elif defined(CERES_HAVE_PTHREAD)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */ \
+ if (is_safe_ && fncall(&mutex_) != 0) abort(); \
+} while (0)
+
+Mutex::Mutex() {
+ SetIsSafe();
+ if (is_safe_ && pthread_mutex_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex() { CERES_SAFE_PTHREAD(pthread_mutex_destroy); }
+void Mutex::Lock() { CERES_SAFE_PTHREAD(pthread_mutex_lock); }
+void Mutex::Unlock() { CERES_SAFE_PTHREAD(pthread_mutex_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ pthread_mutex_trylock(&mutex_) == 0 : true; }
+#endif
+void Mutex::ReaderLock() { Lock(); }
+void Mutex::ReaderUnlock() { Unlock(); }
+#undef CERES_SAFE_PTHREAD
+
+#endif
+
+// --------------------------------------------------------------------------
+// Some helper classes
+
+// Note: The weird "Ceres" prefix for the class is a workaround for having two
+// similar mutex.h files included in the same translation unit. This is a
+// problem because macros do not respect C++ namespaces, and as a result, this
+// does not work well (e.g. inside Chrome). The offending macros are
+// "MutexLock(x) COMPILE_ASSERT(false)". To work around this, "Ceres" is
+// prefixed to the class names; this permits defining the classes.
+
+// CeresMutexLock(mu) acquires mu when constructed and releases it
+// when destroyed.
+class CeresMutexLock {
+ public:
+ explicit CeresMutexLock(Mutex *mu) : mu_(mu) { mu_->Lock(); }
+ ~CeresMutexLock() { mu_->Unlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresMutexLock(const CeresMutexLock&);
+ void operator=(const CeresMutexLock&);
+};
+
+// CeresReaderMutexLock and CeresWriterMutexLock do the same, for rwlocks
+class CeresReaderMutexLock {
+ public:
+ explicit CeresReaderMutexLock(Mutex *mu) : mu_(mu) { mu_->ReaderLock(); }
+ ~CeresReaderMutexLock() { mu_->ReaderUnlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresReaderMutexLock(const CeresReaderMutexLock&);
+ void operator=(const CeresReaderMutexLock&);
+};
+
+class CeresWriterMutexLock {
+ public:
+ explicit CeresWriterMutexLock(Mutex *mu) : mu_(mu) { mu_->WriterLock(); }
+ ~CeresWriterMutexLock() { mu_->WriterUnlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresWriterMutexLock(const CeresWriterMutexLock&);
+ void operator=(const CeresWriterMutexLock&);
+};
+
+// Catch bug where variable name is omitted, e.g. MutexLock (&mu);
+#define CeresMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_mutex_lock_decl_missing_var_name)
+#define CeresReaderMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_rmutex_lock_decl_missing_var_name)
+#define CeresWriterMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_wmutex_lock_decl_missing_var_name)
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MUTEX_H_
--- /dev/null
+// 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/normal_prior.h"
+
+#include <cstddef>
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
+ : A_(A), b_(b) {
+ CHECK_GT(b_.rows(), 0);
+ CHECK_GT(A_.rows(), 0);
+ CHECK_EQ(b_.rows(), A.cols());
+ set_num_residuals(A_.rows());
+ mutable_parameter_block_sizes()->push_back(b_.rows());
+}
+
+bool NormalPrior::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
+ VectorRef r(residuals, num_residuals());
+ // The following line should read
+ // r = A_ * (p - b_);
+ // The extra eval is to get around a bug in the eigen library.
+ r = A_ * (p - b_).eval();
+ if ((jacobians != NULL) && (jacobians[0] != NULL)) {
+ MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
+ }
+ return true;
+}
+
+} // namespace ceres
--- /dev/null
+// 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/normal_prior.h"
+
+#include <cstddef>
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+void RandomVector(Vector* v) {
+ for (int r = 0; r < v->rows(); ++r)
+ (*v)[r] = 2 * RandDouble() - 1;
+}
+
+void RandomMatrix(Matrix* m) {
+ for (int r = 0; r < m->rows(); ++r) {
+ for (int c = 0; c < m->cols(); ++c) {
+ (*m)(r, c) = 2 * RandDouble() - 1;
+ }
+ }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPosition) {
+ srand(5);
+
+ for (int num_rows = 1; num_rows < 5; ++num_rows) {
+ for (int num_cols = 1; num_cols < 5; ++num_cols) {
+ Vector b(num_cols);
+ RandomVector(&b);
+
+ Matrix A(num_rows, num_cols);
+ RandomMatrix(&A);
+
+ double * x = new double[num_cols];
+ for (int i = 0; i < num_cols; ++i)
+ x[i] = 2 * RandDouble() - 1;
+
+ double * jacobian = new double[num_rows * num_cols];
+ Vector residuals(num_rows);
+
+ NormalPrior prior(A, b);
+ prior.Evaluate(&x, residuals.data(), &jacobian);
+
+ // Compare the norm of the residual
+ double residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+ // Compare the jacobians
+ MatrixRef J(jacobian, num_rows, num_cols);
+ double jacobian_diff_norm = (J - A).norm();
+ EXPECT_NEAR(jacobian_diff_norm, 0.0, 1e-10);
+
+ delete []x;
+ delete []jacobian;
+ }
+ }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPositionNullJacobians) {
+ srand(5);
+
+ for (int num_rows = 1; num_rows < 5; ++num_rows) {
+ for (int num_cols = 1; num_cols < 5; ++num_cols) {
+ Vector b(num_cols);
+ RandomVector(&b);
+
+ Matrix A(num_rows, num_cols);
+ RandomMatrix(&A);
+
+ double * x = new double[num_cols];
+ for (int i = 0; i < num_cols; ++i)
+ x[i] = 2 * RandDouble() - 1;
+
+ double* jacobians[1];
+ jacobians[0] = NULL;
+
+ Vector residuals(num_rows);
+
+ NormalPrior prior(A, b);
+ prior.Evaluate(&x, residuals.data(), jacobians);
+
+ // Compare the norm of the residual
+ double residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+ prior.Evaluate(&x, residuals.data(), NULL);
+ // Compare the norm of the residual
+ residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+
+ delete []x;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// tbennun@gmail.com (Tal Ben-Nun)
+
+#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/array_utils.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, EasyCaseFunctorRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor,
+ RIDDERS,
+ 3, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new EasyFunctor));
+ EasyFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+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, EasyCaseCostFunctionRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyCostFunction,
+ RIDDERS,
+ 3, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new EasyCostFunction, TAKE_OWNERSHIP));
+ EasyFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+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,
+ TranscendentalCaseFunctorRidders) {
+ NumericDiffOptions options;
+
+ // Using a smaller initial step size to overcome oscillatory function
+ // behavior.
+ options.ridders_relative_initial_step_size = 1e-3;
+
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<TranscendentalFunctor,
+ RIDDERS,
+ 2, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TranscendentalFunctor, TAKE_OWNERSHIP, 2, options));
+ TranscendentalFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+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);
+}
+
+TEST(NumericDiffCostFunction,
+ TranscendentalCaseCostFunctionRidders) {
+ NumericDiffOptions options;
+
+ // Using a smaller initial step size to overcome oscillatory function
+ // behavior.
+ options.ridders_relative_initial_step_size = 1e-3;
+
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<TranscendentalCostFunction,
+ RIDDERS,
+ 2, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TranscendentalCostFunction, TAKE_OWNERSHIP, 2, options));
+ TranscendentalFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+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));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
+ new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
+ new EasyFunctor, TAKE_OWNERSHIP, 2));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
+ new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
+ new EasyFunctor, TAKE_OWNERSHIP, 2));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
+ new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
+ new EasyFunctor, TAKE_OWNERSHIP, 2));
+}
+
+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);
+}
+
+TEST(NumericDiffCostFunction, ExponentialFunctorRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<ExponentialFunctor,
+ RIDDERS,
+ 1, /* number of residuals */
+ 1 /* size of x1 */>(
+ new ExponentialFunctor));
+ ExponentialFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, ExponentialCostFunctionRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<ExponentialCostFunction,
+ RIDDERS,
+ 1, /* number of residuals */
+ 1 /* size of x1 */>(
+ new ExponentialCostFunction));
+ ExponentialFunctor functor;
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, RandomizedFunctorRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ NumericDiffOptions options;
+ // Larger initial step size is chosen to produce robust results in the
+ // presence of random noise.
+ options.ridders_relative_initial_step_size = 10.0;
+
+ cost_function.reset(
+ new NumericDiffCostFunction<RandomizedFunctor,
+ RIDDERS,
+ 1, /* number of residuals */
+ 1 /* size of x1 */>(
+ new RandomizedFunctor(kNoiseFactor, kRandomSeed), TAKE_OWNERSHIP,
+ 1, options));
+ RandomizedFunctor functor (kNoiseFactor, kRandomSeed);
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, RandomizedCostFunctionRidders) {
+ internal::scoped_ptr<CostFunction> cost_function;
+ NumericDiffOptions options;
+ // Larger initial step size is chosen to produce robust results in the
+ // presence of random noise.
+ options.ridders_relative_initial_step_size = 10.0;
+
+ cost_function.reset(
+ new NumericDiffCostFunction<RandomizedCostFunction,
+ RIDDERS,
+ 1, /* number of residuals */
+ 1 /* size of x1 */>(
+ new RandomizedCostFunction(kNoiseFactor, kRandomSeed),
+ TAKE_OWNERSHIP, 1, options));
+ RandomizedFunctor functor (kNoiseFactor, kRandomSeed);
+ functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+struct OnlyFillsOneOutputFunctor {
+ bool operator()(const double* x, double* output) const {
+ output[0] = x[0];
+ return true;
+ }
+};
+
+TEST(NumericDiffCostFunction, PartiallyFilledResidualShouldFailEvaluation) {
+ double parameter = 1.0;
+ double jacobian[2];
+ double residuals[2];
+ double* parameters[] = {¶meter};
+ double* jacobians[] = {jacobian};
+
+ scoped_ptr<CostFunction> cost_function(
+ new NumericDiffCostFunction<OnlyFillsOneOutputFunctor, CENTRAL, 2, 1>(
+ new OnlyFillsOneOutputFunctor));
+ InvalidateArray(2, jacobian);
+ InvalidateArray(2, residuals);
+ EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, jacobians));
+ EXPECT_FALSE(IsArrayValid(2, residuals));
+ InvalidateArray(2, residuals);
+ EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, NULL));
+ // We are only testing residuals here, because the Jacobians are
+ // computed using finite differencing from the residuals, so unless
+ // we introduce a validation step after every evaluation of
+ // residuals inside NumericDiffCostFunction, there is no way of
+ // ensuring that the Jacobian array is invalid.
+ EXPECT_FALSE(IsArrayValid(2, residuals));
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+// tbennun@gmail.com (Tal Ben-Nun)
+
+#include "ceres/numeric_diff_test_utils.h"
+
+#include <algorithm>
+#include <cmath>
+#include "ceres/cost_function.h"
+#include "ceres/internal/macros.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+
+namespace ceres {
+namespace internal {
+
+bool EasyFunctor::operator()(const double* x1,
+ const double* x2,
+ double* residuals) const {
+ residuals[0] = residuals[1] = residuals[2] = 0;
+ for (int i = 0; i < 5; ++i) {
+ residuals[0] += x1[i] * x2[i];
+ residuals[2] += x2[i] * x2[i];
+ }
+ residuals[1] = residuals[0] * residuals[0];
+ return true;
+}
+
+void EasyFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function,
+ NumericDiffMethodType method) const {
+ // The x1[0] is made deliberately small to test the performance near
+ // zero.
+ double x1[] = { 1e-64, 2.0, 3.0, 4.0, 5.0 };
+ double x2[] = { 9.0, 9.0, 5.0, 5.0, 1.0 };
+ double *parameters[] = { &x1[0], &x2[0] };
+
+ double dydx1[15]; // 3 x 5, row major.
+ double dydx2[15]; // 3 x 5, row major.
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[3] = {-1e-100, -2e-100, -3e-100 };
+
+ ASSERT_TRUE(cost_function.Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+
+ double expected_residuals[3];
+ EasyFunctor functor;
+ functor(x1, x2, expected_residuals);
+ EXPECT_EQ(expected_residuals[0], residuals[0]);
+ EXPECT_EQ(expected_residuals[1], residuals[1]);
+ EXPECT_EQ(expected_residuals[2], residuals[2]);
+
+ double tolerance = 0.0;
+ switch (method) {
+ default:
+ case CENTRAL:
+ tolerance = 3e-9;
+ break;
+
+ case FORWARD:
+ tolerance = 2e-5;
+ break;
+
+ case RIDDERS:
+ tolerance = 1e-13;
+ break;
+ }
+
+ for (int i = 0; i < 5; ++i) {
+ ExpectClose(x2[i], dydx1[5 * 0 + i], tolerance); // y1
+ ExpectClose(x1[i], dydx2[5 * 0 + i], tolerance);
+ ExpectClose(2 * x2[i] * residuals[0], dydx1[5 * 1 + i], tolerance); // y2
+ ExpectClose(2 * x1[i] * residuals[0], dydx2[5 * 1 + i], tolerance);
+ ExpectClose(0.0, dydx1[5 * 2 + i], tolerance); // y3
+ ExpectClose(2 * x2[i], dydx2[5 * 2 + i], tolerance);
+ }
+}
+
+bool TranscendentalFunctor::operator()(const double* x1,
+ const double* x2,
+ double* residuals) const {
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += x1[i] * x2[i];
+ }
+ residuals[0] = sin(x1x2);
+ residuals[1] = exp(-x1x2 / 10);
+ return true;
+}
+
+void TranscendentalFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function,
+ NumericDiffMethodType method) const {
+ struct {
+ double x1[5];
+ double x2[5];
+ } kTests[] = {
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // No zeros.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 0.0, 2.0, 3.0, 0.0, 5.0 }, // Some zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 1.0, 5.0 }, // Some zeros x2.
+ { 0.0, 9.0, 0.0, 5.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // All zeros x2.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ };
+
+ for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+ double *x1 = &(kTests[k].x1[0]);
+ double *x2 = &(kTests[k].x2[0]);
+ double *parameters[] = { x1, x2 };
+
+ double dydx1[10];
+ double dydx2[10];
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[2];
+
+ ASSERT_TRUE(cost_function.Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += x1[i] * x2[i];
+ }
+
+ double tolerance = 0.0;
+ switch (method) {
+ default:
+ case CENTRAL:
+ tolerance = 2e-7;
+ break;
+
+ case FORWARD:
+ tolerance = 2e-5;
+ break;
+
+ case RIDDERS:
+ tolerance = 3e-12;
+ break;
+ }
+
+ for (int i = 0; i < 5; ++i) {
+ ExpectClose( x2[i] * cos(x1x2), dydx1[5 * 0 + i], tolerance);
+ ExpectClose( x1[i] * cos(x1x2), dydx2[5 * 0 + i], tolerance);
+ ExpectClose(-x2[i] * exp(-x1x2 / 10.) / 10., dydx1[5 * 1 + i], tolerance);
+ ExpectClose(-x1[i] * exp(-x1x2 / 10.) / 10., dydx2[5 * 1 + i], tolerance);
+ }
+ }
+}
+
+bool ExponentialFunctor::operator()(const double* x1,
+ double* residuals) const {
+ residuals[0] = exp(x1[0]);
+ return true;
+}
+
+void ExponentialFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function) const {
+ // Evaluating the functor at specific points for testing.
+ double kTests[] = { 1.0, 2.0, 3.0, 4.0, 5.0 };
+
+ // Minimal tolerance w.r.t. the cost function and the tests.
+ const double kTolerance = 2e-14;
+
+ for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+ double *parameters[] = { &kTests[k] };
+ double dydx;
+ double *jacobians[1] = { &dydx };
+ double residual;
+
+ ASSERT_TRUE(cost_function.Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]));
+
+
+ double expected_result = exp(kTests[k]);
+
+ // Expect residual to be close to exp(x).
+ ExpectClose(residual, expected_result, kTolerance);
+
+ // Check evaluated differences. dydx should also be close to exp(x).
+ ExpectClose(dydx, expected_result, kTolerance);
+ }
+}
+
+bool RandomizedFunctor::operator()(const double* x1,
+ double* residuals) const {
+ double random_value = static_cast<double>(rand()) /
+ static_cast<double>(RAND_MAX);
+
+ // Normalize noise to [-factor, factor].
+ random_value *= 2.0;
+ random_value -= 1.0;
+ random_value *= noise_factor_;
+
+ residuals[0] = x1[0] * x1[0] + random_value;
+ return true;
+}
+
+void RandomizedFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function) const {
+ double kTests[] = { 0.0, 1.0, 3.0, 4.0, 50.0 };
+
+ const double kTolerance = 2e-4;
+
+ // Initialize random number generator with given seed.
+ srand(random_seed_);
+
+ for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+ double *parameters[] = { &kTests[k] };
+ double dydx;
+ double *jacobians[1] = { &dydx };
+ double residual;
+
+ ASSERT_TRUE(cost_function.Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]));
+
+ // Expect residual to be close to x^2 w.r.t. noise factor.
+ ExpectClose(residual, kTests[k] * kTests[k], noise_factor_);
+
+ // Check evaluated differences. (dy/dx = ~2x)
+ ExpectClose(dydx, 2 * kTests[k], kTolerance);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
+#define CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
+
+#include "ceres/cost_function.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// Noise factor for randomized cost function.
+static const double kNoiseFactor = 0.01;
+
+// Default random seed for randomized cost function.
+static const unsigned int kRandomSeed = 1234;
+
+// y1 = x1'x2 -> dy1/dx1 = x2, dy1/dx2 = x1
+// y2 = (x1'x2)^2 -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
+// y3 = x2'x2 -> dy3/dx1 = 0, dy3/dx2 = 2 * x2
+class EasyFunctor {
+ public:
+ bool operator()(const double* x1, const double* x2, double* residuals) const;
+ void ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function,
+ NumericDiffMethodType method) const;
+};
+
+class EasyCostFunction : public SizedCostFunction<3, 5, 5> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** /* not used */) const {
+ return functor_(parameters[0], parameters[1], residuals);
+ }
+
+ private:
+ EasyFunctor functor_;
+};
+
+// y1 = sin(x1'x2)
+// y2 = exp(-x1'x2 / 10)
+//
+// dy1/dx1 = x2 * cos(x1'x2), dy1/dx2 = x1 * cos(x1'x2)
+// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
+class TranscendentalFunctor {
+ public:
+ bool operator()(const double* x1, const double* x2, double* residuals) const;
+ void ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function,
+ NumericDiffMethodType method) const;
+};
+
+class TranscendentalCostFunction : public SizedCostFunction<2, 5, 5> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** /* not used */) const {
+ return functor_(parameters[0], parameters[1], residuals);
+ }
+ private:
+ TranscendentalFunctor functor_;
+};
+
+// y = exp(x), dy/dx = exp(x)
+class ExponentialFunctor {
+ public:
+ bool operator()(const double* x1, double* residuals) const;
+ void ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function) const;
+};
+
+class ExponentialCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** /* not used */) const {
+ return functor_(parameters[0], residuals);
+ }
+
+ private:
+ ExponentialFunctor functor_;
+};
+
+// Test adaptive numeric differentiation by synthetically adding random noise
+// to a functor.
+// y = x^2 + [random noise], dy/dx ~ 2x
+class RandomizedFunctor {
+ public:
+ RandomizedFunctor(double noise_factor, unsigned int random_seed)
+ : noise_factor_(noise_factor), random_seed_(random_seed) {
+ }
+
+ bool operator()(const double* x1, double* residuals) const;
+ void ExpectCostFunctionEvaluationIsNearlyCorrect(
+ const CostFunction& cost_function) const;
+
+ private:
+ double noise_factor_;
+ unsigned int random_seed_;
+};
+
+class RandomizedCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ RandomizedCostFunction(double noise_factor, unsigned int random_seed)
+ : functor_(noise_factor, random_seed) {
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** /* not used */) const {
+ return functor_(parameters[0], residuals);
+ }
+
+ private:
+ RandomizedFunctor functor_;
+};
+
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
--- /dev/null
+// 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/ordered_groups.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(OrderedGroups, EmptyOrderedGroupBehavesCorrectly) {
+ ParameterBlockOrdering ordering;
+ EXPECT_EQ(ordering.NumGroups(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
+ EXPECT_EQ(ordering.GroupSize(1), 0);
+ double x;
+ EXPECT_EQ(ordering.GroupId(&x), -1);
+ EXPECT_FALSE(ordering.Remove(&x));
+}
+
+TEST(OrderedGroups, EverythingInOneGroup) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.Remove(x);
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupSize(1), 2);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), -1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroups, StartInOneGroupAndThenSplit) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.AddElementToGroup(x, 5);
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 2);
+ EXPECT_EQ(ordering.GroupSize(5), 1);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), 5);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroups, AddAndRemoveEveryThingFromOneGroup) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.AddElementToGroup(x, 5);
+ ordering.AddElementToGroup(x + 1, 5);
+ ordering.AddElementToGroup(x + 2, 5);
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 0);
+ EXPECT_EQ(ordering.GroupSize(5), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), 5);
+ EXPECT_EQ(ordering.GroupId(x + 1), 5);
+ EXPECT_EQ(ordering.GroupId(x + 2), 5);
+}
+
+TEST(OrderedGroups, ReverseOrdering) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 2);
+ ordering.AddElementToGroup(x + 2, 2);
+
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 1);
+ EXPECT_EQ(ordering.GroupSize(2), 2);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 2);
+ EXPECT_EQ(ordering.GroupId(x + 2), 2);
+
+ ordering.Reverse();
+
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(3), 1);
+ EXPECT_EQ(ordering.GroupSize(2), 2);
+ EXPECT_EQ(ordering.GroupId(x), 3);
+ EXPECT_EQ(ordering.GroupId(x + 1), 2);
+ EXPECT_EQ(ordering.GroupId(x + 2), 2);
+}
+
+TEST(OrderedGroups, ReverseOrderingWithEmptyOrderedGroups) {
+ ParameterBlockOrdering ordering;
+ // This should be a no-op.
+ ordering.Reverse();
+
+ // Ensure the properties of an empty OrderedGroups still hold after Reverse().
+ EXPECT_EQ(ordering.NumGroups(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
+ EXPECT_EQ(ordering.GroupSize(1), 0);
+ double x;
+ EXPECT_EQ(ordering.GroupId(&x), -1);
+ EXPECT_FALSE(ordering.Remove(&x));
+}
+
+TEST(OrderedGroups, BulkRemove) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 2);
+ ordering.AddElementToGroup(x + 2, 2);
+
+ std::vector<double*> elements_to_remove;
+ elements_to_remove.push_back(x);
+ elements_to_remove.push_back(x + 2);
+
+ EXPECT_EQ(ordering.Remove(elements_to_remove), 2);
+ EXPECT_EQ(ordering.NumElements(), 1);
+ EXPECT_EQ(ordering.GroupId(x), -1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 2);
+ EXPECT_EQ(ordering.GroupId(x + 2), -1);
+}
+
+TEST(OrderedGroups, BulkRemoveWithNoElements) {
+ ParameterBlockOrdering ordering;
+
+ double x[3];
+ std::vector<double*> elements_to_remove;
+ elements_to_remove.push_back(x);
+ elements_to_remove.push_back(x + 2);
+
+ EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
+
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 2);
+ ordering.AddElementToGroup(x + 2, 2);
+
+ elements_to_remove.clear();
+ EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
+}
+
+TEST(OrderedGroups, MinNonZeroGroup) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 2);
+
+ EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
+ ordering.Remove(x);
+
+ EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
+ ordering.Remove(x + 1);
+
+ EXPECT_EQ(ordering.MinNonZeroGroup(), 2);
+ ordering.Remove(x + 2);
+
+ // No non-zero groups left.
+ EXPECT_DEATH_IF_SUPPORTED(ordering.MinNonZeroGroup(), "NumGroups");
+}
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_H_
+
+#include <algorithm>
+#include <cstdlib>
+#include <limits>
+#include <string>
+#include "ceres/array_utils.h"
+#include "ceres/collections_port.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+class ResidualBlock;
+
+// The parameter block encodes the location of the user's original value, and
+// also the "current state" of the parameter. The evaluator uses whatever is in
+// the current state of the parameter when evaluating. This is inlined since the
+// methods are performance sensitive.
+//
+// The class is not thread-safe, unless only const methods are called. The
+// parameter block may also hold a pointer to a local parameterization; the
+// parameter block does not take ownership of this pointer, so the user is
+// responsible for the proper disposal of the local parameterization.
+class ParameterBlock {
+ public:
+ // TODO(keir): Decide what data structure is best here. Should this be a set?
+ // Probably not, because sets are memory inefficient. However, if it's a
+ // vector, you can get into pathological linear performance when removing a
+ // residual block from a problem where all the residual blocks depend on one
+ // parameter; for example, shared focal length in a bundle adjustment
+ // problem. It might be worth making a custom structure that is just an array
+ // when it is small, but transitions to a hash set when it has more elements.
+ //
+ // For now, use a hash set.
+ typedef HashSet<ResidualBlock*> ResidualBlockSet;
+
+ // Create a parameter block with the user state, size, and index specified.
+ // The size is the size of the parameter block and the index is the position
+ // of the parameter block inside a Program (if any).
+ ParameterBlock(double* user_state, int size, int index) {
+ Init(user_state, size, index, NULL);
+ }
+
+ ParameterBlock(double* user_state,
+ int size,
+ int index,
+ LocalParameterization* local_parameterization) {
+ Init(user_state, size, index, local_parameterization);
+ }
+
+ // The size of the parameter block.
+ int Size() const { return size_; }
+
+ // Manipulate the parameter state.
+ bool SetState(const double* x) {
+ CHECK(x != NULL)
+ << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
+ CHECK(!is_constant_)
+ << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
+
+ state_ = x;
+ return UpdateLocalParameterizationJacobian();
+ }
+
+ // Copy the current parameter state out to x. This is "GetState()" rather than
+ // simply "state()" since it is actively copying the data into the passed
+ // pointer.
+ void GetState(double *x) const {
+ if (x != state_) {
+ memcpy(x, state_, sizeof(*state_) * size_);
+ }
+ }
+
+ // Direct pointers to the current state.
+ const double* state() const { return state_; }
+ const double* user_state() const { return user_state_; }
+ double* mutable_user_state() { return user_state_; }
+ LocalParameterization* local_parameterization() const {
+ return local_parameterization_;
+ }
+ LocalParameterization* mutable_local_parameterization() {
+ return local_parameterization_;
+ }
+
+ // Set this parameter block to vary or not.
+ void SetConstant() { is_constant_ = true; }
+ void SetVarying() { is_constant_ = false; }
+ bool IsConstant() const { return is_constant_; }
+
+ // This parameter block's index in an array.
+ int index() const { return index_; }
+ void set_index(int index) { index_ = index; }
+
+ // This parameter offset inside a larger state vector.
+ int state_offset() const { return state_offset_; }
+ void set_state_offset(int state_offset) { state_offset_ = state_offset; }
+
+ // This parameter offset inside a larger delta vector.
+ int delta_offset() const { return delta_offset_; }
+ void set_delta_offset(int delta_offset) { delta_offset_ = delta_offset; }
+
+ // Methods relating to the parameter block's parameterization.
+
+ // The local to global jacobian. Returns NULL if there is no local
+ // parameterization for this parameter block. The returned matrix is row-major
+ // and has Size() rows and LocalSize() columns.
+ const double* LocalParameterizationJacobian() const {
+ return local_parameterization_jacobian_.get();
+ }
+
+ int LocalSize() const {
+ return (local_parameterization_ == NULL)
+ ? size_
+ : local_parameterization_->LocalSize();
+ }
+
+ // Set the parameterization. The parameterization can be set exactly once;
+ // multiple calls to set the parameterization to different values will crash.
+ // It is an error to pass NULL for the parameterization. The parameter block
+ // does not take ownership of the parameterization.
+ void SetParameterization(LocalParameterization* new_parameterization) {
+ CHECK(new_parameterization != NULL) << "NULL parameterization invalid.";
+ // Nothing to do if the new parameterization is the same as the
+ // old parameterization.
+ if (new_parameterization == local_parameterization_) {
+ return;
+ }
+
+ CHECK(local_parameterization_ == NULL)
+ << "Can't re-set the local parameterization; it leads to "
+ << "ambiguous ownership. Current local parameterization is: "
+ << local_parameterization_;
+
+ CHECK(new_parameterization->GlobalSize() == size_)
+ << "Invalid parameterization for parameter block. The parameter block "
+ << "has size " << size_ << " while the parameterization has a global "
+ << "size of " << new_parameterization->GlobalSize() << ". Did you "
+ << "accidentally use the wrong parameter block or parameterization?";
+
+ CHECK_GT(new_parameterization->LocalSize(), 0)
+ << "Invalid parameterization. Parameterizations must have a positive "
+ << "dimensional tangent space.";
+
+ local_parameterization_ = new_parameterization;
+ local_parameterization_jacobian_.reset(
+ new double[local_parameterization_->GlobalSize() *
+ local_parameterization_->LocalSize()]);
+ CHECK(UpdateLocalParameterizationJacobian())
+ << "Local parameterization Jacobian computation failed for x: "
+ << ConstVectorRef(state_, Size()).transpose();
+ }
+
+ void SetUpperBound(int index, double upper_bound) {
+ CHECK_LT(index, size_);
+
+ if (upper_bounds_.get() == NULL) {
+ upper_bounds_.reset(new double[size_]);
+ std::fill(upper_bounds_.get(),
+ upper_bounds_.get() + size_,
+ std::numeric_limits<double>::max());
+ }
+
+ upper_bounds_[index] = upper_bound;
+ }
+
+ void SetLowerBound(int index, double lower_bound) {
+ CHECK_LT(index, size_);
+
+ if (lower_bounds_.get() == NULL) {
+ lower_bounds_.reset(new double[size_]);
+ std::fill(lower_bounds_.get(),
+ lower_bounds_.get() + size_,
+ -std::numeric_limits<double>::max());
+ }
+
+ lower_bounds_[index] = lower_bound;
+ }
+
+ // Generalization of the addition operation. This is the same as
+ // LocalParameterization::Plus() followed by projection onto the
+ // hyper cube implied by the bounds constraints.
+ bool Plus(const double *x, const double* delta, double* x_plus_delta) {
+ if (local_parameterization_ != NULL) {
+ if (!local_parameterization_->Plus(x, delta, x_plus_delta)) {
+ return false;
+ }
+ } else {
+ VectorRef(x_plus_delta, size_) = ConstVectorRef(x, size_) +
+ ConstVectorRef(delta, size_);
+ }
+
+ // Project onto the box constraints.
+ if (lower_bounds_.get() != NULL) {
+ for (int i = 0; i < size_; ++i) {
+ x_plus_delta[i] = std::max(x_plus_delta[i], lower_bounds_[i]);
+ }
+ }
+
+ if (upper_bounds_.get() != NULL) {
+ for (int i = 0; i < size_; ++i) {
+ x_plus_delta[i] = std::min(x_plus_delta[i], upper_bounds_[i]);
+ }
+ }
+
+ return true;
+ }
+
+ std::string ToString() const {
+ return StringPrintf("{ this=%p, user_state=%p, state=%p, size=%d, "
+ "constant=%d, index=%d, state_offset=%d, "
+ "delta_offset=%d }",
+ this,
+ user_state_,
+ state_,
+ size_,
+ is_constant_,
+ index_,
+ state_offset_,
+ delta_offset_);
+ }
+
+ void EnableResidualBlockDependencies() {
+ CHECK(residual_blocks_.get() == NULL)
+ << "Ceres bug: There is already a residual block collection "
+ << "for parameter block: " << ToString();
+ residual_blocks_.reset(new ResidualBlockSet);
+ }
+
+ void AddResidualBlock(ResidualBlock* residual_block) {
+ CHECK(residual_blocks_.get() != NULL)
+ << "Ceres bug: The residual block collection is null for parameter "
+ << "block: " << ToString();
+ residual_blocks_->insert(residual_block);
+ }
+
+ void RemoveResidualBlock(ResidualBlock* residual_block) {
+ CHECK(residual_blocks_.get() != NULL)
+ << "Ceres bug: The residual block collection is null for parameter "
+ << "block: " << ToString();
+ CHECK(residual_blocks_->find(residual_block) != residual_blocks_->end())
+ << "Ceres bug: Missing residual for parameter block: " << ToString();
+ residual_blocks_->erase(residual_block);
+ }
+
+ // This is only intended for iterating; perhaps this should only expose
+ // .begin() and .end().
+ ResidualBlockSet* mutable_residual_blocks() {
+ return residual_blocks_.get();
+ }
+
+ double LowerBoundForParameter(int index) const {
+ if (lower_bounds_.get() == NULL) {
+ return -std::numeric_limits<double>::max();
+ } else {
+ return lower_bounds_[index];
+ }
+ }
+
+ double UpperBoundForParameter(int index) const {
+ if (upper_bounds_.get() == NULL) {
+ return std::numeric_limits<double>::max();
+ } else {
+ return upper_bounds_[index];
+ }
+ }
+
+ private:
+ void Init(double* user_state,
+ int size,
+ int index,
+ LocalParameterization* local_parameterization) {
+ user_state_ = user_state;
+ size_ = size;
+ index_ = index;
+ is_constant_ = false;
+ state_ = user_state_;
+
+ local_parameterization_ = NULL;
+ if (local_parameterization != NULL) {
+ SetParameterization(local_parameterization);
+ }
+
+ state_offset_ = -1;
+ delta_offset_ = -1;
+ }
+
+ bool UpdateLocalParameterizationJacobian() {
+ if (local_parameterization_ == NULL) {
+ return true;
+ }
+
+ // Update the local to global Jacobian. In some cases this is
+ // wasted effort; if this is a bottleneck, we will find a solution
+ // at that time.
+
+ const int jacobian_size = Size() * LocalSize();
+ InvalidateArray(jacobian_size,
+ local_parameterization_jacobian_.get());
+ if (!local_parameterization_->ComputeJacobian(
+ state_,
+ local_parameterization_jacobian_.get())) {
+ LOG(WARNING) << "Local parameterization Jacobian computation failed"
+ "for x: " << ConstVectorRef(state_, Size()).transpose();
+ return false;
+ }
+
+ if (!IsArrayValid(jacobian_size, local_parameterization_jacobian_.get())) {
+ LOG(WARNING) << "Local parameterization Jacobian computation returned"
+ << "an invalid matrix for x: "
+ << ConstVectorRef(state_, Size()).transpose()
+ << "\n Jacobian matrix : "
+ << ConstMatrixRef(local_parameterization_jacobian_.get(),
+ Size(),
+ LocalSize());
+ return false;
+ }
+ return true;
+ }
+
+ double* user_state_;
+ int size_;
+ bool is_constant_;
+ LocalParameterization* local_parameterization_;
+
+ // The "state" of the parameter. These fields are only needed while the
+ // solver is running. While at first glance using mutable is a bad idea, this
+ // ends up simplifying the internals of Ceres enough to justify the potential
+ // pitfalls of using "mutable."
+ mutable const double* state_;
+ mutable scoped_array<double> local_parameterization_jacobian_;
+
+ // The index of the parameter. This is used by various other parts of Ceres to
+ // permit switching from a ParameterBlock* to an index in another array.
+ int32 index_;
+
+ // The offset of this parameter block inside a larger state vector.
+ int32 state_offset_;
+
+ // The offset of this parameter block inside a larger delta vector.
+ int32 delta_offset_;
+
+ // If non-null, contains the residual blocks this parameter block is in.
+ scoped_ptr<ResidualBlockSet> residual_blocks_;
+
+ // Upper and lower bounds for the parameter block. SetUpperBound
+ // and SetLowerBound lazily initialize the upper_bounds_ and
+ // lower_bounds_ arrays. If they are never called, then memory for
+ // these arrays is never allocated. Thus for problems where there
+ // are no bounds, or only one sided bounds we do not pay the cost of
+ // allocating memory for the inactive bounds constraints.
+ //
+ // Upon initialization these arrays are initialized to
+ // std::numeric_limits<double>::max() and
+ // -std::numeric_limits<double>::max() respectively which correspond
+ // to the parameter block being unconstrained.
+ scoped_array<double> upper_bounds_;
+ scoped_array<double> lower_bounds_;
+
+ // Necessary so ProblemImpl can clean up the parameterizations.
+ friend class ProblemImpl;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARAMETER_BLOCK_H_
--- /dev/null
+// 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/parameter_block_ordering.h"
+
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::set;
+using std::vector;
+
+int ComputeStableSchurOrdering(const Program& program,
+ vector<ParameterBlock*>* ordering) {
+ CHECK_NOTNULL(ordering)->clear();
+ EventLogger event_logger("ComputeStableSchurOrdering");
+ scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+ event_logger.AddEvent("CreateHessianGraph");
+
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ const HashSet<ParameterBlock*>& vertices = graph->vertices();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ if (vertices.count(parameter_blocks[i]) > 0) {
+ ordering->push_back(parameter_blocks[i]);
+ }
+ }
+ event_logger.AddEvent("Preordering");
+
+ int independent_set_size = StableIndependentSetOrdering(*graph, ordering);
+ event_logger.AddEvent("StableIndependentSet");
+
+ // Add the excluded blocks to back of the ordering vector.
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ if (parameter_block->IsConstant()) {
+ ordering->push_back(parameter_block);
+ }
+ }
+ event_logger.AddEvent("ConstantParameterBlocks");
+
+ return independent_set_size;
+}
+
+int ComputeSchurOrdering(const Program& program,
+ vector<ParameterBlock*>* ordering) {
+ CHECK_NOTNULL(ordering)->clear();
+
+ scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+ int independent_set_size = IndependentSetOrdering(*graph, ordering);
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+
+ // Add the excluded blocks to back of the ordering vector.
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ if (parameter_block->IsConstant()) {
+ ordering->push_back(parameter_block);
+ }
+ }
+
+ return independent_set_size;
+}
+
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+ ParameterBlockOrdering* ordering) {
+ CHECK_NOTNULL(ordering)->Clear();
+ const vector<ParameterBlock*> parameter_blocks = program.parameter_blocks();
+ scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+
+ int num_covered = 0;
+ int round = 0;
+ while (num_covered < parameter_blocks.size()) {
+ vector<ParameterBlock*> independent_set_ordering;
+ const int independent_set_size =
+ IndependentSetOrdering(*graph, &independent_set_ordering);
+ for (int i = 0; i < independent_set_size; ++i) {
+ ParameterBlock* parameter_block = independent_set_ordering[i];
+ ordering->AddElementToGroup(parameter_block->mutable_user_state(), round);
+ graph->RemoveVertex(parameter_block);
+ }
+ num_covered += independent_set_size;
+ ++round;
+ }
+}
+
+Graph<ParameterBlock*>* CreateHessianGraph(const Program& program) {
+ Graph<ParameterBlock*>* graph = CHECK_NOTNULL(new Graph<ParameterBlock*>);
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ if (!parameter_block->IsConstant()) {
+ graph->AddVertex(parameter_block);
+ }
+ }
+
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ ParameterBlock* const* parameter_blocks =
+ residual_block->parameter_blocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (parameter_blocks[j]->IsConstant()) {
+ continue;
+ }
+
+ for (int k = j + 1; k < num_parameter_blocks; ++k) {
+ if (parameter_blocks[k]->IsConstant()) {
+ continue;
+ }
+
+ graph->AddEdge(parameter_blocks[j], parameter_blocks[k]);
+ }
+ }
+ }
+
+ return graph;
+}
+
+void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
+ vector<int>* group_sizes) {
+ CHECK_NOTNULL(group_sizes)->clear();
+ if (ordering == NULL) {
+ return;
+ }
+
+ const map<int, set<double*> >& group_to_elements =
+ ordering->group_to_elements();
+ for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ it != group_to_elements.end();
+ ++it) {
+ group_sizes->push_back(it->second.size());
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+
+#include <vector>
+#include "ceres/ordered_groups.h"
+#include "ceres/graph.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ParameterBlock;
+
+// Uses an approximate independent set ordering to order the parameter
+// blocks of a problem so that it is suitable for use with Schur
+// complement based solvers. The output variable ordering contains an
+// ordering of the parameter blocks and the return value is size of
+// the independent set or the number of e_blocks (see
+// schur_complement_solver.h for an explanation). Constant parameters
+// are added to the end.
+//
+// The ordering vector has the structure
+//
+// ordering = [independent set,
+// complement of the independent set,
+// fixed blocks]
+int ComputeSchurOrdering(const Program& program,
+ std::vector<ParameterBlock* >* ordering);
+
+// Same as above, except that ties while computing the independent set
+// ordering are resolved in favour of the order in which the parameter
+// blocks occur in the program.
+int ComputeStableSchurOrdering(const Program& program,
+ std::vector<ParameterBlock* >* ordering);
+
+// Use an approximate independent set ordering to decompose the
+// parameter blocks of a problem in a sequence of independent
+// sets. The ordering covers all the non-constant parameter blocks in
+// the program.
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+ ParameterBlockOrdering* ordering);
+
+// Builds a graph on the parameter blocks of a Problem, whose
+// structure reflects the sparsity structure of the Hessian. Each
+// vertex corresponds to a parameter block in the Problem except for
+// parameter blocks that are marked constant. An edge connects two
+// parameter blocks, if they co-occur in a residual block.
+Graph<ParameterBlock*>* CreateHessianGraph(const Program& program);
+
+// Iterate over each of the groups in order of their priority and fill
+// summary with their sizes.
+void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
+ std::vector<int>* group_sizes);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
--- /dev/null
+// 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/parameter_block_ordering.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/stl_util.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+typedef Graph<ParameterBlock*> HessianGraph;
+typedef HashSet<ParameterBlock*> VertexSet;
+
+template <int M, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> {
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+class SchurOrderingTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ // The explicit calls to AddParameterBlock are necessary because
+ // the below tests depend on the specific numbering of the
+ // parameter blocks.
+ problem_.AddParameterBlock(x_, 3);
+ problem_.AddParameterBlock(y_, 4);
+ problem_.AddParameterBlock(z_, 5);
+ problem_.AddParameterBlock(w_, 6);
+
+ problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_);
+ problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_);
+ problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL,
+ z_, x_, w_);
+ }
+
+ ProblemImpl problem_;
+ double x_[3], y_[4], z_[5], w_[6];
+};
+
+TEST_F(SchurOrderingTest, NoFixed) {
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+ const VertexSet& vertices = graph->vertices();
+ EXPECT_EQ(vertices.size(), 4);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+ EXPECT_EQ(neighbors.size(), 3);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+}
+
+TEST_F(SchurOrderingTest, AllFixed) {
+ problem_.SetParameterBlockConstant(x_);
+ problem_.SetParameterBlockConstant(y_);
+ problem_.SetParameterBlockConstant(z_);
+ problem_.SetParameterBlockConstant(w_);
+
+ const Program& program = problem_.program();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+ EXPECT_EQ(graph->vertices().size(), 0);
+}
+
+TEST_F(SchurOrderingTest, OneFixed) {
+ problem_.SetParameterBlockConstant(x_);
+
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+ const VertexSet& vertices = graph->vertices();
+
+ EXPECT_EQ(vertices.size(), 3);
+ EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end());
+
+ for (int i = 1; i < 3; ++i) {
+ EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ // The constant parameter block is at the end.
+ vector<ParameterBlock*> ordering;
+ ComputeSchurOrdering(program, &ordering);
+ EXPECT_EQ(ordering.back(), parameter_blocks[0]);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/parameter_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ParameterBlock, SetLocalParameterizationDiesOnSizeMismatch) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ SubsetParameterization subset_wrong_size(4, indices);
+ EXPECT_DEATH_IF_SUPPORTED(
+ parameter_block.SetParameterization(&subset_wrong_size), "global");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationWithSameExistingParameterization) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ SubsetParameterization subset(3, indices);
+ parameter_block.SetParameterization(&subset);
+ parameter_block.SetParameterization(&subset);
+}
+
+TEST(ParameterBlock, SetLocalParameterizationDiesWhenResettingToNull) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ SubsetParameterization subset(3, indices);
+ parameter_block.SetParameterization(&subset);
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+}
+
+TEST(ParameterBlock,
+ SetLocalParameterizationDiesWhenResettingToDifferentParameterization) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ SubsetParameterization subset(3, indices);
+ parameter_block.SetParameterization(&subset);
+ SubsetParameterization subset_different(3, indices);
+ EXPECT_DEATH_IF_SUPPORTED(
+ parameter_block.SetParameterization(&subset_different), "re-set");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationDiesOnNullParameterization) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+}
+
+TEST(ParameterBlock, SetParameterizationDiesOnZeroLocalSize) {
+ double x[3] = {1.0, 2.0, 3.0};
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(0);
+ indices.push_back(1);
+ indices.push_back(2);
+ SubsetParameterization subset(3, indices);
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(&subset),
+ "positive dimensional tangent");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationAndNormalOperation) {
+ double x[3] = { 1.0, 2.0, 3.0 };
+ ParameterBlock parameter_block(x, 3, -1);
+ std::vector<int> indices;
+ indices.push_back(1);
+ SubsetParameterization subset(3, indices);
+ parameter_block.SetParameterization(&subset);
+
+ // Ensure the local parameterization jacobian result is correctly computed.
+ ConstMatrixRef local_parameterization_jacobian(
+ parameter_block.LocalParameterizationJacobian(),
+ 3,
+ 2);
+ ASSERT_EQ(1.0, local_parameterization_jacobian(0, 0));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(0, 1));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(1, 0));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(1, 1));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(2, 0));
+ ASSERT_EQ(1.0, local_parameterization_jacobian(2, 1));
+
+ // Check that updating works as expected.
+ double x_plus_delta[3];
+ double delta[2] = { 0.5, 0.3 };
+ parameter_block.Plus(x, delta, x_plus_delta);
+ ASSERT_EQ(1.5, x_plus_delta[0]);
+ ASSERT_EQ(2.0, x_plus_delta[1]);
+ ASSERT_EQ(3.3, x_plus_delta[2]);
+}
+
+struct TestParameterization : public LocalParameterization {
+ public:
+ virtual ~TestParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ LOG(FATAL) << "Shouldn't get called.";
+ return true;
+ }
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const {
+ jacobian[0] = *x * 2;
+ return true;
+ }
+
+ virtual int GlobalSize() const { return 1; }
+ virtual int LocalSize() const { return 1; }
+};
+
+TEST(ParameterBlock, SetStateUpdatesLocalParameterizationJacobian) {
+ TestParameterization test_parameterization;
+ double x[1] = { 1.0 };
+ ParameterBlock parameter_block(x, 1, -1, &test_parameterization);
+
+ EXPECT_EQ(2.0, *parameter_block.LocalParameterizationJacobian());
+
+ x[0] = 5.5;
+ parameter_block.SetState(x);
+ EXPECT_EQ(11.0, *parameter_block.LocalParameterizationJacobian());
+}
+
+TEST(ParameterBlock, PlusWithNoLocalParameterization) {
+ double x[2] = { 1.0, 2.0 };
+ ParameterBlock parameter_block(x, 2, -1);
+
+ double delta[2] = { 0.2, 0.3 };
+ double x_plus_delta[2];
+ parameter_block.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(1.2, x_plus_delta[0]);
+ EXPECT_EQ(2.3, x_plus_delta[1]);
+}
+
+// Stops computing the jacobian after the first time.
+class BadLocalParameterization : public LocalParameterization {
+ public:
+ BadLocalParameterization()
+ : calls_(0) {
+ }
+
+ virtual ~BadLocalParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ *x_plus_delta = *x + *delta;
+ return true;
+ }
+
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+ if (calls_ == 0) {
+ jacobian[0] = 0;
+ }
+ ++calls_;
+ return true;
+ }
+
+ virtual int GlobalSize() const { return 1;}
+ virtual int LocalSize() const { return 1;}
+
+ private:
+ mutable int calls_;
+};
+
+TEST(ParameterBlock, DetectBadLocalParameterization) {
+ double x = 1;
+ BadLocalParameterization bad_parameterization;
+ ParameterBlock parameter_block(&x, 1, -1, &bad_parameterization);
+ double y = 2;
+ EXPECT_FALSE(parameter_block.SetState(&y));
+}
+
+TEST(ParameterBlock, DefaultBounds) {
+ double x[2];
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
+ std::numeric_limits<double>::max());
+ EXPECT_EQ(parameter_block.UpperBoundForParameter(1),
+ std::numeric_limits<double>::max());
+ EXPECT_EQ(parameter_block.LowerBoundForParameter(0),
+ -std::numeric_limits<double>::max());
+ EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
+ -std::numeric_limits<double>::max());
+}
+
+TEST(ParameterBlock, SetBounds) {
+ double x[2];
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ parameter_block.SetLowerBound(0, 1);
+ parameter_block.SetUpperBound(1, 1);
+
+ EXPECT_EQ(parameter_block.LowerBoundForParameter(0), 1.0);
+ EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
+ -std::numeric_limits<double>::max());
+
+ EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
+ std::numeric_limits<double>::max());
+ EXPECT_EQ(parameter_block.UpperBoundForParameter(1), 1.0);
+}
+
+TEST(ParameterBlock, PlusWithBoundsConstraints) {
+ double x[] = {1.0, 0.0};
+ double delta[] = {2.0, -10.0};
+ ParameterBlock parameter_block(x, 2, -1, NULL);
+ parameter_block.SetUpperBound(0, 2.0);
+ parameter_block.SetLowerBound(1, -1.0);
+ double x_plus_delta[2];
+ parameter_block.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(x_plus_delta[0], 2.0);
+ EXPECT_EQ(x_plus_delta[1], -1.0);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+PartitionedMatrixViewBase*
+PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
+ const BlockSparseMatrix& matrix) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 2)) {
+ return new PartitionedMatrixView<2, 2, 2>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 3)) {
+ return new PartitionedMatrixView<2, 2, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 4)) {
+ return new PartitionedMatrixView<2, 2, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2)) {
+ return new PartitionedMatrixView<2, 2, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 3)) {
+ return new PartitionedMatrixView<2, 3, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 4)) {
+ return new PartitionedMatrixView<2, 3, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 6)) {
+ return new PartitionedMatrixView<2, 3, 6>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 9)) {
+ return new PartitionedMatrixView<2, 3, 9>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3)) {
+ return new PartitionedMatrixView<2, 3, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new PartitionedMatrixView<2, 4, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new PartitionedMatrixView<2, 4, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 8)) {
+ return new PartitionedMatrixView<2, 4, 8>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 9)) {
+ return new PartitionedMatrixView<2, 4, 9>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4)) {
+ return new PartitionedMatrixView<2, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if (options.row_block_size == 2){
+ return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 2)) {
+ return new PartitionedMatrixView<4, 4, 2>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new PartitionedMatrixView<4, 4, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new PartitionedMatrixView<4, 4, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4)) {
+ return new PartitionedMatrixView<4, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
+ matrix, options.elimination_groups[0]);
+};
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// For generalized bi-partite Jacobian matrices that arise in
+// Structure from Motion related problems, it is sometimes useful to
+// have access to the two parts of the matrix as linear operators
+// themselves. This class provides that functionality.
+
+#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/small_blas.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Given generalized bi-partite matrix A = [E F], with the same block
+// structure as required by the Schur complement based solver, found
+// in explicit_schur_complement_solver.h, provide access to the
+// matrices E and F and their outer products E'E and F'F with
+// themselves.
+//
+// Lack of BlockStructure object will result in a crash and if the
+// block structure of the matrix does not satisfy the requirements of
+// the Schur complement solver it will result in unpredictable and
+// wrong output.
+class PartitionedMatrixViewBase {
+ public:
+ virtual ~PartitionedMatrixViewBase() {}
+
+ // y += E'x
+ virtual void LeftMultiplyE(const double* x, double* y) const = 0;
+
+ // y += F'x
+ virtual void LeftMultiplyF(const double* x, double* y) const = 0;
+
+ // y += Ex
+ virtual void RightMultiplyE(const double* x, double* y) const = 0;
+
+ // y += Fx
+ virtual void RightMultiplyF(const double* x, double* y) const = 0;
+
+ // Create and return the block diagonal of the matrix E'E.
+ virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const = 0;
+
+ // Create and return the block diagonal of the matrix F'F. Caller
+ // owns the result.
+ virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const = 0;
+
+ // Compute the block diagonal of the matrix E'E and store it in
+ // block_diagonal. The matrix block_diagonal is expected to have a
+ // BlockStructure (preferably created using
+ // CreateBlockDiagonalMatrixEtE) which is has the same structure as
+ // the block diagonal of E'E.
+ virtual void UpdateBlockDiagonalEtE(
+ BlockSparseMatrix* block_diagonal) const = 0;
+
+ // Compute the block diagonal of the matrix F'F and store it in
+ // block_diagonal. The matrix block_diagonal is expected to have a
+ // BlockStructure (preferably created using
+ // CreateBlockDiagonalMatrixFtF) which is has the same structure as
+ // the block diagonal of F'F.
+ virtual void UpdateBlockDiagonalFtF(
+ BlockSparseMatrix* block_diagonal) const = 0;
+
+ virtual int num_col_blocks_e() const = 0;
+ virtual int num_col_blocks_f() const = 0;
+ virtual int num_cols_e() const = 0;
+ virtual int num_cols_f() const = 0;
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+
+ static PartitionedMatrixViewBase* Create(const LinearSolver::Options& options,
+ const BlockSparseMatrix& matrix);
+};
+
+template <int kRowBlockSize = Eigen::Dynamic,
+ int kEBlockSize = Eigen::Dynamic,
+ int kFBlockSize = Eigen::Dynamic >
+class PartitionedMatrixView : public PartitionedMatrixViewBase {
+ public:
+ // matrix = [E F], where the matrix E contains the first
+ // num_col_blocks_a column blocks.
+ PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e);
+
+ virtual ~PartitionedMatrixView();
+ virtual void LeftMultiplyE(const double* x, double* y) const;
+ virtual void LeftMultiplyF(const double* x, double* y) const;
+ virtual void RightMultiplyE(const double* x, double* y) const;
+ virtual void RightMultiplyF(const double* x, double* y) const;
+ virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const;
+ virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const;
+ virtual void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
+ virtual void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
+ virtual int num_col_blocks_e() const { return num_col_blocks_e_; }
+ virtual int num_col_blocks_f() const { return num_col_blocks_f_; }
+ virtual int num_cols_e() const { return num_cols_e_; }
+ virtual int num_cols_f() const { return num_cols_f_; }
+ virtual int num_rows() const { return matrix_.num_rows(); }
+ virtual int num_cols() const { return matrix_.num_cols(); }
+
+ private:
+ BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
+ int end_col_block) const;
+
+ const BlockSparseMatrix& matrix_;
+ int num_row_blocks_e_;
+ int num_col_blocks_e_;
+ int num_col_blocks_f_;
+ int num_cols_e_;
+ int num_cols_f_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
--- /dev/null
+// 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/partitioned_matrix_view.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/small_blas.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+PartitionedMatrixView(
+ const BlockSparseMatrix& matrix,
+ int num_col_blocks_e)
+ : matrix_(matrix),
+ num_col_blocks_e_(num_col_blocks_e) {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ CHECK_NOTNULL(bs);
+
+ num_col_blocks_f_ = bs->cols.size() - num_col_blocks_e_;
+
+ // Compute the number of row blocks in E. The number of row blocks
+ // in E maybe less than the number of row blocks in the input matrix
+ // as some of the row blocks at the bottom may not have any
+ // e_blocks. For a definition of what an e_block is, please see
+ // explicit_schur_complement_solver.h
+ num_row_blocks_e_ = 0;
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ if (cells[0].block_id < num_col_blocks_e_) {
+ ++num_row_blocks_e_;
+ }
+ }
+
+ // Compute the number of columns in E and F.
+ num_cols_e_ = 0;
+ num_cols_f_ = 0;
+
+ for (int c = 0; c < bs->cols.size(); ++c) {
+ const Block& block = bs->cols[c];
+ if (c < num_col_blocks_e_) {
+ num_cols_e_ += block.size;
+ } else {
+ num_cols_f_ += block.size;
+ }
+ }
+
+ CHECK_EQ(num_cols_e_ + num_cols_f_, matrix_.num_cols());
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+~PartitionedMatrixView() {
+}
+
+// The next four methods don't seem to be particularly cache
+// friendly. This is an artifact of how the BlockStructure of the
+// input matrix is constructed. These methods will benefit from
+// multithreading as well as improved data layout.
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+RightMultiplyE(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+ // by the first cell in each row block.
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const Cell& cell = bs->rows[r].cells[0];
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const int col_block_id = cell.block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+ values + cell.position, row_block_size, col_block_size,
+ x + col_block_pos,
+ y + row_block_pos);
+ }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+RightMultiplyF(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over row blocks, and if the row block is in E, then
+ // multiply by all the cells except the first one which is of type
+ // E. If the row block is not in E (i.e its in the bottom
+ // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+ // are of type F and multiply by them all.
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 1; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ x + col_block_pos - num_cols_e_,
+ y + row_block_pos);
+ }
+ }
+
+ for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 0; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ x + col_block_pos - num_cols_e_,
+ y + row_block_pos);
+ }
+ }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+LeftMultiplyE(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+ // by the first cell in each row block.
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const Cell& cell = bs->rows[r].cells[0];
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const int col_block_id = cell.block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+ values + cell.position, row_block_size, col_block_size,
+ x + row_block_pos,
+ y + col_block_pos);
+ }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+LeftMultiplyF(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over row blocks, and if the row block is in E, then
+ // multiply by all the cells except the first one which is of type
+ // E. If the row block is not in E (i.e its in the bottom
+ // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+ // are of type F and multiply by them all.
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 1; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ x + row_block_pos,
+ y + col_block_pos - num_cols_e_);
+ }
+ }
+
+ for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 0; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+ MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ x + row_block_pos,
+ y + col_block_pos - num_cols_e_);
+ }
+ }
+}
+
+// Given a range of columns blocks of a matrix m, compute the block
+// structure of the block diagonal of the matrix m(:,
+// start_col_block:end_col_block)'m(:, start_col_block:end_col_block)
+// and return a BlockSparseMatrix with the this block structure. The
+// caller owns the result.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalMatrixLayout(int start_col_block, int end_col_block) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ CompressedRowBlockStructure* block_diagonal_structure =
+ new CompressedRowBlockStructure;
+
+ int block_position = 0;
+ int diagonal_cell_position = 0;
+
+ // Iterate over the column blocks, creating a new diagonal block for
+ // each column block.
+ for (int c = start_col_block; c < end_col_block; ++c) {
+ const Block& block = bs->cols[c];
+ block_diagonal_structure->cols.push_back(Block());
+ Block& diagonal_block = block_diagonal_structure->cols.back();
+ diagonal_block.size = block.size;
+ diagonal_block.position = block_position;
+
+ block_diagonal_structure->rows.push_back(CompressedRow());
+ CompressedRow& row = block_diagonal_structure->rows.back();
+ row.block = diagonal_block;
+
+ row.cells.push_back(Cell());
+ Cell& cell = row.cells.back();
+ cell.block_id = c - start_col_block;
+ cell.position = diagonal_cell_position;
+
+ block_position += block.size;
+ diagonal_cell_position += block.size * block.size;
+ }
+
+ // Build a BlockSparseMatrix with the just computed block
+ // structure.
+ return new BlockSparseMatrix(block_diagonal_structure);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalEtE() const {
+ BlockSparseMatrix* block_diagonal =
+ CreateBlockDiagonalMatrixLayout(0, num_col_blocks_e_);
+ UpdateBlockDiagonalEtE(block_diagonal);
+ return block_diagonal;
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalFtF() const {
+ BlockSparseMatrix* block_diagonal =
+ CreateBlockDiagonalMatrixLayout(
+ num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_);
+ UpdateBlockDiagonalFtF(block_diagonal);
+ return block_diagonal;
+}
+
+// Similar to the code in RightMultiplyE, except instead of the matrix
+// vector multiply its an outer product.
+//
+// block_diagonal = block_diagonal(E'E)
+//
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateBlockDiagonalEtE(
+ BlockSparseMatrix* block_diagonal) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+
+ block_diagonal->SetZero();
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_ ; ++r) {
+ const Cell& cell = bs->rows[r].cells[0];
+ const int row_block_size = bs->rows[r].block.size;
+ const int block_id = cell.block_id;
+ const int col_block_size = bs->cols[block_id].size;
+ const int cell_position =
+ block_diagonal_structure->rows[block_id].cells[0].position;
+
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+ values + cell.position, row_block_size, col_block_size,
+ values + cell.position, row_block_size, col_block_size,
+ block_diagonal->mutable_values() + cell_position,
+ 0, 0, col_block_size, col_block_size);
+ }
+}
+
+// Similar to the code in RightMultiplyF, except instead of the matrix
+// vector multiply its an outer product.
+//
+// block_diagonal = block_diagonal(F'F)
+//
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+
+ block_diagonal->SetZero();
+ const double* values = matrix_.values();
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 1; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_size = bs->cols[col_block_id].size;
+ const int diagonal_block_id = col_block_id - num_col_blocks_e_;
+ const int cell_position =
+ block_diagonal_structure->rows[diagonal_block_id].cells[0].position;
+
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ values + cells[c].position, row_block_size, col_block_size,
+ block_diagonal->mutable_values() + cell_position,
+ 0, 0, col_block_size, col_block_size);
+ }
+ }
+
+ for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+ const int row_block_size = bs->rows[r].block.size;
+ const std::vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = 0; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_size = bs->cols[col_block_id].size;
+ const int diagonal_block_id = col_block_id - num_col_blocks_e_;
+ const int cell_position =
+ block_diagonal_structure->rows[diagonal_block_id].cells[0].position;
+
+ MatrixTransposeMatrixMultiply
+ <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + cells[c].position, row_block_size, col_block_size,
+ values + cells[c].position, row_block_size, col_block_size,
+ block_diagonal->mutable_values() + cell_position,
+ 0, 0, col_block_size, col_block_size);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+# 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)
+#
+# Script for explicitly generating template specialization of the
+# PartitionedMatrixView class. Explicitly generating these
+# instantiations in separate .cc files breaks the compilation into
+# separate compilation unit rather than one large cc file.
+#
+# This script creates two sets of files.
+#
+# 1. partitioned_matrix_view_x_x_x.cc
+# where the x indicates the template parameters and
+#
+# 2. partitioned_matrix_view.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# The list of tuples, specializations indicates the set of
+# specializations that is generated.
+
+HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+DYNAMIC_FILE = """
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<%s, %s, %s>;
+
+} // namespace internal
+} // namespace ceres
+"""
+
+SPECIALIZATION_FILE = """
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<%s, %s, %s>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_FILE_HEADER = """
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+PartitionedMatrixViewBase*
+PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
+ const BlockSparseMatrix& matrix) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+FACTORY = """ return new PartitionedMatrixView<%s, %s, %s>(matrix, options.elimination_groups[0]);"""
+
+FACTORY_FOOTER = """
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
+ matrix, options.elimination_groups[0]);
+};
+
+} // namespace internal
+} // namespace ceres
+"""
--- /dev/null
+// 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/partitioned_matrix_view.h"
+
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/random.h"
+#include "ceres/sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kEpsilon = 1e-14;
+
+class PartitionedMatrixViewTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ srand(5);
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+ CHECK_NOTNULL(problem.get());
+ A_.reset(problem->A.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ pmv_.reset(PartitionedMatrixViewBase::Create(
+ options,
+ *down_cast<BlockSparseMatrix*>(A_.get())));
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+ scoped_ptr<SparseMatrix> A_;
+ scoped_ptr<PartitionedMatrixViewBase> pmv_;
+};
+
+TEST_F(PartitionedMatrixViewTest, DimensionsTest) {
+ EXPECT_EQ(pmv_->num_col_blocks_e(), num_eliminate_blocks_);
+ EXPECT_EQ(pmv_->num_col_blocks_f(), num_cols_ - num_eliminate_blocks_);
+ EXPECT_EQ(pmv_->num_cols_e(), num_eliminate_blocks_);
+ EXPECT_EQ(pmv_->num_cols_f(), num_cols_ - num_eliminate_blocks_);
+ EXPECT_EQ(pmv_->num_cols(), A_->num_cols());
+ EXPECT_EQ(pmv_->num_rows(), A_->num_rows());
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyE) {
+ Vector x1(pmv_->num_cols_e());
+ Vector x2(pmv_->num_cols());
+ x2.setZero();
+
+ for (int i = 0; i < pmv_->num_cols_e(); ++i) {
+ x1(i) = x2(i) = RandDouble();
+ }
+
+ Vector y1 = Vector::Zero(pmv_->num_rows());
+ pmv_->RightMultiplyE(x1.data(), y1.data());
+
+ Vector y2 = Vector::Zero(pmv_->num_rows());
+ A_->RightMultiply(x2.data(), y2.data());
+
+ for (int i = 0; i < pmv_->num_rows(); ++i) {
+ EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyF) {
+ Vector x1(pmv_->num_cols_f());
+ Vector x2 = Vector::Zero(pmv_->num_cols());
+
+ for (int i = 0; i < pmv_->num_cols_f(); ++i) {
+ x1(i) = RandDouble();
+ x2(i + pmv_->num_cols_e()) = x1(i);
+ }
+
+ Vector y1 = Vector::Zero(pmv_->num_rows());
+ pmv_->RightMultiplyF(x1.data(), y1.data());
+
+ Vector y2 = Vector::Zero(pmv_->num_rows());
+ A_->RightMultiply(x2.data(), y2.data());
+
+ for (int i = 0; i < pmv_->num_rows(); ++i) {
+ EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, LeftMultiply) {
+ Vector x = Vector::Zero(pmv_->num_rows());
+ for (int i = 0; i < pmv_->num_rows(); ++i) {
+ x(i) = RandDouble();
+ }
+
+ Vector y = Vector::Zero(pmv_->num_cols());
+ Vector y1 = Vector::Zero(pmv_->num_cols_e());
+ Vector y2 = Vector::Zero(pmv_->num_cols_f());
+
+ A_->LeftMultiply(x.data(), y.data());
+ pmv_->LeftMultiplyE(x.data(), y1.data());
+ pmv_->LeftMultiplyF(x.data(), y2.data());
+
+ for (int i = 0; i < pmv_->num_cols(); ++i) {
+ EXPECT_NEAR(y(i),
+ (i < pmv_->num_cols_e()) ? y1(i) : y2(i - pmv_->num_cols_e()),
+ kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalEtE) {
+ scoped_ptr<BlockSparseMatrix>
+ block_diagonal_ee(pmv_->CreateBlockDiagonalEtE());
+ const CompressedRowBlockStructure* bs = block_diagonal_ee->block_structure();
+
+ EXPECT_EQ(block_diagonal_ee->num_rows(), 2);
+ EXPECT_EQ(block_diagonal_ee->num_cols(), 2);
+ EXPECT_EQ(bs->cols.size(), 2);
+ EXPECT_EQ(bs->rows.size(), 2);
+
+ EXPECT_NEAR(block_diagonal_ee->values()[0], 10.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ee->values()[1], 155.0, kEpsilon);
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalFtF) {
+ scoped_ptr<BlockSparseMatrix>
+ block_diagonal_ff(pmv_->CreateBlockDiagonalFtF());
+ const CompressedRowBlockStructure* bs = block_diagonal_ff->block_structure();
+
+ EXPECT_EQ(block_diagonal_ff->num_rows(), 3);
+ EXPECT_EQ(block_diagonal_ff->num_cols(), 3);
+ EXPECT_EQ(bs->cols.size(), 3);
+ EXPECT_EQ(bs->rows.size(), 3);
+ EXPECT_NEAR(block_diagonal_ff->values()[0], 70.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ff->values()[1], 17.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ff->values()[2], 37.0, kEpsilon);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: moll.markus@arcor.de (Markus Moll)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/polynomial.h"
+
+#include <cmath>
+#include <cstddef>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/function_sample.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Balancing function as described by B. N. Parlett and C. Reinsch,
+// "Balancing a Matrix for Calculation of Eigenvalues and Eigenvectors".
+// In: Numerische Mathematik, Volume 13, Number 4 (1969), 293-304,
+// Springer Berlin / Heidelberg. DOI: 10.1007/BF02165404
+void BalanceCompanionMatrix(Matrix* companion_matrix_ptr) {
+ CHECK_NOTNULL(companion_matrix_ptr);
+ Matrix& companion_matrix = *companion_matrix_ptr;
+ Matrix companion_matrix_offdiagonal = companion_matrix;
+ companion_matrix_offdiagonal.diagonal().setZero();
+
+ const int degree = companion_matrix.rows();
+
+ // gamma <= 1 controls how much a change in the scaling has to
+ // lower the 1-norm of the companion matrix to be accepted.
+ //
+ // gamma = 1 seems to lead to cycles (numerical issues?), so
+ // we set it slightly lower.
+ const double gamma = 0.9;
+
+ // Greedily scale row/column pairs until there is no change.
+ bool scaling_has_changed;
+ do {
+ scaling_has_changed = false;
+
+ for (int i = 0; i < degree; ++i) {
+ const double row_norm = companion_matrix_offdiagonal.row(i).lpNorm<1>();
+ const double col_norm = companion_matrix_offdiagonal.col(i).lpNorm<1>();
+
+ // Decompose row_norm/col_norm into mantissa * 2^exponent,
+ // where 0.5 <= mantissa < 1. Discard mantissa (return value
+ // of frexp), as only the exponent is needed.
+ int exponent = 0;
+ std::frexp(row_norm / col_norm, &exponent);
+ exponent /= 2;
+
+ if (exponent != 0) {
+ const double scaled_col_norm = std::ldexp(col_norm, exponent);
+ const double scaled_row_norm = std::ldexp(row_norm, -exponent);
+ if (scaled_col_norm + scaled_row_norm < gamma * (col_norm + row_norm)) {
+ // Accept the new scaling. (Multiplication by powers of 2 should not
+ // introduce rounding errors (ignoring non-normalized numbers and
+ // over- or underflow))
+ scaling_has_changed = true;
+ companion_matrix_offdiagonal.row(i) *= std::ldexp(1.0, -exponent);
+ companion_matrix_offdiagonal.col(i) *= std::ldexp(1.0, exponent);
+ }
+ }
+ }
+ } while (scaling_has_changed);
+
+ companion_matrix_offdiagonal.diagonal() = companion_matrix.diagonal();
+ companion_matrix = companion_matrix_offdiagonal;
+ VLOG(3) << "Balanced companion matrix is\n" << companion_matrix;
+}
+
+void BuildCompanionMatrix(const Vector& polynomial,
+ Matrix* companion_matrix_ptr) {
+ CHECK_NOTNULL(companion_matrix_ptr);
+ Matrix& companion_matrix = *companion_matrix_ptr;
+
+ const int degree = polynomial.size() - 1;
+
+ companion_matrix.resize(degree, degree);
+ companion_matrix.setZero();
+ companion_matrix.diagonal(-1).setOnes();
+ companion_matrix.col(degree - 1) = -polynomial.reverse().head(degree);
+}
+
+// Remove leading terms with zero coefficients.
+Vector RemoveLeadingZeros(const Vector& polynomial_in) {
+ int i = 0;
+ while (i < (polynomial_in.size() - 1) && polynomial_in(i) == 0.0) {
+ ++i;
+ }
+ return polynomial_in.tail(polynomial_in.size() - i);
+}
+
+void FindLinearPolynomialRoots(const Vector& polynomial,
+ Vector* real,
+ Vector* imaginary) {
+ CHECK_EQ(polynomial.size(), 2);
+ if (real != NULL) {
+ real->resize(1);
+ (*real)(0) = -polynomial(1) / polynomial(0);
+ }
+
+ if (imaginary != NULL) {
+ imaginary->setZero(1);
+ }
+}
+
+void FindQuadraticPolynomialRoots(const Vector& polynomial,
+ Vector* real,
+ Vector* imaginary) {
+ CHECK_EQ(polynomial.size(), 3);
+ const double a = polynomial(0);
+ const double b = polynomial(1);
+ const double c = polynomial(2);
+ const double D = b * b - 4 * a * c;
+ const double sqrt_D = sqrt(fabs(D));
+ if (real != NULL) {
+ real->setZero(2);
+ }
+ if (imaginary != NULL) {
+ imaginary->setZero(2);
+ }
+
+ // Real roots.
+ if (D >= 0) {
+ if (real != NULL) {
+ // Stable quadratic roots according to BKP Horn.
+ // http://people.csail.mit.edu/bkph/articles/Quadratics.pdf
+ if (b >= 0) {
+ (*real)(0) = (-b - sqrt_D) / (2.0 * a);
+ (*real)(1) = (2.0 * c) / (-b - sqrt_D);
+ } else {
+ (*real)(0) = (2.0 * c) / (-b + sqrt_D);
+ (*real)(1) = (-b + sqrt_D) / (2.0 * a);
+ }
+ }
+ return;
+ }
+
+ // Use the normal quadratic formula for the complex case.
+ if (real != NULL) {
+ (*real)(0) = -b / (2.0 * a);
+ (*real)(1) = -b / (2.0 * a);
+ }
+ if (imaginary != NULL) {
+ (*imaginary)(0) = sqrt_D / (2.0 * a);
+ (*imaginary)(1) = -sqrt_D / (2.0 * a);
+ }
+}
+} // namespace
+
+bool FindPolynomialRoots(const Vector& polynomial_in,
+ Vector* real,
+ Vector* imaginary) {
+ if (polynomial_in.size() == 0) {
+ LOG(ERROR) << "Invalid polynomial of size 0 passed to FindPolynomialRoots";
+ return false;
+ }
+
+ Vector polynomial = RemoveLeadingZeros(polynomial_in);
+ const int degree = polynomial.size() - 1;
+
+ VLOG(3) << "Input polynomial: " << polynomial_in.transpose();
+ if (polynomial.size() != polynomial_in.size()) {
+ VLOG(3) << "Trimmed polynomial: " << polynomial.transpose();
+ }
+
+ // Is the polynomial constant?
+ if (degree == 0) {
+ LOG(WARNING) << "Trying to extract roots from a constant "
+ << "polynomial in FindPolynomialRoots";
+ // We return true with no roots, not false, as if the polynomial is constant
+ // it is correct that there are no roots. It is not the case that they were
+ // there, but that we have failed to extract them.
+ return true;
+ }
+
+ // Linear
+ if (degree == 1) {
+ FindLinearPolynomialRoots(polynomial, real, imaginary);
+ return true;
+ }
+
+ // Quadratic
+ if (degree == 2) {
+ FindQuadraticPolynomialRoots(polynomial, real, imaginary);
+ return true;
+ }
+
+ // The degree is now known to be at least 3. For cubic or higher
+ // roots we use the method of companion matrices.
+
+ // Divide by leading term
+ const double leading_term = polynomial(0);
+ polynomial /= leading_term;
+
+ // Build and balance the companion matrix to the polynomial.
+ Matrix companion_matrix(degree, degree);
+ BuildCompanionMatrix(polynomial, &companion_matrix);
+ BalanceCompanionMatrix(&companion_matrix);
+
+ // Find its (complex) eigenvalues.
+ Eigen::EigenSolver<Matrix> solver(companion_matrix, false);
+ if (solver.info() != Eigen::Success) {
+ LOG(ERROR) << "Failed to extract eigenvalues from companion matrix.";
+ return false;
+ }
+
+ // Output roots
+ if (real != NULL) {
+ *real = solver.eigenvalues().real();
+ } else {
+ LOG(WARNING) << "NULL pointer passed as real argument to "
+ << "FindPolynomialRoots. Real parts of the roots will not "
+ << "be returned.";
+ }
+ if (imaginary != NULL) {
+ *imaginary = solver.eigenvalues().imag();
+ }
+ return true;
+}
+
+Vector DifferentiatePolynomial(const Vector& polynomial) {
+ const int degree = polynomial.rows() - 1;
+ CHECK_GE(degree, 0);
+
+ // Degree zero polynomials are constants, and their derivative does
+ // not result in a smaller degree polynomial, just a degree zero
+ // polynomial with value zero.
+ if (degree == 0) {
+ return Eigen::VectorXd::Zero(1);
+ }
+
+ Vector derivative(degree);
+ for (int i = 0; i < degree; ++i) {
+ derivative(i) = (degree - i) * polynomial(i);
+ }
+
+ return derivative;
+}
+
+void MinimizePolynomial(const Vector& polynomial,
+ const double x_min,
+ const double x_max,
+ double* optimal_x,
+ double* optimal_value) {
+ // Find the minimum of the polynomial at the two ends.
+ //
+ // We start by inspecting the middle of the interval. Technically
+ // this is not needed, but we do this to make this code as close to
+ // the minFunc package as possible.
+ *optimal_x = (x_min + x_max) / 2.0;
+ *optimal_value = EvaluatePolynomial(polynomial, *optimal_x);
+
+ const double x_min_value = EvaluatePolynomial(polynomial, x_min);
+ if (x_min_value < *optimal_value) {
+ *optimal_value = x_min_value;
+ *optimal_x = x_min;
+ }
+
+ const double x_max_value = EvaluatePolynomial(polynomial, x_max);
+ if (x_max_value < *optimal_value) {
+ *optimal_value = x_max_value;
+ *optimal_x = x_max;
+ }
+
+ // If the polynomial is linear or constant, we are done.
+ if (polynomial.rows() <= 2) {
+ return;
+ }
+
+ const Vector derivative = DifferentiatePolynomial(polynomial);
+ Vector roots_real;
+ if (!FindPolynomialRoots(derivative, &roots_real, NULL)) {
+ LOG(WARNING) << "Unable to find the critical points of "
+ << "the interpolating polynomial.";
+ return;
+ }
+
+ // This is a bit of an overkill, as some of the roots may actually
+ // have a complex part, but its simpler to just check these values.
+ for (int i = 0; i < roots_real.rows(); ++i) {
+ const double root = roots_real(i);
+ if ((root < x_min) || (root > x_max)) {
+ continue;
+ }
+
+ const double value = EvaluatePolynomial(polynomial, root);
+ if (value < *optimal_value) {
+ *optimal_value = value;
+ *optimal_x = root;
+ }
+ }
+}
+
+Vector FindInterpolatingPolynomial(const vector<FunctionSample>& samples) {
+ const int num_samples = samples.size();
+ int num_constraints = 0;
+ for (int i = 0; i < num_samples; ++i) {
+ if (samples[i].value_is_valid) {
+ ++num_constraints;
+ }
+ if (samples[i].gradient_is_valid) {
+ ++num_constraints;
+ }
+ }
+
+ const int degree = num_constraints - 1;
+
+ Matrix lhs = Matrix::Zero(num_constraints, num_constraints);
+ Vector rhs = Vector::Zero(num_constraints);
+
+ int row = 0;
+ for (int i = 0; i < num_samples; ++i) {
+ const FunctionSample& sample = samples[i];
+ if (sample.value_is_valid) {
+ for (int j = 0; j <= degree; ++j) {
+ lhs(row, j) = pow(sample.x, degree - j);
+ }
+ rhs(row) = sample.value;
+ ++row;
+ }
+
+ if (sample.gradient_is_valid) {
+ for (int j = 0; j < degree; ++j) {
+ lhs(row, j) = (degree - j) * pow(sample.x, degree - j - 1);
+ }
+ rhs(row) = sample.gradient;
+ ++row;
+ }
+ }
+
+ // TODO(sameeragarwal): This is a hack.
+ // https://github.com/ceres-solver/ceres-solver/issues/248
+ Eigen::FullPivLU<Matrix> lu(lhs);
+ return lu.setThreshold(0.0).solve(rhs);
+}
+
+void MinimizeInterpolatingPolynomial(const vector<FunctionSample>& samples,
+ double x_min,
+ double x_max,
+ double* optimal_x,
+ double* optimal_value) {
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ MinimizePolynomial(polynomial, x_min, x_max, optimal_x, optimal_value);
+ for (int i = 0; i < samples.size(); ++i) {
+ const FunctionSample& sample = samples[i];
+ if ((sample.x < x_min) || (sample.x > x_max)) {
+ continue;
+ }
+
+ const double value = EvaluatePolynomial(polynomial, sample.x);
+ if (value < *optimal_value) {
+ *optimal_x = sample.x;
+ *optimal_value = value;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: moll.markus@arcor.de (Markus Moll)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+#define CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+struct FunctionSample;
+
+// All polynomials are assumed to be the form
+//
+// sum_{i=0}^N polynomial(i) x^{N-i}.
+//
+// and are given by a vector of coefficients of size N + 1.
+
+// Evaluate the polynomial at x using the Horner scheme.
+inline double EvaluatePolynomial(const Vector& polynomial, double x) {
+ double v = 0.0;
+ for (int i = 0; i < polynomial.size(); ++i) {
+ v = v * x + polynomial(i);
+ }
+ return v;
+}
+
+// Use the companion matrix eigenvalues to determine the roots of the
+// polynomial.
+//
+// This function returns true on success, false otherwise.
+// Failure indicates that the polynomial is invalid (of size 0) or
+// that the eigenvalues of the companion matrix could not be computed.
+// On failure, a more detailed message will be written to LOG(ERROR).
+// If real is not NULL, the real parts of the roots will be returned in it.
+// Likewise, if imaginary is not NULL, imaginary parts will be returned in it.
+bool FindPolynomialRoots(const Vector& polynomial,
+ Vector* real,
+ Vector* imaginary);
+
+// Return the derivative of the given polynomial. It is assumed that
+// the input polynomial is at least of degree zero.
+Vector DifferentiatePolynomial(const Vector& polynomial);
+
+// Find the minimum value of the polynomial in the interval [x_min,
+// x_max]. The minimum is obtained by computing all the roots of the
+// derivative of the input polynomial. All real roots within the
+// interval [x_min, x_max] are considered as well as the end points
+// x_min and x_max. Since polynomials are differentiable functions,
+// this ensures that the true minimum is found.
+void MinimizePolynomial(const Vector& polynomial,
+ double x_min,
+ double x_max,
+ double* optimal_x,
+ double* optimal_value);
+
+// Given a set of function value and/or gradient samples, find a
+// polynomial whose value and gradients are exactly equal to the ones
+// in samples.
+//
+// Generally speaking,
+//
+// degree = # values + # gradients - 1
+//
+// Of course its possible to sample a polynomial any number of times,
+// in which case, generally speaking the spurious higher order
+// coefficients will be zero.
+Vector FindInterpolatingPolynomial(const std::vector<FunctionSample>& samples);
+
+// Interpolate the function described by samples with a polynomial,
+// and minimize it on the interval [x_min, x_max]. Depending on the
+// input samples, it is possible that the interpolation or the root
+// finding algorithms may fail due to numerical difficulties. But the
+// function is guaranteed to return its best guess of an answer, by
+// considering the samples and the end points as possible solutions.
+void MinimizeInterpolatingPolynomial(const std::vector<FunctionSample>& samples,
+ double x_min,
+ double x_max,
+ double* optimal_x,
+ double* optimal_value);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
--- /dev/null
+// 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: moll.markus@arcor.de (Markus Moll)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/polynomial.h"
+
+#include <limits>
+#include <cmath>
+#include <cstddef>
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/function_sample.h"
+#include "ceres/test_util.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// For IEEE-754 doubles, machine precision is about 2e-16.
+const double kEpsilon = 1e-13;
+const double kEpsilonLoose = 1e-9;
+
+// Return the constant polynomial p(x) = 1.23.
+Vector ConstantPolynomial(double value) {
+ Vector poly(1);
+ poly(0) = value;
+ return poly;
+}
+
+// Return the polynomial p(x) = poly(x) * (x - root).
+Vector AddRealRoot(const Vector& poly, double root) {
+ Vector poly2(poly.size() + 1);
+ poly2.setZero();
+ poly2.head(poly.size()) += poly;
+ poly2.tail(poly.size()) -= root * poly;
+ return poly2;
+}
+
+// Return the polynomial
+// p(x) = poly(x) * (x - real - imag*i) * (x - real + imag*i).
+Vector AddComplexRootPair(const Vector& poly, double real, double imag) {
+ Vector poly2(poly.size() + 2);
+ poly2.setZero();
+ // Multiply poly by x^2 - 2real + abs(real,imag)^2
+ poly2.head(poly.size()) += poly;
+ poly2.segment(1, poly.size()) -= 2 * real * poly;
+ poly2.tail(poly.size()) += (real*real + imag*imag) * poly;
+ return poly2;
+}
+
+// Sort the entries in a vector.
+// Needed because the roots are not returned in sorted order.
+Vector SortVector(const Vector& in) {
+ Vector out(in);
+ std::sort(out.data(), out.data() + out.size());
+ return out;
+}
+
+// Run a test with the polynomial defined by the N real roots in roots_real.
+// If use_real is false, NULL is passed as the real argument to
+// FindPolynomialRoots. If use_imaginary is false, NULL is passed as the
+// imaginary argument to FindPolynomialRoots.
+template<int N>
+void RunPolynomialTestRealRoots(const double (&real_roots)[N],
+ bool use_real,
+ bool use_imaginary,
+ double epsilon) {
+ Vector real;
+ Vector imaginary;
+ Vector poly = ConstantPolynomial(1.23);
+ for (int i = 0; i < N; ++i) {
+ poly = AddRealRoot(poly, real_roots[i]);
+ }
+ Vector* const real_ptr = use_real ? &real : NULL;
+ Vector* const imaginary_ptr = use_imaginary ? &imaginary : NULL;
+ bool success = FindPolynomialRoots(poly, real_ptr, imaginary_ptr);
+
+ EXPECT_EQ(success, true);
+ if (use_real) {
+ EXPECT_EQ(real.size(), N);
+ real = SortVector(real);
+ ExpectArraysClose(N, real.data(), real_roots, epsilon);
+ }
+ if (use_imaginary) {
+ EXPECT_EQ(imaginary.size(), N);
+ const Vector zeros = Vector::Zero(N);
+ ExpectArraysClose(N, imaginary.data(), zeros.data(), epsilon);
+ }
+}
+} // namespace
+
+TEST(Polynomial, InvalidPolynomialOfZeroLengthIsRejected) {
+ // Vector poly(0) is an ambiguous constructor call, so
+ // use the constructor with explicit column count.
+ Vector poly(0, 1);
+ Vector real;
+ Vector imag;
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, false);
+}
+
+TEST(Polynomial, ConstantPolynomialReturnsNoRoots) {
+ Vector poly = ConstantPolynomial(1.23);
+ Vector real;
+ Vector imag;
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, true);
+ EXPECT_EQ(real.size(), 0);
+ EXPECT_EQ(imag.size(), 0);
+}
+
+TEST(Polynomial, LinearPolynomialWithPositiveRootWorks) {
+ const double roots[1] = { 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, LinearPolynomialWithNegativeRootWorks) {
+ const double roots[1] = { -42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithPositiveRootsWorks) {
+ const double roots[2] = { 1.0, 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithOneNegativeRootWorks) {
+ const double roots[2] = { -42.42, 1.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithTwoNegativeRootsWorks) {
+ const double roots[2] = { -42.42, -1.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithCloseRootsWorks) {
+ const double roots[2] = { 42.42, 42.43 };
+ RunPolynomialTestRealRoots(roots, true, false, kEpsilonLoose);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithComplexRootsWorks) {
+ Vector real;
+ Vector imag;
+
+ Vector poly = ConstantPolynomial(1.23);
+ poly = AddComplexRootPair(poly, 42.42, 4.2);
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, true);
+ EXPECT_EQ(real.size(), 2);
+ EXPECT_EQ(imag.size(), 2);
+ ExpectClose(real(0), 42.42, kEpsilon);
+ ExpectClose(real(1), 42.42, kEpsilon);
+ ExpectClose(std::abs(imag(0)), 4.2, kEpsilon);
+ ExpectClose(std::abs(imag(1)), 4.2, kEpsilon);
+ ExpectClose(std::abs(imag(0) + imag(1)), 0.0, kEpsilon);
+}
+
+TEST(Polynomial, QuarticPolynomialWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuarticPolynomialWithTwoClustersOfCloseRootsWorks) {
+ const double roots[4] = { 1.23e-1, 2.46e-1, 1.23e+5, 2.46e+5 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilonLoose);
+}
+
+TEST(Polynomial, QuarticPolynomialWithTwoZeroRootsWorks) {
+ const double roots[4] = { -42.42, 0.0, 0.0, 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, 2 * kEpsilonLoose);
+}
+
+TEST(Polynomial, QuarticMonomialWorks) {
+ const double roots[4] = { 0.0, 0.0, 0.0, 0.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, NullPointerAsImaginaryPartWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, true, false, kEpsilon);
+}
+
+TEST(Polynomial, NullPointerAsRealPartWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, false, true, kEpsilon);
+}
+
+TEST(Polynomial, BothOutputArgumentsNullWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, false, false, kEpsilon);
+}
+
+TEST(Polynomial, DifferentiateConstantPolynomial) {
+ // p(x) = 1;
+ Vector polynomial(1);
+ polynomial(0) = 1.0;
+ const Vector derivative = DifferentiatePolynomial(polynomial);
+ EXPECT_EQ(derivative.rows(), 1);
+ EXPECT_EQ(derivative(0), 0);
+}
+
+TEST(Polynomial, DifferentiateQuadraticPolynomial) {
+ // p(x) = x^2 + 2x + 3;
+ Vector polynomial(3);
+ polynomial(0) = 1.0;
+ polynomial(1) = 2.0;
+ polynomial(2) = 3.0;
+
+ const Vector derivative = DifferentiatePolynomial(polynomial);
+ EXPECT_EQ(derivative.rows(), 2);
+ EXPECT_EQ(derivative(0), 2.0);
+ EXPECT_EQ(derivative(1), 2.0);
+}
+
+TEST(Polynomial, MinimizeConstantPolynomial) {
+ // p(x) = 1;
+ Vector polynomial(1);
+ polynomial(0) = 1.0;
+
+ double optimal_x = 0.0;
+ double optimal_value = 0.0;
+ double min_x = 0.0;
+ double max_x = 1.0;
+ MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+
+ EXPECT_EQ(optimal_value, 1.0);
+ EXPECT_LE(optimal_x, max_x);
+ EXPECT_GE(optimal_x, min_x);
+}
+
+TEST(Polynomial, MinimizeLinearPolynomial) {
+ // p(x) = x - 2
+ Vector polynomial(2);
+
+ polynomial(0) = 1.0;
+ polynomial(1) = 2.0;
+
+ double optimal_x = 0.0;
+ double optimal_value = 0.0;
+ double min_x = 0.0;
+ double max_x = 1.0;
+ MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+
+ EXPECT_EQ(optimal_x, 0.0);
+ EXPECT_EQ(optimal_value, 2.0);
+}
+
+
+TEST(Polynomial, MinimizeQuadraticPolynomial) {
+ // p(x) = x^2 - 3 x + 2
+ // min_x = 3/2
+ // min_value = -1/4;
+ Vector polynomial(3);
+ polynomial(0) = 1.0;
+ polynomial(1) = -3.0;
+ polynomial(2) = 2.0;
+
+ double optimal_x = 0.0;
+ double optimal_value = 0.0;
+ double min_x = -2.0;
+ double max_x = 2.0;
+ MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+ EXPECT_EQ(optimal_x, 3.0/2.0);
+ EXPECT_EQ(optimal_value, -1.0/4.0);
+
+ min_x = -2.0;
+ max_x = 1.0;
+ MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+ EXPECT_EQ(optimal_x, 1.0);
+ EXPECT_EQ(optimal_value, 0.0);
+
+ min_x = 2.0;
+ max_x = 3.0;
+ MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+ EXPECT_EQ(optimal_x, 2.0);
+ EXPECT_EQ(optimal_value, 0.0);
+}
+
+TEST(Polymomial, ConstantInterpolatingPolynomial) {
+ // p(x) = 1.0
+ Vector true_polynomial(1);
+ true_polynomial << 1.0;
+
+ vector<FunctionSample> samples;
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = 1.0;
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, LinearInterpolatingPolynomial) {
+ // p(x) = 2x - 1
+ Vector true_polynomial(2);
+ true_polynomial << 2.0, -1.0;
+
+ vector<FunctionSample> samples;
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = 1.0;
+ sample.value_is_valid = true;
+ sample.gradient = 2.0;
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, QuadraticInterpolatingPolynomial) {
+ // p(x) = 2x^2 + 3x + 2
+ Vector true_polynomial(3);
+ true_polynomial << 2.0, 3.0, 2.0;
+
+ vector<FunctionSample> samples;
+ {
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = 7.0;
+ sample.value_is_valid = true;
+ sample.gradient = 7.0;
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = -3.0;
+ sample.value = 11.0;
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, DeficientCubicInterpolatingPolynomial) {
+ // p(x) = 2x^2 + 3x + 2
+ Vector true_polynomial(4);
+ true_polynomial << 0.0, 2.0, 3.0, 2.0;
+
+ vector<FunctionSample> samples;
+ {
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = 7.0;
+ sample.value_is_valid = true;
+ sample.gradient = 7.0;
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = -3.0;
+ sample.value = 11.0;
+ sample.value_is_valid = true;
+ sample.gradient = -9;
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValues) {
+ // p(x) = x^3 + 2x^2 + 3x + 2
+ Vector true_polynomial(4);
+ true_polynomial << 1.0, 2.0, 3.0, 2.0;
+
+ vector<FunctionSample> samples;
+ {
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = -3.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = 2.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = 0.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValuesAndOneGradient) {
+ // p(x) = x^3 + 2x^2 + 3x + 2
+ Vector true_polynomial(4);
+ true_polynomial << 1.0, 2.0, 3.0, 2.0;
+ Vector true_gradient_polynomial = DifferentiatePolynomial(true_polynomial);
+
+ vector<FunctionSample> samples;
+ {
+ FunctionSample sample;
+ sample.x = 1.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = -3.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = 2.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValuesAndGradients) {
+ // p(x) = x^3 + 2x^2 + 3x + 2
+ Vector true_polynomial(4);
+ true_polynomial << 1.0, 2.0, 3.0, 2.0;
+ Vector true_gradient_polynomial = DifferentiatePolynomial(true_polynomial);
+
+ vector<FunctionSample> samples;
+ {
+ FunctionSample sample;
+ sample.x = -3.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ {
+ FunctionSample sample;
+ sample.x = 2.0;
+ sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+ sample.value_is_valid = true;
+ sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+ sample.gradient_is_valid = true;
+ samples.push_back(sample);
+ }
+
+ const Vector polynomial = FindInterpolatingPolynomial(samples);
+ EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/preconditioner.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Preconditioner::~Preconditioner() {
+}
+
+PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
+ PreconditionerType preconditioner_type) {
+ if (preconditioner_type == SCHUR_JACOBI ||
+ preconditioner_type == CLUSTER_JACOBI ||
+ preconditioner_type == CLUSTER_TRIDIAGONAL) {
+ return JACOBI;
+ }
+ return preconditioner_type;
+}
+
+SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
+ const SparseMatrix* matrix)
+ : matrix_(CHECK_NOTNULL(matrix)) {
+}
+
+SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {
+}
+
+bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
+ const double* D) {
+ return true;
+}
+
+void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
+ double* y) const {
+ matrix_->RightMultiply(x, y);
+}
+
+int SparseMatrixPreconditionerWrapper::num_rows() const {
+ return matrix_->num_rows();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_PRECONDITIONER_H_
+#define CERES_INTERNAL_PRECONDITIONER_H_
+
+#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_operator.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class SparseMatrix;
+
+class Preconditioner : public LinearOperator {
+ public:
+ struct Options {
+ Options()
+ : type(JACOBI),
+ visibility_clustering_type(CANONICAL_VIEWS),
+ sparse_linear_algebra_library_type(SUITE_SPARSE),
+ num_threads(1),
+ row_block_size(Eigen::Dynamic),
+ e_block_size(Eigen::Dynamic),
+ f_block_size(Eigen::Dynamic) {
+ }
+
+ PreconditionerType type;
+ VisibilityClusteringType visibility_clustering_type;
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+ // If possible, how many threads the preconditioner can use.
+ int num_threads;
+
+ // Hints about the order in which the parameter blocks should be
+ // eliminated by the linear solver.
+ //
+ // For example if elimination_groups is a vector of size k, then
+ // the linear solver is informed that it should eliminate the
+ // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+ // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+ // on. Within each elimination group, the linear solver is free to
+ // choose how the parameter blocks are ordered. Different linear
+ // solvers have differing requirements on elimination_groups.
+ //
+ // The most common use is for Schur type solvers, where there
+ // should be at least two elimination groups and the first
+ // elimination group must form an independent set in the normal
+ // equations. The first elimination group corresponds to the
+ // num_eliminate_blocks in the Schur type solvers.
+ std::vector<int> elimination_groups;
+
+ // If the block sizes in a BlockSparseMatrix are fixed, then in
+ // some cases the Schur complement based solvers can detect and
+ // specialize on them.
+ //
+ // It is expected that these parameters are set programmatically
+ // rather than manually.
+ //
+ // Please see schur_complement_solver.h and schur_eliminator.h for
+ // more details.
+ int row_block_size;
+ int e_block_size;
+ int f_block_size;
+ };
+
+ // If the optimization problem is such that there are no remaining
+ // e-blocks, ITERATIVE_SCHUR with a Schur type preconditioner cannot
+ // be used. This function returns JACOBI if a preconditioner for
+ // ITERATIVE_SCHUR is used. The input preconditioner_type is
+ // returned otherwise.
+ static PreconditionerType PreconditionerForZeroEBlocks(
+ PreconditionerType preconditioner_type);
+
+ virtual ~Preconditioner();
+
+ // Update the numerical value of the preconditioner for the linear
+ // system:
+ //
+ // | A | x = |b|
+ // |diag(D)| |0|
+ //
+ // for some vector b. It is important that the matrix A have the
+ // same block structure as the one used to construct this object.
+ //
+ // D can be NULL, in which case its interpreted as a diagonal matrix
+ // of size zero.
+ virtual bool Update(const LinearOperator& A, const double* D) = 0;
+
+ // LinearOperator interface. Since the operator is symmetric,
+ // LeftMultiply and num_cols are just calls to RightMultiply and
+ // num_rows respectively. Update() must be called before
+ // RightMultiply can be called.
+ virtual void RightMultiply(const double* x, double* y) const = 0;
+ virtual void LeftMultiply(const double* x, double* y) const {
+ return RightMultiply(x, y);
+ }
+
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const {
+ return num_rows();
+ }
+};
+
+// This templated subclass of Preconditioner serves as a base class for
+// other preconditioners that depend on the particular matrix layout of
+// the underlying linear operator.
+template <typename MatrixType>
+class TypedPreconditioner : public Preconditioner {
+ public:
+ virtual ~TypedPreconditioner() {}
+ virtual bool Update(const LinearOperator& A, const double* D) {
+ return UpdateImpl(*down_cast<const MatrixType*>(&A), D);
+ }
+
+ private:
+ virtual bool UpdateImpl(const MatrixType& A, const double* D) = 0;
+};
+
+// Preconditioners that depend on acccess to the low level structure
+// of a SparseMatrix.
+typedef TypedPreconditioner<SparseMatrix> SparseMatrixPreconditioner; // NOLINT
+typedef TypedPreconditioner<BlockSparseMatrix> BlockSparseMatrixPreconditioner; // NOLINT
+typedef TypedPreconditioner<CompressedRowSparseMatrix> CompressedRowSparseMatrixPreconditioner; // NOLINT
+
+// Wrap a SparseMatrix object as a preconditioner.
+class SparseMatrixPreconditionerWrapper : public SparseMatrixPreconditioner {
+ public:
+ // Wrapper does NOT take ownership of the matrix pointer.
+ explicit SparseMatrixPreconditionerWrapper(const SparseMatrix* matrix);
+ virtual ~SparseMatrixPreconditionerWrapper();
+
+ // Preconditioner interface
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual int num_rows() const;
+
+ private:
+ virtual bool UpdateImpl(const SparseMatrix& A, const double* D);
+ const SparseMatrix* matrix_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PRECONDITIONER_H_
--- /dev/null
+// 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: sameragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/callbacks.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/line_search_preprocessor.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+Preprocessor* Preprocessor::Create(MinimizerType minimizer_type) {
+ if (minimizer_type == TRUST_REGION) {
+ return new TrustRegionPreprocessor;
+ }
+
+ if (minimizer_type == LINE_SEARCH) {
+ return new LineSearchPreprocessor;
+ }
+
+ LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+ return NULL;
+}
+
+Preprocessor::~Preprocessor() {
+}
+
+void ChangeNumThreadsIfNeeded(Solver::Options* options) {
+#ifndef CERES_USE_OPENMP
+ if (options->num_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_threads = 1 is supported. Switching "
+ << "to single threaded mode.";
+ options->num_threads = 1;
+ }
+
+ // Only the Trust Region solver currently uses a linear solver.
+ if (options->minimizer_type == TRUST_REGION &&
+ options->num_linear_solver_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_linear_solver_threads=1 is supported. Switching "
+ << "to single threaded mode.";
+ options->num_linear_solver_threads = 1;
+ }
+#endif // CERES_USE_OPENMP
+}
+
+void SetupCommonMinimizerOptions(PreprocessedProblem* pp) {
+ const Solver::Options& options = pp->options;
+ Program* program = pp->reduced_program.get();
+
+ // Assuming that the parameter blocks in the program have been
+ // reordered as needed, extract them into a contiguous vector.
+ pp->reduced_parameters.resize(program->NumParameters());
+ double* reduced_parameters = pp->reduced_parameters.data();
+ program->ParameterBlocksToStateVector(reduced_parameters);
+
+ Minimizer::Options& minimizer_options = pp->minimizer_options;
+ minimizer_options = Minimizer::Options(options);
+ minimizer_options.evaluator = pp->evaluator;
+
+ if (options.logging_type != SILENT) {
+ pp->logging_callback.reset(
+ new LoggingCallback(options.minimizer_type,
+ options.minimizer_progress_to_stdout));
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ pp->logging_callback.get());
+ }
+
+ if (options.update_state_every_iteration) {
+ pp->state_updating_callback.reset(
+ new StateUpdatingCallback(program, reduced_parameters));
+ // This must get pushed to the front of the callbacks so that it
+ // is run before any of the user callbacks.
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ pp->state_updating_callback.get());
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_PREPROCESSOR_H_
+#define CERES_INTERNAL_PREPROCESSOR_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/coordinate_descent_minimizer.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+struct PreprocessedProblem;
+
+// Given a Problem object and a Solver::Options object indicating the
+// configuration of the solver, the job of the Preprocessor is to
+// analyze the Problem and perform the setup needed to solve it using
+// the desired Minimization algorithm. The setup involves removing
+// redundancies in the input problem (inactive parameter and residual
+// blocks), finding fill reducing orderings as needed, configuring and
+// creating various objects needed by the Minimizer to solve the
+// problem such as an evaluator, a linear solver etc.
+//
+// Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes
+// with a corresponding Preprocessor (LineSearchPreprocessor and
+// TrustRegionPreprocessor) that knows about its needs and performs
+// the preprocessing needed.
+//
+// The output of the Preprocessor is stored in a PreprocessedProblem
+// object.
+class Preprocessor {
+ public:
+ // Factory.
+ static Preprocessor* Create(MinimizerType minimizer_type);
+ virtual ~Preprocessor();
+ virtual bool Preprocess(const Solver::Options& options,
+ ProblemImpl* problem,
+ PreprocessedProblem* pp) = 0;
+};
+
+// A PreprocessedProblem is the result of running the Preprocessor on
+// a Problem and Solver::Options object.
+struct PreprocessedProblem {
+ PreprocessedProblem()
+ : fixed_cost(0.0) {
+ }
+
+ std::string error;
+ Solver::Options options;
+ LinearSolver::Options linear_solver_options;
+ Evaluator::Options evaluator_options;
+ Minimizer::Options minimizer_options;
+
+ ProblemImpl* problem;
+ scoped_ptr<ProblemImpl> gradient_checking_problem;
+ scoped_ptr<Program> reduced_program;
+ scoped_ptr<LinearSolver> linear_solver;
+ scoped_ptr<IterationCallback> logging_callback;
+ scoped_ptr<IterationCallback> state_updating_callback;
+
+ shared_ptr<Evaluator> evaluator;
+ shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
+
+ std::vector<double*> removed_parameter_blocks;
+ Vector reduced_parameters;
+ double fixed_cost;
+};
+
+// Common functions used by various preprocessors.
+
+// If OpenMP support is not available and user has requested more than
+// one thread, then set the *_num_threads options as needed to 1.
+void ChangeNumThreadsIfNeeded(Solver::Options* options);
+
+// Extract the effective parameter vector from the preprocessed
+// problem and setup bits of the Minimizer::Options object that are
+// common to all Preprocessors.
+void SetupCommonMinimizerOptions(PreprocessedProblem* pp);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PREPROCESSOR_H_
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+
+using std::vector;
+
+Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
+Problem::Problem(const Problem::Options& options)
+ : problem_impl_(new internal::ProblemImpl(options)) {}
+Problem::~Problem() {}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ parameter_blocks);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7, x8);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8, double* x9) {
+ return problem_impl_->AddResidualBlock(
+ cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
+}
+
+void Problem::AddParameterBlock(double* values, int size) {
+ problem_impl_->AddParameterBlock(values, size);
+}
+
+void Problem::AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization) {
+ problem_impl_->AddParameterBlock(values, size, local_parameterization);
+}
+
+void Problem::RemoveResidualBlock(ResidualBlockId residual_block) {
+ problem_impl_->RemoveResidualBlock(residual_block);
+}
+
+void Problem::RemoveParameterBlock(double* values) {
+ problem_impl_->RemoveParameterBlock(values);
+}
+
+void Problem::SetParameterBlockConstant(double* values) {
+ problem_impl_->SetParameterBlockConstant(values);
+}
+
+void Problem::SetParameterBlockVariable(double* values) {
+ problem_impl_->SetParameterBlockVariable(values);
+}
+
+bool Problem::IsParameterBlockConstant(double* values) const {
+ return problem_impl_->IsParameterBlockConstant(values);
+}
+
+void Problem::SetParameterization(
+ double* values,
+ LocalParameterization* local_parameterization) {
+ problem_impl_->SetParameterization(values, local_parameterization);
+}
+
+const LocalParameterization* Problem::GetParameterization(
+ double* values) const {
+ return problem_impl_->GetParameterization(values);
+}
+
+void Problem::SetParameterLowerBound(double* values,
+ int index,
+ double lower_bound) {
+ problem_impl_->SetParameterLowerBound(values, index, lower_bound);
+}
+
+void Problem::SetParameterUpperBound(double* values,
+ int index,
+ double upper_bound) {
+ problem_impl_->SetParameterUpperBound(values, index, upper_bound);
+}
+
+bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
+ double* cost,
+ vector<double>* residuals,
+ vector<double>* gradient,
+ CRSMatrix* jacobian) {
+ return problem_impl_->Evaluate(evaluate_options,
+ cost,
+ residuals,
+ gradient,
+ jacobian);
+}
+
+int Problem::NumParameterBlocks() const {
+ return problem_impl_->NumParameterBlocks();
+}
+
+int Problem::NumParameters() const {
+ return problem_impl_->NumParameters();
+}
+
+int Problem::NumResidualBlocks() const {
+ return problem_impl_->NumResidualBlocks();
+}
+
+int Problem::NumResiduals() const {
+ return problem_impl_->NumResiduals();
+}
+
+int Problem::ParameterBlockSize(const double* parameter_block) const {
+ return problem_impl_->ParameterBlockSize(parameter_block);
+}
+
+int Problem::ParameterBlockLocalSize(const double* parameter_block) const {
+ return problem_impl_->ParameterBlockLocalSize(parameter_block);
+}
+
+bool Problem::HasParameterBlock(const double* values) const {
+ return problem_impl_->HasParameterBlock(values);
+}
+
+void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const {
+ problem_impl_->GetParameterBlocks(parameter_blocks);
+}
+
+void Problem::GetResidualBlocks(
+ vector<ResidualBlockId>* residual_blocks) const {
+ problem_impl_->GetResidualBlocks(residual_blocks);
+}
+
+void Problem::GetParameterBlocksForResidualBlock(
+ const ResidualBlockId residual_block,
+ vector<double*>* parameter_blocks) const {
+ problem_impl_->GetParameterBlocksForResidualBlock(residual_block,
+ parameter_blocks);
+}
+
+const CostFunction* Problem::GetCostFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const {
+ return problem_impl_->GetCostFunctionForResidualBlock(residual_block);
+}
+
+const LossFunction* Problem::GetLossFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const {
+ return problem_impl_->GetLossFunctionForResidualBlock(residual_block);
+}
+
+void Problem::GetResidualBlocksForParameterBlock(
+ const double* values,
+ vector<ResidualBlockId>* residual_blocks) const {
+ problem_impl_->GetResidualBlocksForParameterBlock(values,
+ residual_blocks);
+}
+
+} // namespace ceres
--- /dev/null
+// 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)
+// mierle@gmail.com (Keir Mierle)
+
+#include "ceres/problem_impl.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <iterator>
+#include <set>
+#include <string>
+#include <utility>
+#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/program_evaluator.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "ceres/stl_util.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::string;
+using std::vector;
+typedef std::map<double*, internal::ParameterBlock*> ParameterMap;
+
+namespace {
+// Returns true if two regions of memory, a and b, with sizes size_a and size_b
+// respectively, overlap.
+bool RegionsAlias(const double* a, int size_a,
+ const double* b, int size_b) {
+ return (a < b) ? b < (a + size_a)
+ : a < (b + size_b);
+}
+
+void CheckForNoAliasing(double* existing_block,
+ int existing_block_size,
+ double* new_block,
+ int new_block_size) {
+ CHECK(!RegionsAlias(existing_block, existing_block_size,
+ new_block, new_block_size))
+ << "Aliasing detected between existing parameter block at memory "
+ << "location " << existing_block
+ << " and has size " << existing_block_size << " with new parameter "
+ << "block that has memory address " << new_block << " and would have "
+ << "size " << new_block_size << ".";
+}
+
+} // namespace
+
+ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values,
+ int size) {
+ CHECK(values != NULL) << "Null pointer passed to AddParameterBlock "
+ << "for a parameter with size " << size;
+
+ // Ignore the request if there is a block for the given pointer already.
+ ParameterMap::iterator it = parameter_block_map_.find(values);
+ if (it != parameter_block_map_.end()) {
+ if (!options_.disable_all_safety_checks) {
+ int existing_size = it->second->Size();
+ CHECK(size == existing_size)
+ << "Tried adding a parameter block with the same double pointer, "
+ << values << ", twice, but with different block sizes. Original "
+ << "size was " << existing_size << " but new size is "
+ << size;
+ }
+ return it->second;
+ }
+
+ if (!options_.disable_all_safety_checks) {
+ // Before adding the parameter block, also check that it doesn't alias any
+ // other parameter blocks.
+ if (!parameter_block_map_.empty()) {
+ ParameterMap::iterator lb = parameter_block_map_.lower_bound(values);
+
+ // If lb is not the first block, check the previous block for aliasing.
+ if (lb != parameter_block_map_.begin()) {
+ ParameterMap::iterator previous = lb;
+ --previous;
+ CheckForNoAliasing(previous->first,
+ previous->second->Size(),
+ values,
+ size);
+ }
+
+ // If lb is not off the end, check lb for aliasing.
+ if (lb != parameter_block_map_.end()) {
+ CheckForNoAliasing(lb->first,
+ lb->second->Size(),
+ values,
+ size);
+ }
+ }
+ }
+
+ // Pass the index of the new parameter block as well to keep the index in
+ // sync with the position of the parameter in the program's parameter vector.
+ ParameterBlock* new_parameter_block =
+ new ParameterBlock(values, size, program_->parameter_blocks_.size());
+
+ // For dynamic problems, add the list of dependent residual blocks, which is
+ // empty to start.
+ if (options_.enable_fast_removal) {
+ new_parameter_block->EnableResidualBlockDependencies();
+ }
+ parameter_block_map_[values] = new_parameter_block;
+ program_->parameter_blocks_.push_back(new_parameter_block);
+ return new_parameter_block;
+}
+
+void ProblemImpl::InternalRemoveResidualBlock(ResidualBlock* residual_block) {
+ CHECK_NOTNULL(residual_block);
+ // Perform no check on the validity of residual_block, that is handled in
+ // the public method: RemoveResidualBlock().
+
+ // If needed, remove the parameter dependencies on this residual block.
+ if (options_.enable_fast_removal) {
+ const int num_parameter_blocks_for_residual =
+ residual_block->NumParameterBlocks();
+ for (int i = 0; i < num_parameter_blocks_for_residual; ++i) {
+ residual_block->parameter_blocks()[i]
+ ->RemoveResidualBlock(residual_block);
+ }
+
+ ResidualBlockSet::iterator it = residual_block_set_.find(residual_block);
+ residual_block_set_.erase(it);
+ }
+ DeleteBlockInVector(program_->mutable_residual_blocks(), residual_block);
+}
+
+// Deletes the residual block in question, assuming there are no other
+// references to it inside the problem (e.g. by another parameter). Referenced
+// cost and loss functions are tucked away for future deletion, since it is not
+// possible to know whether other parts of the problem depend on them without
+// doing a full scan.
+void ProblemImpl::DeleteBlock(ResidualBlock* residual_block) {
+ // The const casts here are legit, since ResidualBlock holds these
+ // pointers as const pointers but we have ownership of them and
+ // have the right to destroy them when the destructor is called.
+ if (options_.cost_function_ownership == TAKE_OWNERSHIP &&
+ residual_block->cost_function() != NULL) {
+ cost_functions_to_delete_.push_back(
+ const_cast<CostFunction*>(residual_block->cost_function()));
+ }
+ if (options_.loss_function_ownership == TAKE_OWNERSHIP &&
+ residual_block->loss_function() != NULL) {
+ loss_functions_to_delete_.push_back(
+ const_cast<LossFunction*>(residual_block->loss_function()));
+ }
+ delete residual_block;
+}
+
+// Deletes the parameter block in question, assuming there are no other
+// references to it inside the problem (e.g. by any residual blocks).
+// Referenced parameterizations are tucked away for future deletion, since it
+// is not possible to know whether other parts of the problem depend on them
+// without doing a full scan.
+void ProblemImpl::DeleteBlock(ParameterBlock* parameter_block) {
+ if (options_.local_parameterization_ownership == TAKE_OWNERSHIP &&
+ parameter_block->local_parameterization() != NULL) {
+ local_parameterizations_to_delete_.push_back(
+ parameter_block->mutable_local_parameterization());
+ }
+ parameter_block_map_.erase(parameter_block->mutable_user_state());
+ delete parameter_block;
+}
+
+ProblemImpl::ProblemImpl() : program_(new internal::Program) {}
+ProblemImpl::ProblemImpl(const Problem::Options& options)
+ : options_(options),
+ program_(new internal::Program) {}
+
+ProblemImpl::~ProblemImpl() {
+ // Collect the unique cost/loss functions and delete the residuals.
+ const int num_residual_blocks = program_->residual_blocks_.size();
+ cost_functions_to_delete_.reserve(num_residual_blocks);
+ loss_functions_to_delete_.reserve(num_residual_blocks);
+ for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
+ DeleteBlock(program_->residual_blocks_[i]);
+ }
+
+ // Collect the unique parameterizations and delete the parameters.
+ for (int i = 0; i < program_->parameter_blocks_.size(); ++i) {
+ DeleteBlock(program_->parameter_blocks_[i]);
+ }
+
+ // Delete the owned cost/loss functions and parameterizations.
+ STLDeleteUniqueContainerPointers(local_parameterizations_to_delete_.begin(),
+ local_parameterizations_to_delete_.end());
+ STLDeleteUniqueContainerPointers(cost_functions_to_delete_.begin(),
+ cost_functions_to_delete_.end());
+ STLDeleteUniqueContainerPointers(loss_functions_to_delete_.begin(),
+ loss_functions_to_delete_.end());
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks) {
+ CHECK_NOTNULL(cost_function);
+ CHECK_EQ(parameter_blocks.size(),
+ cost_function->parameter_block_sizes().size());
+
+ // Check the sizes match.
+ const vector<int32>& parameter_block_sizes =
+ cost_function->parameter_block_sizes();
+
+ if (!options_.disable_all_safety_checks) {
+ CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size())
+ << "Number of blocks input is different than the number of blocks "
+ << "that the cost function expects.";
+
+ // Check for duplicate parameter blocks.
+ vector<double*> sorted_parameter_blocks(parameter_blocks);
+ sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end());
+ const bool has_duplicate_items =
+ (std::adjacent_find(sorted_parameter_blocks.begin(),
+ sorted_parameter_blocks.end())
+ != sorted_parameter_blocks.end());
+ if (has_duplicate_items) {
+ string blocks;
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ blocks += StringPrintf(" %p ", parameter_blocks[i]);
+ }
+
+ LOG(FATAL) << "Duplicate parameter blocks in a residual parameter "
+ << "are not allowed. Parameter block pointers: ["
+ << blocks << "]";
+ }
+ }
+
+ // Add parameter blocks and convert the double*'s to parameter blocks.
+ vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size());
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ parameter_block_ptrs[i] =
+ InternalAddParameterBlock(parameter_blocks[i],
+ parameter_block_sizes[i]);
+ }
+
+ if (!options_.disable_all_safety_checks) {
+ // Check that the block sizes match the block sizes expected by the
+ // cost_function.
+ for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
+ CHECK_EQ(cost_function->parameter_block_sizes()[i],
+ parameter_block_ptrs[i]->Size())
+ << "The cost function expects parameter block " << i
+ << " of size " << cost_function->parameter_block_sizes()[i]
+ << " but was given a block of size "
+ << parameter_block_ptrs[i]->Size();
+ }
+ }
+
+ ResidualBlock* new_residual_block =
+ new ResidualBlock(cost_function,
+ loss_function,
+ parameter_block_ptrs,
+ program_->residual_blocks_.size());
+
+ // Add dependencies on the residual to the parameter blocks.
+ if (options_.enable_fast_removal) {
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ parameter_block_ptrs[i]->AddResidualBlock(new_residual_block);
+ }
+ }
+
+ program_->residual_blocks_.push_back(new_residual_block);
+
+ if (options_.enable_fast_removal) {
+ residual_block_set_.insert(new_residual_block);
+ }
+
+ return new_residual_block;
+}
+
+// Unfortunately, macros don't help much to reduce this code, and var args don't
+// work because of the ambiguous case that there is no loss function.
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ residual_parameters.push_back(x8);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8, double* x9) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ residual_parameters.push_back(x8);
+ residual_parameters.push_back(x9);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+void ProblemImpl::AddParameterBlock(double* values, int size) {
+ InternalAddParameterBlock(values, size);
+}
+
+void ProblemImpl::AddParameterBlock(
+ double* values,
+ int size,
+ LocalParameterization* local_parameterization) {
+ ParameterBlock* parameter_block =
+ InternalAddParameterBlock(values, size);
+ if (local_parameterization != NULL) {
+ parameter_block->SetParameterization(local_parameterization);
+ }
+}
+
+// Delete a block from a vector of blocks, maintaining the indexing invariant.
+// This is done in constant time by moving an element from the end of the
+// vector over the element to remove, then popping the last element. It
+// destroys the ordering in the interest of speed.
+template<typename Block>
+void ProblemImpl::DeleteBlockInVector(vector<Block*>* mutable_blocks,
+ Block* block_to_remove) {
+ CHECK_EQ((*mutable_blocks)[block_to_remove->index()], block_to_remove)
+ << "You found a Ceres bug! \n"
+ << "Block requested: "
+ << block_to_remove->ToString() << "\n"
+ << "Block present: "
+ << (*mutable_blocks)[block_to_remove->index()]->ToString();
+
+ // Prepare the to-be-moved block for the new, lower-in-index position by
+ // setting the index to the blocks final location.
+ Block* tmp = mutable_blocks->back();
+ tmp->set_index(block_to_remove->index());
+
+ // Overwrite the to-be-deleted residual block with the one at the end.
+ (*mutable_blocks)[block_to_remove->index()] = tmp;
+
+ DeleteBlock(block_to_remove);
+
+ // The block is gone so shrink the vector of blocks accordingly.
+ mutable_blocks->pop_back();
+}
+
+void ProblemImpl::RemoveResidualBlock(ResidualBlock* residual_block) {
+ CHECK_NOTNULL(residual_block);
+
+ // Verify that residual_block identifies a residual in the current problem.
+ const string residual_not_found_message =
+ StringPrintf("Residual block to remove: %p not found. This usually means "
+ "one of three things have happened:\n"
+ " 1) residual_block is uninitialised and points to a random "
+ "area in memory.\n"
+ " 2) residual_block represented a residual that was added to"
+ " the problem, but referred to a parameter block which has "
+ "since been removed, which removes all residuals which "
+ "depend on that parameter block, and was thus removed.\n"
+ " 3) residual_block referred to a residual that has already "
+ "been removed from the problem (by the user).",
+ residual_block);
+ if (options_.enable_fast_removal) {
+ CHECK(residual_block_set_.find(residual_block) !=
+ residual_block_set_.end())
+ << residual_not_found_message;
+ } else {
+ // Perform a full search over all current residuals.
+ CHECK(std::find(program_->residual_blocks().begin(),
+ program_->residual_blocks().end(),
+ residual_block) != program_->residual_blocks().end())
+ << residual_not_found_message;
+ }
+
+ InternalRemoveResidualBlock(residual_block);
+}
+
+void ProblemImpl::RemoveParameterBlock(double* values) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be removed.";
+ }
+
+ if (options_.enable_fast_removal) {
+ // Copy the dependent residuals from the parameter block because the set of
+ // dependents will change after each call to RemoveResidualBlock().
+ vector<ResidualBlock*> residual_blocks_to_remove(
+ parameter_block->mutable_residual_blocks()->begin(),
+ parameter_block->mutable_residual_blocks()->end());
+ for (int i = 0; i < residual_blocks_to_remove.size(); ++i) {
+ InternalRemoveResidualBlock(residual_blocks_to_remove[i]);
+ }
+ } else {
+ // Scan all the residual blocks to remove ones that depend on the parameter
+ // block. Do the scan backwards since the vector changes while iterating.
+ const int num_residual_blocks = NumResidualBlocks();
+ for (int i = num_residual_blocks - 1; i >= 0; --i) {
+ ResidualBlock* residual_block =
+ (*(program_->mutable_residual_blocks()))[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (residual_block->parameter_blocks()[j] == parameter_block) {
+ InternalRemoveResidualBlock(residual_block);
+ // The parameter blocks are guaranteed unique.
+ break;
+ }
+ }
+ }
+ }
+ DeleteBlockInVector(program_->mutable_parameter_blocks(), parameter_block);
+}
+
+void ProblemImpl::SetParameterBlockConstant(double* values) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be set constant.";
+ }
+
+ parameter_block->SetConstant();
+}
+
+bool ProblemImpl::IsParameterBlockConstant(double* values) const {
+ const ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ CHECK(parameter_block != NULL)
+ << "Parameter block not found: " << values << ". You must add the "
+ << "parameter block to the problem before it can be queried.";
+
+ return parameter_block->IsConstant();
+}
+
+void ProblemImpl::SetParameterBlockVariable(double* values) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be set varying.";
+ }
+
+ parameter_block->SetVarying();
+}
+
+void ProblemImpl::SetParameterization(
+ double* values,
+ LocalParameterization* local_parameterization) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set its local parameterization.";
+ }
+
+ parameter_block->SetParameterization(local_parameterization);
+}
+
+const LocalParameterization* ProblemImpl::GetParameterization(
+ double* values) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its local parameterization.";
+ }
+
+ return parameter_block->local_parameterization();
+}
+
+void ProblemImpl::SetParameterLowerBound(double* values,
+ int index,
+ double lower_bound) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set a lower bound on one of its components.";
+ }
+
+ parameter_block->SetLowerBound(index, lower_bound);
+}
+
+void ProblemImpl::SetParameterUpperBound(double* values,
+ int index,
+ double upper_bound) {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set an upper bound on one of its components.";
+ }
+ parameter_block->SetUpperBound(index, upper_bound);
+}
+
+bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
+ double* cost,
+ vector<double>* residuals,
+ vector<double>* gradient,
+ CRSMatrix* jacobian) {
+ if (cost == NULL &&
+ residuals == NULL &&
+ gradient == NULL &&
+ jacobian == NULL) {
+ LOG(INFO) << "Nothing to do.";
+ return true;
+ }
+
+ // If the user supplied residual blocks, then use them, otherwise
+ // take the residual blocks from the underlying program.
+ Program program;
+ *program.mutable_residual_blocks() =
+ ((evaluate_options.residual_blocks.size() > 0)
+ ? evaluate_options.residual_blocks : program_->residual_blocks());
+
+ const vector<double*>& parameter_block_ptrs =
+ evaluate_options.parameter_blocks;
+
+ vector<ParameterBlock*> variable_parameter_blocks;
+ vector<ParameterBlock*>& parameter_blocks =
+ *program.mutable_parameter_blocks();
+
+ if (parameter_block_ptrs.size() == 0) {
+ // The user did not provide any parameter blocks, so default to
+ // using all the parameter blocks in the order that they are in
+ // the underlying program object.
+ parameter_blocks = program_->parameter_blocks();
+ } else {
+ // The user supplied a vector of parameter blocks. Using this list
+ // requires a number of steps.
+
+ // 1. Convert double* into ParameterBlock*
+ parameter_blocks.resize(parameter_block_ptrs.size());
+ for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
+ parameter_blocks[i] = FindWithDefault(parameter_block_map_,
+ parameter_block_ptrs[i],
+ NULL);
+ if (parameter_blocks[i] == NULL) {
+ LOG(FATAL) << "No known parameter block for "
+ << "Problem::Evaluate::Options.parameter_blocks[" << i << "]"
+ << " = " << parameter_block_ptrs[i];
+ }
+ }
+
+ // 2. The user may have only supplied a subset of parameter
+ // blocks, so identify the ones that are not supplied by the user
+ // and are NOT constant. These parameter blocks are stored in
+ // variable_parameter_blocks.
+ //
+ // To ensure that the parameter blocks are not included in the
+ // columns of the jacobian, we need to make sure that they are
+ // constant during evaluation and then make them variable again
+ // after we are done.
+ vector<ParameterBlock*> all_parameter_blocks(program_->parameter_blocks());
+ vector<ParameterBlock*> included_parameter_blocks(
+ program.parameter_blocks());
+
+ vector<ParameterBlock*> excluded_parameter_blocks;
+ sort(all_parameter_blocks.begin(), all_parameter_blocks.end());
+ sort(included_parameter_blocks.begin(), included_parameter_blocks.end());
+ set_difference(all_parameter_blocks.begin(),
+ all_parameter_blocks.end(),
+ included_parameter_blocks.begin(),
+ included_parameter_blocks.end(),
+ back_inserter(excluded_parameter_blocks));
+
+ variable_parameter_blocks.reserve(excluded_parameter_blocks.size());
+ for (int i = 0; i < excluded_parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = excluded_parameter_blocks[i];
+ if (!parameter_block->IsConstant()) {
+ variable_parameter_blocks.push_back(parameter_block);
+ parameter_block->SetConstant();
+ }
+ }
+ }
+
+ // Setup the Parameter indices and offsets before an evaluator can
+ // be constructed and used.
+ program.SetParameterOffsetsAndIndex();
+
+ Evaluator::Options evaluator_options;
+
+ // Even though using SPARSE_NORMAL_CHOLESKY requires SuiteSparse or
+ // CXSparse, here it just being used for telling the evaluator to
+ // use a SparseRowCompressedMatrix for the jacobian. This is because
+ // the Evaluator decides the storage for the Jacobian based on the
+ // type of linear solver being used.
+ evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+#ifndef CERES_USE_OPENMP
+ LOG_IF(WARNING, evaluate_options.num_threads > 1)
+ << "OpenMP support is not compiled into this binary; "
+ << "only evaluate_options.num_threads = 1 is supported. Switching "
+ << "to single threaded mode.";
+ evaluator_options.num_threads = 1;
+#else
+ evaluator_options.num_threads = evaluate_options.num_threads;
+#endif // CERES_USE_OPENMP
+
+ scoped_ptr<Evaluator> evaluator(
+ new ProgramEvaluator<ScratchEvaluatePreparer,
+ CompressedRowJacobianWriter>(evaluator_options,
+ &program));
+
+ if (residuals !=NULL) {
+ residuals->resize(evaluator->NumResiduals());
+ }
+
+ if (gradient != NULL) {
+ gradient->resize(evaluator->NumEffectiveParameters());
+ }
+
+ scoped_ptr<CompressedRowSparseMatrix> tmp_jacobian;
+ if (jacobian != NULL) {
+ tmp_jacobian.reset(
+ down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
+ }
+
+ // Point the state pointers to the user state pointers. This is
+ // needed so that we can extract a parameter vector which is then
+ // passed to Evaluator::Evaluate.
+ program.SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // Copy the value of the parameter blocks into a vector, since the
+ // Evaluate::Evaluate method needs its input as such. The previous
+ // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
+ // these values are the ones corresponding to the actual state of
+ // the parameter blocks, rather than the temporary state pointer
+ // used for evaluation.
+ Vector parameters(program.NumParameters());
+ program.ParameterBlocksToStateVector(parameters.data());
+
+ double tmp_cost = 0;
+
+ Evaluator::EvaluateOptions evaluator_evaluate_options;
+ evaluator_evaluate_options.apply_loss_function =
+ evaluate_options.apply_loss_function;
+ bool status = evaluator->Evaluate(evaluator_evaluate_options,
+ parameters.data(),
+ &tmp_cost,
+ residuals != NULL ? &(*residuals)[0] : NULL,
+ gradient != NULL ? &(*gradient)[0] : NULL,
+ tmp_jacobian.get());
+
+ // Make the parameter blocks that were temporarily marked constant,
+ // variable again.
+ for (int i = 0; i < variable_parameter_blocks.size(); ++i) {
+ variable_parameter_blocks[i]->SetVarying();
+ }
+
+ if (status) {
+ if (cost != NULL) {
+ *cost = tmp_cost;
+ }
+ if (jacobian != NULL) {
+ tmp_jacobian->ToCRSMatrix(jacobian);
+ }
+ }
+
+ program_->SetParameterBlockStatePtrsToUserStatePtrs();
+ program_->SetParameterOffsetsAndIndex();
+ return status;
+}
+
+int ProblemImpl::NumParameterBlocks() const {
+ return program_->NumParameterBlocks();
+}
+
+int ProblemImpl::NumParameters() const {
+ return program_->NumParameters();
+}
+
+int ProblemImpl::NumResidualBlocks() const {
+ return program_->NumResidualBlocks();
+}
+
+int ProblemImpl::NumResiduals() const {
+ return program_->NumResiduals();
+}
+
+int ProblemImpl::ParameterBlockSize(const double* values) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its size.";
+ }
+
+ return parameter_block->Size();
+}
+
+int ProblemImpl::ParameterBlockLocalSize(const double* values) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its local size.";
+ }
+
+ return parameter_block->LocalSize();
+}
+
+bool ProblemImpl::HasParameterBlock(const double* parameter_block) const {
+ return (parameter_block_map_.find(const_cast<double*>(parameter_block)) !=
+ parameter_block_map_.end());
+}
+
+void ProblemImpl::GetParameterBlocks(vector<double*>* parameter_blocks) const {
+ CHECK_NOTNULL(parameter_blocks);
+ parameter_blocks->resize(0);
+ for (ParameterMap::const_iterator it = parameter_block_map_.begin();
+ it != parameter_block_map_.end();
+ ++it) {
+ parameter_blocks->push_back(it->first);
+ }
+}
+
+void ProblemImpl::GetResidualBlocks(
+ vector<ResidualBlockId>* residual_blocks) const {
+ CHECK_NOTNULL(residual_blocks);
+ *residual_blocks = program().residual_blocks();
+}
+
+void ProblemImpl::GetParameterBlocksForResidualBlock(
+ const ResidualBlockId residual_block,
+ vector<double*>* parameter_blocks) const {
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ CHECK_NOTNULL(parameter_blocks)->resize(num_parameter_blocks);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ (*parameter_blocks)[i] =
+ residual_block->parameter_blocks()[i]->mutable_user_state();
+ }
+}
+
+const CostFunction* ProblemImpl::GetCostFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const {
+ return residual_block->cost_function();
+}
+
+const LossFunction* ProblemImpl::GetLossFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const {
+ return residual_block->loss_function();
+}
+
+void ProblemImpl::GetResidualBlocksForParameterBlock(
+ const double* values,
+ vector<ResidualBlockId>* residual_blocks) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get the residual blocks that depend on it.";
+ }
+
+ if (options_.enable_fast_removal) {
+ // In this case the residual blocks that depend on the parameter block are
+ // stored in the parameter block already, so just copy them out.
+ CHECK_NOTNULL(residual_blocks)->resize(
+ parameter_block->mutable_residual_blocks()->size());
+ std::copy(parameter_block->mutable_residual_blocks()->begin(),
+ parameter_block->mutable_residual_blocks()->end(),
+ residual_blocks->begin());
+ return;
+ }
+
+ // Find residual blocks that depend on the parameter block.
+ CHECK_NOTNULL(residual_blocks)->clear();
+ const int num_residual_blocks = NumResidualBlocks();
+ for (int i = 0; i < num_residual_blocks; ++i) {
+ ResidualBlock* residual_block =
+ (*(program_->mutable_residual_blocks()))[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (residual_block->parameter_blocks()[j] == parameter_block) {
+ residual_blocks->push_back(residual_block);
+ // The parameter blocks are guaranteed unique.
+ break;
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// This is the implementation of the public Problem API. The pointer to
+// implementation (PIMPL) idiom makes it possible for Ceres internal code to
+// refer to the private data members without needing to exposing it to the
+// world. An alternative to PIMPL is to have a factory which returns instances
+// of a virtual base class; while that approach would work, it requires clients
+// to always put a Problem object into a scoped pointer; this needlessly muddies
+// client code for little benefit. Therefore, the PIMPL comprise was chosen.
+
+#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
+#define CERES_PUBLIC_PROBLEM_IMPL_H_
+
+#include <map>
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/collections_port.h"
+#include "ceres/problem.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+struct CRSMatrix;
+
+namespace internal {
+
+class Program;
+class ResidualBlock;
+
+class ProblemImpl {
+ public:
+ typedef std::map<double*, ParameterBlock*> ParameterMap;
+ typedef HashSet<ResidualBlock*> ResidualBlockSet;
+
+ ProblemImpl();
+ explicit ProblemImpl(const Problem::Options& options);
+
+ ~ProblemImpl();
+
+ // See the public problem.h file for description of these methods.
+ ResidualBlockId AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const std::vector<double*>& parameter_blocks);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8,
+ double* x9);
+ void AddParameterBlock(double* values, int size);
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+
+ void RemoveResidualBlock(ResidualBlock* residual_block);
+ void RemoveParameterBlock(double* values);
+
+ void SetParameterBlockConstant(double* values);
+ void SetParameterBlockVariable(double* values);
+ bool IsParameterBlockConstant(double* values) const;
+
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+ const LocalParameterization* GetParameterization(double* values) const;
+
+ void SetParameterLowerBound(double* values, int index, double lower_bound);
+ void SetParameterUpperBound(double* values, int index, double upper_bound);
+
+ bool Evaluate(const Problem::EvaluateOptions& options,
+ double* cost,
+ std::vector<double>* residuals,
+ std::vector<double>* gradient,
+ CRSMatrix* jacobian);
+
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ int ParameterBlockSize(const double* parameter_block) const;
+ int ParameterBlockLocalSize(const double* parameter_block) const;
+
+ bool HasParameterBlock(const double* parameter_block) const;
+
+ void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
+ void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
+
+ void GetParameterBlocksForResidualBlock(
+ const ResidualBlockId residual_block,
+ std::vector<double*>* parameter_blocks) const;
+
+ const CostFunction* GetCostFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const;
+ const LossFunction* GetLossFunctionForResidualBlock(
+ const ResidualBlockId residual_block) const;
+
+ void GetResidualBlocksForParameterBlock(
+ const double* values,
+ std::vector<ResidualBlockId>* residual_blocks) const;
+
+ const Program& program() const { return *program_; }
+ Program* mutable_program() { return program_.get(); }
+
+ const ParameterMap& parameter_map() const { return parameter_block_map_; }
+ const ResidualBlockSet& residual_block_set() const {
+ CHECK(options_.enable_fast_removal)
+ << "Fast removal not enabled, residual_block_set is not maintained.";
+ return residual_block_set_;
+ }
+
+ private:
+ ParameterBlock* InternalAddParameterBlock(double* values, int size);
+ void InternalRemoveResidualBlock(ResidualBlock* residual_block);
+
+ bool InternalEvaluate(Program* program,
+ double* cost,
+ std::vector<double>* residuals,
+ std::vector<double>* gradient,
+ CRSMatrix* jacobian);
+
+ // Delete the arguments in question. These differ from the Remove* functions
+ // in that they do not clean up references to the block to delete; they
+ // merely delete them.
+ template<typename Block>
+ void DeleteBlockInVector(std::vector<Block*>* mutable_blocks,
+ Block* block_to_remove);
+ void DeleteBlock(ResidualBlock* residual_block);
+ void DeleteBlock(ParameterBlock* parameter_block);
+
+ const Problem::Options options_;
+
+ // The mapping from user pointers to parameter blocks.
+ std::map<double*, ParameterBlock*> parameter_block_map_;
+
+ // Iff enable_fast_removal is enabled, contains the current residual blocks.
+ ResidualBlockSet residual_block_set_;
+
+ // The actual parameter and residual blocks.
+ internal::scoped_ptr<internal::Program> program_;
+
+ // When removing residual and parameter blocks, cost/loss functions and
+ // parameterizations have ambiguous ownership. Instead of scanning the entire
+ // problem to see if the cost/loss/parameterization is shared with other
+ // residual or parameter blocks, buffer them until destruction.
+ //
+ // TODO(keir): See if it makes sense to use sets instead.
+ std::vector<CostFunction*> cost_functions_to_delete_;
+ std::vector<LossFunction*> loss_functions_to_delete_;
+ std::vector<LocalParameterization*> local_parameterizations_to_delete_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_PROBLEM_IMPL_H_
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+#include "ceres/casts.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+ UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+ virtual ~UnaryCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(int num_residuals,
+ int32 parameter_block1_size,
+ int32 parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int32 parameter_block1_size,
+ int32 parameter_block2_size,
+ int32 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 3;
+ }
+ return true;
+ }
+};
+
+TEST(Problem, AddResidualWithNullCostFunctionDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
+ "'cost_function' Must be non NULL");
+}
+
+TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // UnaryCostFunction takes only one parameter, but two are passed.
+ EXPECT_DEATH_IF_SUPPORTED(
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
+ "parameter_blocks.size");
+}
+
+TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
+ double x[3];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new UnaryCostFunction(
+ 2, 4 /* 4 != 3 */), NULL, x),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualWithDuplicateParametersDies) {
+ double x[3], z[5];
+
+ Problem problem;
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 3), NULL, x, x),
+ "Duplicate parameter blocks");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new TernaryCostFunction(1, 5, 3, 5),
+ NULL, z, x, z),
+ "Duplicate parameter blocks");
+}
+
+TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // The cost function expects the size of the second parameter, z, to be 4
+ // instead of 5 as declared above. This is fatal.
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 4), NULL, x, z),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
+
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+}
+
+TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
+ "different block sizes");
+}
+
+static double *IntToPtr(int i) {
+ return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
+}
+
+TEST(Problem, AddParameterWithAliasedParametersDies) {
+ // Layout is
+ //
+ // 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
+ // [x] x x x x [y] y y
+ // o==o==o o==o==o o==o
+ // o--o--o o--o--o o--o o--o--o
+ //
+ // Parameter block additions are tested as listed above; expected successful
+ // ones marked with o==o and aliasing ones marked with o--o.
+
+ Problem problem;
+ problem.AddParameterBlock(IntToPtr(5), 5); // x
+ problem.AddParameterBlock(IntToPtr(13), 3); // y
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
+ "Aliasing detected");
+
+ // These ones should work.
+ problem.AddParameterBlock(IntToPtr( 2), 3);
+ problem.AddParameterBlock(IntToPtr(10), 3);
+ problem.AddParameterBlock(IntToPtr(16), 2);
+
+ ASSERT_EQ(5, problem.NumParameterBlocks());
+}
+
+TEST(Problem, AddParameterIgnoresDuplicateCalls) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ // Creating parameter blocks multiple times is ignored.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // ... even repeatedly.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // More parameters are fine.
+ problem.AddParameterBlock(y, 4);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+}
+
+TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
+ double x[3], y[4], z[5], w[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ EXPECT_EQ(1, problem.NumParameterBlocks());
+ EXPECT_EQ(3, problem.NumParameters());
+
+ problem.AddParameterBlock(y, 4);
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+
+ problem.AddParameterBlock(z, 5);
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+
+ // Add a parameter that has a local parameterization.
+ w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
+ problem.AddParameterBlock(w, 4, new QuaternionParameterization);
+ EXPECT_EQ(4, problem.NumParameterBlocks());
+ EXPECT_EQ(16, problem.NumParameters());
+
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
+ problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
+ problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
+ problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
+
+ const int total_residuals = 2 + 6 + 3 + 7 + 1;
+ EXPECT_EQ(problem.NumResidualBlocks(), 5);
+ EXPECT_EQ(problem.NumResiduals(), total_residuals);
+}
+
+class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
+ public:
+ explicit DestructorCountingCostFunction(int *num_destructions)
+ : num_destructions_(num_destructions) {}
+
+ virtual ~DestructorCountingCostFunction() {
+ *num_destructions_ += 1;
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+
+ private:
+ int* num_destructions_;
+};
+
+TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
+ double y[4], z[5];
+ int num_destructions = 0;
+
+ // Add a cost function multiple times and check to make sure that
+ // the destructor on the cost function is only called once.
+ {
+ Problem problem;
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ CostFunction* cost = new DestructorCountingCostFunction(&num_destructions);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ EXPECT_EQ(3, problem.NumResidualBlocks());
+ }
+
+ // Check that the destructor was called only once.
+ CHECK_EQ(num_destructions, 1);
+}
+
+TEST(Problem, GetCostFunctionForResidualBlock) {
+ double x[3];
+ Problem problem;
+ CostFunction* cost_function = new UnaryCostFunction(2, 3);
+ const ResidualBlockId residual_block =
+ problem.AddResidualBlock(cost_function, NULL, x);
+ EXPECT_EQ(problem.GetCostFunctionForResidualBlock(residual_block),
+ cost_function);
+ EXPECT_TRUE(problem.GetLossFunctionForResidualBlock(residual_block) == NULL);
+}
+
+TEST(Problem, GetLossFunctionForResidualBlock) {
+ double x[3];
+ Problem problem;
+ CostFunction* cost_function = new UnaryCostFunction(2, 3);
+ LossFunction* loss_function = new TrivialLoss();
+ const ResidualBlockId residual_block =
+ problem.AddResidualBlock(cost_function, loss_function, x);
+ EXPECT_EQ(problem.GetCostFunctionForResidualBlock(residual_block),
+ cost_function);
+ EXPECT_EQ(problem.GetLossFunctionForResidualBlock(residual_block),
+ loss_function);
+}
+
+TEST(Problem, CostFunctionsAreDeletedEvenWithRemovals) {
+ double y[4], z[5], w[4];
+ int num_destructions = 0;
+ {
+ Problem problem;
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ CostFunction* cost_yz =
+ new DestructorCountingCostFunction(&num_destructions);
+ CostFunction* cost_wz =
+ new DestructorCountingCostFunction(&num_destructions);
+ ResidualBlock* r_yz = problem.AddResidualBlock(cost_yz, NULL, y, z);
+ ResidualBlock* r_wz = problem.AddResidualBlock(cost_wz, NULL, w, z);
+ EXPECT_EQ(2, problem.NumResidualBlocks());
+
+ // In the current implementation, the destructor shouldn't get run yet.
+ problem.RemoveResidualBlock(r_yz);
+ CHECK_EQ(num_destructions, 0);
+ problem.RemoveResidualBlock(r_wz);
+ CHECK_EQ(num_destructions, 0);
+
+ EXPECT_EQ(0, problem.NumResidualBlocks());
+ }
+ CHECK_EQ(num_destructions, 2);
+}
+
+// Make the dynamic problem tests (e.g. for removing residual blocks)
+// parameterized on whether the low-latency mode is enabled or not.
+//
+// This tests against ProblemImpl instead of Problem in order to inspect the
+// state of the resulting Program; this is difficult with only the thin Problem
+// interface.
+struct DynamicProblem : public ::testing::TestWithParam<bool> {
+ DynamicProblem() {
+ Problem::Options options;
+ options.enable_fast_removal = GetParam();
+ problem.reset(new ProblemImpl(options));
+ }
+
+ ParameterBlock* GetParameterBlock(int block) {
+ return problem->program().parameter_blocks()[block];
+ }
+ ResidualBlock* GetResidualBlock(int block) {
+ return problem->program().residual_blocks()[block];
+ }
+
+ bool HasResidualBlock(ResidualBlock* residual_block) {
+ bool have_residual_block = true;
+ if (GetParam()) {
+ have_residual_block &=
+ (problem->residual_block_set().find(residual_block) !=
+ problem->residual_block_set().end());
+ }
+ have_residual_block &=
+ find(problem->program().residual_blocks().begin(),
+ problem->program().residual_blocks().end(),
+ residual_block) != problem->program().residual_blocks().end();
+ return have_residual_block;
+ }
+
+ int NumResidualBlocks() {
+ // Verify that the hash set of residuals is maintained consistently.
+ if (GetParam()) {
+ EXPECT_EQ(problem->residual_block_set().size(),
+ problem->NumResidualBlocks());
+ }
+ return problem->NumResidualBlocks();
+ }
+
+ // The next block of functions until the end are only for testing the
+ // residual block removals.
+ void ExpectParameterBlockContainsResidualBlock(
+ double* values,
+ ResidualBlock* residual_block) {
+ ParameterBlock* parameter_block =
+ FindOrDie(problem->parameter_map(), values);
+ EXPECT_TRUE(ContainsKey(*(parameter_block->mutable_residual_blocks()),
+ residual_block));
+ }
+
+ void ExpectSize(double* values, int size) {
+ ParameterBlock* parameter_block =
+ FindOrDie(problem->parameter_map(), values);
+ EXPECT_EQ(size, parameter_block->mutable_residual_blocks()->size());
+ }
+
+ // Degenerate case.
+ void ExpectParameterBlockContains(double* values) {
+ ExpectSize(values, 0);
+ }
+
+ void ExpectParameterBlockContains(double* values,
+ ResidualBlock* r1) {
+ ExpectSize(values, 1);
+ ExpectParameterBlockContainsResidualBlock(values, r1);
+ }
+
+ void ExpectParameterBlockContains(double* values,
+ ResidualBlock* r1,
+ ResidualBlock* r2) {
+ ExpectSize(values, 2);
+ ExpectParameterBlockContainsResidualBlock(values, r1);
+ ExpectParameterBlockContainsResidualBlock(values, r2);
+ }
+
+ void ExpectParameterBlockContains(double* values,
+ ResidualBlock* r1,
+ ResidualBlock* r2,
+ ResidualBlock* r3) {
+ ExpectSize(values, 3);
+ ExpectParameterBlockContainsResidualBlock(values, r1);
+ ExpectParameterBlockContainsResidualBlock(values, r2);
+ ExpectParameterBlockContainsResidualBlock(values, r3);
+ }
+
+ void ExpectParameterBlockContains(double* values,
+ ResidualBlock* r1,
+ ResidualBlock* r2,
+ ResidualBlock* r3,
+ ResidualBlock* r4) {
+ ExpectSize(values, 4);
+ ExpectParameterBlockContainsResidualBlock(values, r1);
+ ExpectParameterBlockContainsResidualBlock(values, r2);
+ ExpectParameterBlockContainsResidualBlock(values, r3);
+ ExpectParameterBlockContainsResidualBlock(values, r4);
+ }
+
+ scoped_ptr<ProblemImpl> problem;
+ double y[4], z[5], w[3];
+};
+
+TEST(Problem, SetParameterBlockConstantWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockConstant(y),
+ "Parameter block not found:");
+}
+
+TEST(Problem, SetParameterBlockVariableWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockVariable(y),
+ "Parameter block not found:");
+}
+
+TEST(Problem, IsParameterBlockConstant) {
+ double x1[3];
+ double x2[3];
+
+ Problem problem;
+ problem.AddParameterBlock(x1, 3);
+ problem.AddParameterBlock(x2, 3);
+
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockConstant(x1);
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockConstant(x2);
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+
+ problem.SetParameterBlockVariable(x1);
+ EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+ EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+}
+
+TEST(Problem, IsParameterBlockConstantWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.IsParameterBlockConstant(y),
+ "Parameter block not found:");
+}
+
+TEST(Problem, SetLocalParameterizationWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(
+ problem.SetParameterization(y, new IdentityParameterization(3)),
+ "Parameter block not found:");
+}
+
+TEST(Problem, RemoveParameterBlockWithUnknownPtrDies) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+
+ EXPECT_DEATH_IF_SUPPORTED(
+ problem.RemoveParameterBlock(y), "Parameter block not found:");
+}
+
+TEST(Problem, GetParameterization) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 2);
+
+ LocalParameterization* parameterization = new IdentityParameterization(3);
+ problem.SetParameterization(x, parameterization);
+ EXPECT_EQ(problem.GetParameterization(x), parameterization);
+ EXPECT_TRUE(problem.GetParameterization(y) == NULL);
+}
+
+TEST(Problem, ParameterBlockQueryTest) {
+ double x[3];
+ double y[4];
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ vector<int> constant_parameters;
+ constant_parameters.push_back(0);
+ problem.SetParameterization(
+ x,
+ new SubsetParameterization(3, constant_parameters));
+ EXPECT_EQ(problem.ParameterBlockSize(x), 3);
+ EXPECT_EQ(problem.ParameterBlockLocalSize(x), 2);
+ EXPECT_EQ(problem.ParameterBlockLocalSize(y), 4);
+
+ vector<double*> parameter_blocks;
+ problem.GetParameterBlocks(¶meter_blocks);
+ EXPECT_EQ(parameter_blocks.size(), 2);
+ EXPECT_NE(parameter_blocks[0], parameter_blocks[1]);
+ EXPECT_TRUE(parameter_blocks[0] == x || parameter_blocks[0] == y);
+ EXPECT_TRUE(parameter_blocks[1] == x || parameter_blocks[1] == y);
+
+ EXPECT_TRUE(problem.HasParameterBlock(x));
+ problem.RemoveParameterBlock(x);
+ EXPECT_FALSE(problem.HasParameterBlock(x));
+ problem.GetParameterBlocks(¶meter_blocks);
+ EXPECT_EQ(parameter_blocks.size(), 1);
+ EXPECT_TRUE(parameter_blocks[0] == y);
+}
+
+TEST_P(DynamicProblem, RemoveParameterBlockWithNoResiduals) {
+ problem->AddParameterBlock(y, 4);
+ problem->AddParameterBlock(z, 5);
+ problem->AddParameterBlock(w, 3);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+ // w is at the end, which might break the swapping logic so try adding and
+ // removing it.
+ problem->RemoveParameterBlock(w);
+ ASSERT_EQ(2, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+ problem->AddParameterBlock(w, 3);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+ // Now remove z, which is in the middle, and add it back.
+ problem->RemoveParameterBlock(z);
+ ASSERT_EQ(2, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+ problem->AddParameterBlock(z, 5);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+ EXPECT_EQ(z, GetParameterBlock(2)->user_state());
+
+ // Now remove everything.
+ // y
+ problem->RemoveParameterBlock(y);
+ ASSERT_EQ(2, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(z, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+
+ // z
+ problem->RemoveParameterBlock(z);
+ ASSERT_EQ(1, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(w, GetParameterBlock(0)->user_state());
+
+ // w
+ problem->RemoveParameterBlock(w);
+ EXPECT_EQ(0, problem->NumParameterBlocks());
+ EXPECT_EQ(0, NumResidualBlocks());
+}
+
+TEST_P(DynamicProblem, RemoveParameterBlockWithResiduals) {
+ problem->AddParameterBlock(y, 4);
+ problem->AddParameterBlock(z, 5);
+ problem->AddParameterBlock(w, 3);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+ EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+ EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+ // Add all combinations of cost functions.
+ CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+ CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
+ CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
+ CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
+ CostFunction* cost_y = new UnaryCostFunction (1, 4);
+ CostFunction* cost_z = new UnaryCostFunction (1, 5);
+ CostFunction* cost_w = new UnaryCostFunction (1, 3);
+
+ ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+ ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
+ ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
+ ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
+ ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
+ ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
+ ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
+
+ EXPECT_EQ(3, problem->NumParameterBlocks());
+ EXPECT_EQ(7, NumResidualBlocks());
+
+ // Remove w, which should remove r_yzw, r_yw, r_zw, r_w.
+ problem->RemoveParameterBlock(w);
+ ASSERT_EQ(2, problem->NumParameterBlocks());
+ ASSERT_EQ(3, NumResidualBlocks());
+
+ ASSERT_FALSE(HasResidualBlock(r_yzw));
+ ASSERT_TRUE (HasResidualBlock(r_yz ));
+ ASSERT_FALSE(HasResidualBlock(r_yw ));
+ ASSERT_FALSE(HasResidualBlock(r_zw ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+ ASSERT_FALSE(HasResidualBlock(r_w ));
+
+ // Remove z, which will remove almost everything else.
+ problem->RemoveParameterBlock(z);
+ ASSERT_EQ(1, problem->NumParameterBlocks());
+ ASSERT_EQ(1, NumResidualBlocks());
+
+ ASSERT_FALSE(HasResidualBlock(r_yzw));
+ ASSERT_FALSE(HasResidualBlock(r_yz ));
+ ASSERT_FALSE(HasResidualBlock(r_yw ));
+ ASSERT_FALSE(HasResidualBlock(r_zw ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_FALSE(HasResidualBlock(r_z ));
+ ASSERT_FALSE(HasResidualBlock(r_w ));
+
+ // Remove y; all gone.
+ problem->RemoveParameterBlock(y);
+ EXPECT_EQ(0, problem->NumParameterBlocks());
+ EXPECT_EQ(0, NumResidualBlocks());
+}
+
+TEST_P(DynamicProblem, RemoveResidualBlock) {
+ problem->AddParameterBlock(y, 4);
+ problem->AddParameterBlock(z, 5);
+ problem->AddParameterBlock(w, 3);
+
+ // Add all combinations of cost functions.
+ CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+ CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
+ CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
+ CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
+ CostFunction* cost_y = new UnaryCostFunction (1, 4);
+ CostFunction* cost_z = new UnaryCostFunction (1, 5);
+ CostFunction* cost_w = new UnaryCostFunction (1, 3);
+
+ ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+ ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
+ ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
+ ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
+ ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
+ ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
+ ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
+
+ if (GetParam()) {
+ // In this test parameterization, there should be back-pointers from the
+ // parameter blocks to the residual blocks.
+ ExpectParameterBlockContains(y, r_yzw, r_yz, r_yw, r_y);
+ ExpectParameterBlockContains(z, r_yzw, r_yz, r_zw, r_z);
+ ExpectParameterBlockContains(w, r_yzw, r_yw, r_zw, r_w);
+ } else {
+ // Otherwise, nothing.
+ EXPECT_TRUE(GetParameterBlock(0)->mutable_residual_blocks() == NULL);
+ EXPECT_TRUE(GetParameterBlock(1)->mutable_residual_blocks() == NULL);
+ EXPECT_TRUE(GetParameterBlock(2)->mutable_residual_blocks() == NULL);
+ }
+ EXPECT_EQ(3, problem->NumParameterBlocks());
+ EXPECT_EQ(7, NumResidualBlocks());
+
+ // Remove each residual and check the state after each removal.
+
+ // Remove r_yzw.
+ problem->RemoveResidualBlock(r_yzw);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(6, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y, r_yz, r_yw, r_y);
+ ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
+ ExpectParameterBlockContains(w, r_yw, r_zw, r_w);
+ }
+ ASSERT_TRUE (HasResidualBlock(r_yz ));
+ ASSERT_TRUE (HasResidualBlock(r_yw ));
+ ASSERT_TRUE (HasResidualBlock(r_zw ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+ ASSERT_TRUE (HasResidualBlock(r_w ));
+
+ // Remove r_yw.
+ problem->RemoveResidualBlock(r_yw);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(5, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y, r_yz, r_y);
+ ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
+ ExpectParameterBlockContains(w, r_zw, r_w);
+ }
+ ASSERT_TRUE (HasResidualBlock(r_yz ));
+ ASSERT_TRUE (HasResidualBlock(r_zw ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+ ASSERT_TRUE (HasResidualBlock(r_w ));
+
+ // Remove r_zw.
+ problem->RemoveResidualBlock(r_zw);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(4, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y, r_yz, r_y);
+ ExpectParameterBlockContains(z, r_yz, r_z);
+ ExpectParameterBlockContains(w, r_w);
+ }
+ ASSERT_TRUE (HasResidualBlock(r_yz ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+ ASSERT_TRUE (HasResidualBlock(r_w ));
+
+ // Remove r_w.
+ problem->RemoveResidualBlock(r_w);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(3, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y, r_yz, r_y);
+ ExpectParameterBlockContains(z, r_yz, r_z);
+ ExpectParameterBlockContains(w);
+ }
+ ASSERT_TRUE (HasResidualBlock(r_yz ));
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+
+ // Remove r_yz.
+ problem->RemoveResidualBlock(r_yz);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(2, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y, r_y);
+ ExpectParameterBlockContains(z, r_z);
+ ExpectParameterBlockContains(w);
+ }
+ ASSERT_TRUE (HasResidualBlock(r_y ));
+ ASSERT_TRUE (HasResidualBlock(r_z ));
+
+ // Remove the last two.
+ problem->RemoveResidualBlock(r_z);
+ problem->RemoveResidualBlock(r_y);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(0, NumResidualBlocks());
+ if (GetParam()) {
+ ExpectParameterBlockContains(y);
+ ExpectParameterBlockContains(z);
+ ExpectParameterBlockContains(w);
+ }
+}
+
+TEST_P(DynamicProblem, RemoveInvalidResidualBlockDies) {
+ problem->AddParameterBlock(y, 4);
+ problem->AddParameterBlock(z, 5);
+ problem->AddParameterBlock(w, 3);
+
+ // Add all combinations of cost functions.
+ CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+ CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
+ CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
+ CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
+ CostFunction* cost_y = new UnaryCostFunction (1, 4);
+ CostFunction* cost_z = new UnaryCostFunction (1, 5);
+ CostFunction* cost_w = new UnaryCostFunction (1, 3);
+
+ ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+ ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
+ ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
+ ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
+ ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
+ ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
+ ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
+
+ // Remove r_yzw.
+ problem->RemoveResidualBlock(r_yzw);
+ ASSERT_EQ(3, problem->NumParameterBlocks());
+ ASSERT_EQ(6, NumResidualBlocks());
+ // Attempt to remove r_yzw again.
+ EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yzw), "not found");
+
+ // Attempt to remove a cast pointer never added as a residual.
+ int trash_memory = 1234;
+ ResidualBlock* invalid_residual =
+ reinterpret_cast<ResidualBlock*>(&trash_memory);
+ EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(invalid_residual),
+ "not found");
+
+ // Remove a parameter block, which in turn removes the dependent residuals
+ // then attempt to remove them directly.
+ problem->RemoveParameterBlock(z);
+ ASSERT_EQ(2, problem->NumParameterBlocks());
+ ASSERT_EQ(3, NumResidualBlocks());
+ EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yz), "not found");
+ EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_zw), "not found");
+ EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_z), "not found");
+
+ problem->RemoveResidualBlock(r_yw);
+ problem->RemoveResidualBlock(r_w);
+ problem->RemoveResidualBlock(r_y);
+}
+
+// Check that a null-terminated array, a, has the same elements as b.
+template<typename T>
+void ExpectVectorContainsUnordered(const T* a, const vector<T>& b) {
+ // Compute the size of a.
+ int size = 0;
+ while (a[size]) {
+ ++size;
+ }
+ ASSERT_EQ(size, b.size());
+
+ // Sort a.
+ vector<T> a_sorted(size);
+ copy(a, a + size, a_sorted.begin());
+ sort(a_sorted.begin(), a_sorted.end());
+
+ // Sort b.
+ vector<T> b_sorted(b);
+ sort(b_sorted.begin(), b_sorted.end());
+
+ // Compare.
+ for (int i = 0; i < size; ++i) {
+ EXPECT_EQ(a_sorted[i], b_sorted[i]);
+ }
+}
+
+void ExpectProblemHasResidualBlocks(
+ const ProblemImpl &problem,
+ const ResidualBlockId *expected_residual_blocks) {
+ vector<ResidualBlockId> residual_blocks;
+ problem.GetResidualBlocks(&residual_blocks);
+ ExpectVectorContainsUnordered(expected_residual_blocks, residual_blocks);
+}
+
+TEST_P(DynamicProblem, GetXXXBlocksForYYYBlock) {
+ problem->AddParameterBlock(y, 4);
+ problem->AddParameterBlock(z, 5);
+ problem->AddParameterBlock(w, 3);
+
+ // Add all combinations of cost functions.
+ CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+ CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
+ CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
+ CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
+ CostFunction* cost_y = new UnaryCostFunction (1, 4);
+ CostFunction* cost_z = new UnaryCostFunction (1, 5);
+ CostFunction* cost_w = new UnaryCostFunction (1, 3);
+
+ ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+ {
+ ResidualBlockId expected_residuals[] = {r_yzw, 0};
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
+ {
+ ResidualBlockId expected_residuals[] = {r_yzw, r_yz, 0};
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
+ {
+ ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, 0};
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
+ {
+ ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, 0};
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
+ {
+ ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, r_y, 0};
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
+ {
+ ResidualBlock *expected_residuals[] = {
+ r_yzw, r_yz, r_yw, r_zw, r_y, r_z, 0
+ };
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+ ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
+ {
+ ResidualBlock *expected_residuals[] = {
+ r_yzw, r_yz, r_yw, r_zw, r_y, r_z, r_w, 0
+ };
+ ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+ }
+
+ vector<double*> parameter_blocks;
+ vector<ResidualBlockId> residual_blocks;
+
+ // Check GetResidualBlocksForParameterBlock() for all parameter blocks.
+ struct GetResidualBlocksForParameterBlockTestCase {
+ double* parameter_block;
+ ResidualBlockId expected_residual_blocks[10];
+ };
+ GetResidualBlocksForParameterBlockTestCase get_residual_blocks_cases[] = {
+ { y, { r_yzw, r_yz, r_yw, r_y, NULL} },
+ { z, { r_yzw, r_yz, r_zw, r_z, NULL} },
+ { w, { r_yzw, r_yw, r_zw, r_w, NULL} },
+ { NULL }
+ };
+ for (int i = 0; get_residual_blocks_cases[i].parameter_block; ++i) {
+ problem->GetResidualBlocksForParameterBlock(
+ get_residual_blocks_cases[i].parameter_block,
+ &residual_blocks);
+ ExpectVectorContainsUnordered(
+ get_residual_blocks_cases[i].expected_residual_blocks,
+ residual_blocks);
+ }
+
+ // Check GetParameterBlocksForResidualBlock() for all residual blocks.
+ struct GetParameterBlocksForResidualBlockTestCase {
+ ResidualBlockId residual_block;
+ double* expected_parameter_blocks[10];
+ };
+ GetParameterBlocksForResidualBlockTestCase get_parameter_blocks_cases[] = {
+ { r_yzw, { y, z, w, NULL } },
+ { r_yz , { y, z, NULL } },
+ { r_yw , { y, w, NULL } },
+ { r_zw , { z, w, NULL } },
+ { r_y , { y, NULL } },
+ { r_z , { z, NULL } },
+ { r_w , { w, NULL } },
+ { NULL }
+ };
+ for (int i = 0; get_parameter_blocks_cases[i].residual_block; ++i) {
+ problem->GetParameterBlocksForResidualBlock(
+ get_parameter_blocks_cases[i].residual_block,
+ ¶meter_blocks);
+ ExpectVectorContainsUnordered(
+ get_parameter_blocks_cases[i].expected_parameter_blocks,
+ parameter_blocks);
+ }
+}
+
+INSTANTIATE_TEST_CASE_P(OptionsInstantiation,
+ DynamicProblem,
+ ::testing::Values(true, false));
+
+// Test for Problem::Evaluate
+
+// r_i = i - (j + 1) * x_ij^2
+template <int kNumResiduals, int kNumParameterBlocks>
+class QuadraticCostFunction : public CostFunction {
+ public:
+ QuadraticCostFunction() {
+ CHECK_GT(kNumResiduals, 0);
+ CHECK_GT(kNumParameterBlocks, 0);
+ set_num_residuals(kNumResiduals);
+ for (int i = 0; i < kNumParameterBlocks; ++i) {
+ mutable_parameter_block_sizes()->push_back(kNumResiduals);
+ }
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < kNumResiduals; ++i) {
+ residuals[i] = i;
+ for (int j = 0; j < kNumParameterBlocks; ++j) {
+ residuals[i] -= (j + 1.0) * parameters[j][i] * parameters[j][i];
+ }
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ for (int j = 0; j < kNumParameterBlocks; ++j) {
+ if (jacobians[j] != NULL) {
+ MatrixRef(jacobians[j], kNumResiduals, kNumResiduals) =
+ (-2.0 * (j + 1.0) *
+ ConstVectorRef(parameters[j], kNumResiduals)).asDiagonal();
+ }
+ }
+
+ return true;
+ }
+};
+
+// Convert a CRSMatrix to a dense Eigen matrix.
+void CRSToDenseMatrix(const CRSMatrix& input, Matrix* output) {
+ Matrix& m = *CHECK_NOTNULL(output);
+ m.resize(input.num_rows, input.num_cols);
+ m.setZero();
+ for (int row = 0; row < input.num_rows; ++row) {
+ for (int j = input.rows[row]; j < input.rows[row + 1]; ++j) {
+ const int col = input.cols[j];
+ m(row, col) = input.values[j];
+ }
+ }
+}
+
+class ProblemEvaluateTest : public ::testing::Test {
+ protected:
+ void SetUp() {
+ for (int i = 0; i < 6; ++i) {
+ parameters_[i] = static_cast<double>(i + 1);
+ }
+
+ parameter_blocks_.push_back(parameters_);
+ parameter_blocks_.push_back(parameters_ + 2);
+ parameter_blocks_.push_back(parameters_ + 4);
+
+
+ CostFunction* cost_function = new QuadraticCostFunction<2, 2>;
+
+ // f(x, y)
+ residual_blocks_.push_back(
+ problem_.AddResidualBlock(cost_function,
+ NULL,
+ parameters_,
+ parameters_ + 2));
+ // g(y, z)
+ residual_blocks_.push_back(
+ problem_.AddResidualBlock(cost_function,
+ NULL, parameters_ + 2,
+ parameters_ + 4));
+ // h(z, x)
+ residual_blocks_.push_back(
+ problem_.AddResidualBlock(cost_function,
+ NULL,
+ parameters_ + 4,
+ parameters_));
+ }
+
+ void TearDown() {
+ EXPECT_TRUE(problem_.program().IsValid());
+ }
+
+ void EvaluateAndCompare(const Problem::EvaluateOptions& options,
+ const int expected_num_rows,
+ const int expected_num_cols,
+ const double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian) {
+ double cost;
+ vector<double> residuals;
+ vector<double> gradient;
+ CRSMatrix jacobian;
+
+ EXPECT_TRUE(
+ problem_.Evaluate(options,
+ &cost,
+ expected_residuals != NULL ? &residuals : NULL,
+ expected_gradient != NULL ? &gradient : NULL,
+ expected_jacobian != NULL ? &jacobian : NULL));
+
+ if (expected_residuals != NULL) {
+ EXPECT_EQ(residuals.size(), expected_num_rows);
+ }
+
+ if (expected_gradient != NULL) {
+ EXPECT_EQ(gradient.size(), expected_num_cols);
+ }
+
+ if (expected_jacobian != NULL) {
+ EXPECT_EQ(jacobian.num_rows, expected_num_rows);
+ EXPECT_EQ(jacobian.num_cols, expected_num_cols);
+ }
+
+ Matrix dense_jacobian;
+ if (expected_jacobian != NULL) {
+ CRSToDenseMatrix(jacobian, &dense_jacobian);
+ }
+
+ CompareEvaluations(expected_num_rows,
+ expected_num_cols,
+ expected_cost,
+ expected_residuals,
+ expected_gradient,
+ expected_jacobian,
+ cost,
+ residuals.size() > 0 ? &residuals[0] : NULL,
+ gradient.size() > 0 ? &gradient[0] : NULL,
+ dense_jacobian.data());
+ }
+
+ void CheckAllEvaluationCombinations(const Problem::EvaluateOptions& options,
+ const ExpectedEvaluation& expected) {
+ for (int i = 0; i < 8; ++i) {
+ EvaluateAndCompare(options,
+ expected.num_rows,
+ expected.num_cols,
+ expected.cost,
+ (i & 1) ? expected.residuals : NULL,
+ (i & 2) ? expected.gradient : NULL,
+ (i & 4) ? expected.jacobian : NULL);
+ }
+ }
+
+ ProblemImpl problem_;
+ double parameters_[6];
+ vector<double*> parameter_blocks_;
+ vector<ResidualBlockId> residual_blocks_;
+};
+
+
+TEST_F(ProblemEvaluateTest, MultipleParameterAndResidualBlocks) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 582.0, 1256.0, // y
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, -16.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -8.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+TEST_F(ProblemEvaluateTest, ParameterAndResidualBlocksPassedInOptions) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 582.0, 1256.0, // y
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, -16.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -8.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ evaluate_options.parameter_blocks = parameter_blocks_;
+ evaluate_options.residual_blocks = residual_blocks_;
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ReorderedResidualBlocks) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -27.0, -43.0, // h
+ -59.0, -87.0 // g
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 582.0, 1256.0, // y
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, -16.0, 0.0, 0.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0,
+ /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -8.0, 0.0, -24.0
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ evaluate_options.parameter_blocks = parameter_blocks_;
+
+ // f, h, g
+ evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ReorderedResidualBlocksAndReorderedParameterBlocks) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -27.0, -43.0, // h
+ -59.0, -87.0 // g
+ },
+ // Gradient
+ { 1450.0, 2604.0, // z
+ 582.0, 1256.0, // y
+ 146.0, 484.0, // x
+ },
+ // Jacobian
+ // z y x
+ { /* f(x, y) */ 0.0, 0.0, -12.0, 0.0, -2.0, 0.0,
+ 0.0, 0.0, 0.0, -16.0, 0.0, -4.0,
+ /* h(z, x) */ -10.0, 0.0, 0.0, 0.0, -4.0, 0.0,
+ 0.0, -12.0, 0.0, 0.0, 0.0, -8.0,
+ /* g(y, z) */ -20.0, 0.0, -6.0, 0.0, 0.0, 0.0,
+ 0.0, -24.0, 0.0, -8.0, 0.0, 0.0
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ // z, y, x
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[1]);
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+
+ // f, h, g
+ evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ConstantParameterBlock) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+
+ // Gradient
+ { 146.0, 484.0, // x
+ 0.0, 0.0, // y
+ 1450.0, 2604.0, // z
+ },
+
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, 0.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ problem_.SetParameterBlockConstant(parameters_ + 2);
+ CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedAResidualBlock) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 4, 6,
+ // Cost
+ 2082.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 228.0, 560.0, // y
+ 270.0, 516.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, -16.0, 0.0, 0.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedParameterBlock) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 4,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+
+ // Gradient
+ { 146.0, 484.0, // x
+ 1450.0, 2604.0, // z
+ },
+
+ // Jacobian
+ // x z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, -12.0
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ // x, z
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+ evaluate_options.residual_blocks = residual_blocks_;
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedParameterBlockAndExcludedResidualBlock) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 4, 4,
+ // Cost
+ 6318.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ },
+
+ // Gradient
+ { 38.0, 140.0, // x
+ 1180.0, 2088.0, // z
+ },
+
+ // Jacobian
+ // x z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -24.0,
+ }
+ };
+
+ Problem::EvaluateOptions evaluate_options;
+ // x, z
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+ evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+ evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+ CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, LocalParameterization) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 5,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 1256.0, // y with SubsetParameterization
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, -16.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, -8.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ vector<int> constant_parameters;
+ constant_parameters.push_back(0);
+ problem_.SetParameterization(parameters_ + 2,
+ new SubsetParameterization(2,
+ constant_parameters));
+
+ CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/program.h"
+
+#include <map>
+#include <vector>
+#include "ceres/array_utils.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/residual_block.h"
+#include "ceres/stl_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+using std::max;
+using std::set;
+using std::string;
+using std::vector;
+
+Program::Program() {}
+
+Program::Program(const Program& program)
+ : parameter_blocks_(program.parameter_blocks_),
+ residual_blocks_(program.residual_blocks_) {
+}
+
+const vector<ParameterBlock*>& Program::parameter_blocks() const {
+ return parameter_blocks_;
+}
+
+const vector<ResidualBlock*>& Program::residual_blocks() const {
+ return residual_blocks_;
+}
+
+vector<ParameterBlock*>* Program::mutable_parameter_blocks() {
+ return ¶meter_blocks_;
+}
+
+vector<ResidualBlock*>* Program::mutable_residual_blocks() {
+ return &residual_blocks_;
+}
+
+bool Program::StateVectorToParameterBlocks(const double *state) {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(state)) {
+ return false;
+ }
+ state += parameter_blocks_[i]->Size();
+ }
+ return true;
+}
+
+void Program::ParameterBlocksToStateVector(double *state) const {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->GetState(state);
+ state += parameter_blocks_[i]->Size();
+ }
+}
+
+void Program::CopyParameterBlockStateToUserState() {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->GetState(parameter_blocks_[i]->mutable_user_state());
+ }
+}
+
+bool Program::SetParameterBlockStatePtrsToUserStatePtrs() {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool Program::Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->Plus(state, delta, state_plus_delta)) {
+ return false;
+ }
+ state += parameter_blocks_[i]->Size();
+ delta += parameter_blocks_[i]->LocalSize();
+ state_plus_delta += parameter_blocks_[i]->Size();
+ }
+ return true;
+}
+
+void Program::SetParameterOffsetsAndIndex() {
+ // Set positions for all parameters appearing as arguments to residuals to one
+ // past the end of the parameter block array.
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks_[i];
+ for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+ residual_block->parameter_blocks()[j]->set_index(-1);
+ }
+ }
+ // For parameters that appear in the program, set their position and offset.
+ int state_offset = 0;
+ int delta_offset = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->set_index(i);
+ parameter_blocks_[i]->set_state_offset(state_offset);
+ parameter_blocks_[i]->set_delta_offset(delta_offset);
+ state_offset += parameter_blocks_[i]->Size();
+ delta_offset += parameter_blocks_[i]->LocalSize();
+ }
+}
+
+bool Program::IsValid() const {
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks_[i];
+ if (residual_block->index() != i) {
+ LOG(WARNING) << "Residual block: " << i
+ << " has incorrect index: " << residual_block->index();
+ return false;
+ }
+ }
+
+ int state_offset = 0;
+ int delta_offset = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (parameter_block->index() != i ||
+ parameter_block->state_offset() != state_offset ||
+ parameter_block->delta_offset() != delta_offset) {
+ LOG(WARNING) << "Parameter block: " << i
+ << "has incorrect indexing information: "
+ << parameter_block->ToString();
+ return false;
+ }
+
+ state_offset += parameter_blocks_[i]->Size();
+ delta_offset += parameter_blocks_[i]->LocalSize();
+ }
+
+ return true;
+}
+
+bool Program::ParameterBlocksAreFinite(string* message) const {
+ CHECK_NOTNULL(message);
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ const double* array = parameter_block->user_state();
+ const int size = parameter_block->Size();
+ const int invalid_index = FindInvalidValue(size, array);
+ if (invalid_index != size) {
+ *message = StringPrintf(
+ "ParameterBlock: %p with size %d has at least one invalid value.\n"
+ "First invalid value is at index: %d.\n"
+ "Parameter block values: ",
+ array, size, invalid_index);
+ AppendArrayToString(size, array, message);
+ return false;
+ }
+ }
+ return true;
+}
+
+bool Program::IsBoundsConstrained() const {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+ const int size = parameter_block->Size();
+ for (int j = 0; j < size; ++j) {
+ const double lower_bound = parameter_block->LowerBoundForParameter(j);
+ const double upper_bound = parameter_block->UpperBoundForParameter(j);
+ if (lower_bound > -std::numeric_limits<double>::max() ||
+ upper_bound < std::numeric_limits<double>::max()) {
+ return true;
+ }
+ }
+ }
+ return false;
+}
+
+bool Program::IsFeasible(string* message) const {
+ CHECK_NOTNULL(message);
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ const double* parameters = parameter_block->user_state();
+ const int size = parameter_block->Size();
+ if (parameter_block->IsConstant()) {
+ // Constant parameter blocks must start in the feasible region
+ // to ultimately produce a feasible solution, since Ceres cannot
+ // change them.
+ for (int j = 0; j < size; ++j) {
+ const double lower_bound = parameter_block->LowerBoundForParameter(j);
+ const double upper_bound = parameter_block->UpperBoundForParameter(j);
+ if (parameters[j] < lower_bound || parameters[j] > upper_bound) {
+ *message = StringPrintf(
+ "ParameterBlock: %p with size %d has at least one infeasible "
+ "value."
+ "\nFirst infeasible value is at index: %d."
+ "\nLower bound: %e, value: %e, upper bound: %e"
+ "\nParameter block values: ",
+ parameters, size, j, lower_bound, parameters[j], upper_bound);
+ AppendArrayToString(size, parameters, message);
+ return false;
+ }
+ }
+ } else {
+ // Variable parameter blocks must have non-empty feasible
+ // regions, otherwise there is no way to produce a feasible
+ // solution.
+ for (int j = 0; j < size; ++j) {
+ const double lower_bound = parameter_block->LowerBoundForParameter(j);
+ const double upper_bound = parameter_block->UpperBoundForParameter(j);
+ if (lower_bound >= upper_bound) {
+ *message = StringPrintf(
+ "ParameterBlock: %p with size %d has at least one infeasible "
+ "bound."
+ "\nFirst infeasible bound is at index: %d."
+ "\nLower bound: %e, upper bound: %e"
+ "\nParameter block values: ",
+ parameters, size, j, lower_bound, upper_bound);
+ AppendArrayToString(size, parameters, message);
+ return false;
+ }
+ }
+ }
+ }
+
+ return true;
+}
+
+Program* Program::CreateReducedProgram(
+ vector<double*>* removed_parameter_blocks,
+ double* fixed_cost,
+ string* error) const {
+ CHECK_NOTNULL(removed_parameter_blocks);
+ CHECK_NOTNULL(fixed_cost);
+ CHECK_NOTNULL(error);
+
+ scoped_ptr<Program> reduced_program(new Program(*this));
+ if (!reduced_program->RemoveFixedBlocks(removed_parameter_blocks,
+ fixed_cost,
+ error)) {
+ return NULL;
+ }
+
+ reduced_program->SetParameterOffsetsAndIndex();
+ return reduced_program.release();
+}
+
+bool Program::RemoveFixedBlocks(vector<double*>* removed_parameter_blocks,
+ double* fixed_cost,
+ string* error) {
+ CHECK_NOTNULL(removed_parameter_blocks);
+ CHECK_NOTNULL(fixed_cost);
+ CHECK_NOTNULL(error);
+
+ scoped_array<double> residual_block_evaluate_scratch;
+ residual_block_evaluate_scratch.reset(
+ new double[MaxScratchDoublesNeededForEvaluate()]);
+ *fixed_cost = 0.0;
+
+ // Mark all the parameters as unused. Abuse the index member of the
+ // parameter blocks for the marking.
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->set_index(-1);
+ }
+
+ // Filter out residual that have all-constant parameters, and mark
+ // all the parameter blocks that appear in residuals.
+ int num_active_residual_blocks = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks_[i];
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Determine if the residual block is fixed, and also mark varying
+ // parameters that appear in the residual block.
+ bool all_constant = true;
+ for (int k = 0; k < num_parameter_blocks; k++) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[k];
+ if (!parameter_block->IsConstant()) {
+ all_constant = false;
+ parameter_block->set_index(1);
+ }
+ }
+
+ if (!all_constant) {
+ residual_blocks_[num_active_residual_blocks++] = residual_block;
+ continue;
+ }
+
+ // The residual is constant and will be removed, so its cost is
+ // added to the variable fixed_cost.
+ double cost = 0.0;
+ if (!residual_block->Evaluate(true,
+ &cost,
+ NULL,
+ NULL,
+ residual_block_evaluate_scratch.get())) {
+ *error = StringPrintf("Evaluation of the residual %d failed during "
+ "removal of fixed residual blocks.", i);
+ return false;
+ }
+ *fixed_cost += cost;
+ }
+ residual_blocks_.resize(num_active_residual_blocks);
+
+ // Filter out unused or fixed parameter blocks.
+ int num_active_parameter_blocks = 0;
+ removed_parameter_blocks->clear();
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (parameter_block->index() == -1) {
+ removed_parameter_blocks->push_back(
+ parameter_block->mutable_user_state());
+ } else {
+ parameter_blocks_[num_active_parameter_blocks++] = parameter_block;
+ }
+ }
+ parameter_blocks_.resize(num_active_parameter_blocks);
+
+ if (!(((NumResidualBlocks() == 0) &&
+ (NumParameterBlocks() == 0)) ||
+ ((NumResidualBlocks() != 0) &&
+ (NumParameterBlocks() != 0)))) {
+ *error = "Congratulations, you found a bug in Ceres. Please report it.";
+ return false;
+ }
+
+ return true;
+}
+
+bool Program::IsParameterBlockSetIndependent(
+ const set<double*>& independent_set) const {
+ // Loop over each residual block and ensure that no two parameter
+ // blocks in the same residual block are part of
+ // parameter_block_ptrs as that would violate the assumption that it
+ // is an independent set in the Hessian matrix.
+ for (vector<ResidualBlock*>::const_iterator it = residual_blocks_.begin();
+ it != residual_blocks_.end();
+ ++it) {
+ ParameterBlock* const* parameter_blocks = (*it)->parameter_blocks();
+ const int num_parameter_blocks = (*it)->NumParameterBlocks();
+ int count = 0;
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ count += independent_set.count(
+ parameter_blocks[i]->mutable_user_state());
+ }
+ if (count > 1) {
+ return false;
+ }
+ }
+ return true;
+}
+
+TripletSparseMatrix* Program::CreateJacobianBlockSparsityTranspose() const {
+ // Matrix to store the block sparsity structure of the Jacobian.
+ TripletSparseMatrix* tsm =
+ new TripletSparseMatrix(NumParameterBlocks(),
+ NumResidualBlocks(),
+ 10 * NumResidualBlocks());
+ int num_nonzeros = 0;
+ int* rows = tsm->mutable_rows();
+ int* cols = tsm->mutable_cols();
+ double* values = tsm->mutable_values();
+
+ for (int c = 0; c < residual_blocks_.size(); ++c) {
+ const ResidualBlock* residual_block = residual_blocks_[c];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ ParameterBlock* const* parameter_blocks =
+ residual_block->parameter_blocks();
+
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (parameter_blocks[j]->IsConstant()) {
+ continue;
+ }
+
+ // Re-size the matrix if needed.
+ if (num_nonzeros >= tsm->max_num_nonzeros()) {
+ tsm->set_num_nonzeros(num_nonzeros);
+ tsm->Reserve(2 * num_nonzeros);
+ rows = tsm->mutable_rows();
+ cols = tsm->mutable_cols();
+ values = tsm->mutable_values();
+ }
+
+ const int r = parameter_blocks[j]->index();
+ rows[num_nonzeros] = r;
+ cols[num_nonzeros] = c;
+ values[num_nonzeros] = 1.0;
+ ++num_nonzeros;
+ }
+ }
+
+ tsm->set_num_nonzeros(num_nonzeros);
+ return tsm;
+}
+
+int Program::NumResidualBlocks() const {
+ return residual_blocks_.size();
+}
+
+int Program::NumParameterBlocks() const {
+ return parameter_blocks_.size();
+}
+
+int Program::NumResiduals() const {
+ int num_residuals = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ num_residuals += residual_blocks_[i]->NumResiduals();
+ }
+ return num_residuals;
+}
+
+int Program::NumParameters() const {
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ num_parameters += parameter_blocks_[i]->Size();
+ }
+ return num_parameters;
+}
+
+int Program::NumEffectiveParameters() const {
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ num_parameters += parameter_blocks_[i]->LocalSize();
+ }
+ return num_parameters;
+}
+
+int Program::MaxScratchDoublesNeededForEvaluate() const {
+ // Compute the scratch space needed for evaluate.
+ int max_scratch_bytes_for_evaluate = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_scratch_bytes_for_evaluate =
+ max(max_scratch_bytes_for_evaluate,
+ residual_blocks_[i]->NumScratchDoublesForEvaluate());
+ }
+ return max_scratch_bytes_for_evaluate;
+}
+
+int Program::MaxDerivativesPerResidualBlock() const {
+ int max_derivatives = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ int derivatives = 0;
+ ResidualBlock* residual_block = residual_blocks_[i];
+ int num_parameters = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameters; ++j) {
+ derivatives += residual_block->NumResiduals() *
+ residual_block->parameter_blocks()[j]->LocalSize();
+ }
+ max_derivatives = max(max_derivatives, derivatives);
+ }
+ return max_derivatives;
+}
+
+int Program::MaxParametersPerResidualBlock() const {
+ int max_parameters = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_parameters = max(max_parameters,
+ residual_blocks_[i]->NumParameterBlocks());
+ }
+ return max_parameters;
+}
+
+int Program::MaxResidualsPerResidualBlock() const {
+ int max_residuals = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_residuals = max(max_residuals, residual_blocks_[i]->NumResiduals());
+ }
+ return max_residuals;
+}
+
+string Program::ToString() const {
+ string ret = "Program dump\n";
+ ret += StringPrintf("Number of parameter blocks: %d\n", NumParameterBlocks());
+ ret += StringPrintf("Number of parameters: %d\n", NumParameters());
+ ret += "Parameters:\n";
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ ret += StringPrintf("%d: %s\n",
+ i, parameter_blocks_[i]->ToString().c_str());
+ }
+ return ret;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PROGRAM_H_
+#define CERES_INTERNAL_PROGRAM_H_
+
+#include <set>
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ParameterBlock;
+class ProblemImpl;
+class ResidualBlock;
+class TripletSparseMatrix;
+
+// A nonlinear least squares optimization problem. This is different from the
+// similarly-named "Problem" object, which offers a mutation interface for
+// adding and modifying parameters and residuals. The Program contains the core
+// part of the Problem, which is the parameters and the residuals, stored in a
+// particular ordering. The ordering is critical, since it defines the mapping
+// between (residual, parameter) pairs and a position in the jacobian of the
+// objective function. Various parts of Ceres transform one Program into
+// another; for example, the first stage of solving involves stripping all
+// constant parameters and residuals. This is in contrast with Problem, which is
+// not built for transformation.
+class Program {
+ public:
+ Program();
+ explicit Program(const Program& program);
+
+ // The ordered parameter and residual blocks for the program.
+ const std::vector<ParameterBlock*>& parameter_blocks() const;
+ const std::vector<ResidualBlock*>& residual_blocks() const;
+ std::vector<ParameterBlock*>* mutable_parameter_blocks();
+ std::vector<ResidualBlock*>* mutable_residual_blocks();
+
+ // Serialize to/from the program and update states.
+ //
+ // NOTE: Setting the state of a parameter block can trigger the
+ // computation of the Jacobian of its local parameterization. If
+ // this computation fails for some reason, then this method returns
+ // false and the state of the parameter blocks cannot be trusted.
+ bool StateVectorToParameterBlocks(const double *state);
+ void ParameterBlocksToStateVector(double *state) const;
+
+ // Copy internal state to the user's parameters.
+ void CopyParameterBlockStateToUserState();
+
+ // Set the parameter block pointers to the user pointers. Since this
+ // runs parameter block set state internally, which may call local
+ // parameterizations, this can fail. False is returned on failure.
+ bool SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // Update a state vector for the program given a delta.
+ bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const;
+
+ // Set the parameter indices and offsets. This permits mapping backward
+ // from a ParameterBlock* to an index in the parameter_blocks() vector. For
+ // any parameter block p, after calling SetParameterOffsetsAndIndex(), it
+ // is true that
+ //
+ // parameter_blocks()[p->index()] == p
+ //
+ // If a parameter appears in a residual but not in the parameter block, then
+ // it will have an index of -1.
+ //
+ // This also updates p->state_offset() and p->delta_offset(), which are the
+ // position of the parameter in the state and delta vector respectively.
+ void SetParameterOffsetsAndIndex();
+
+ // Check if the internal state of the program (the indexing and the
+ // offsets) are correct.
+ bool IsValid() const;
+
+ bool ParameterBlocksAreFinite(std::string* message) const;
+
+ // Returns true if the program has any non-constant parameter blocks
+ // which have non-trivial bounds constraints.
+ bool IsBoundsConstrained() const;
+
+ // Returns false, if the program has any constant parameter blocks
+ // which are not feasible, or any variable parameter blocks which
+ // have a lower bound greater than or equal to the upper bound.
+ bool IsFeasible(std::string* message) const;
+
+ // Loop over each residual block and ensure that no two parameter
+ // blocks in the same residual block are part of
+ // parameter_blocks as that would violate the assumption that it
+ // is an independent set in the Hessian matrix.
+ bool IsParameterBlockSetIndependent(
+ const std::set<double*>& independent_set) const;
+
+ // Create a TripletSparseMatrix which contains the zero-one
+ // structure corresponding to the block sparsity of the transpose of
+ // the Jacobian matrix.
+ //
+ // Caller owns the result.
+ TripletSparseMatrix* CreateJacobianBlockSparsityTranspose() const;
+
+ // Create a copy of this program and removes constant parameter
+ // blocks and residual blocks with no varying parameter blocks while
+ // preserving their relative order.
+ //
+ // removed_parameter_blocks on exit will contain the list of
+ // parameter blocks that were removed.
+ //
+ // fixed_cost will be equal to the sum of the costs of the residual
+ // blocks that were removed.
+ //
+ // If there was a problem, then the function will return a NULL
+ // pointer and error will contain a human readable description of
+ // the problem.
+ Program* CreateReducedProgram(std::vector<double*>* removed_parameter_blocks,
+ double* fixed_cost,
+ std::string* error) const;
+
+ // See problem.h for what these do.
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumEffectiveParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ int MaxScratchDoublesNeededForEvaluate() const;
+ int MaxDerivativesPerResidualBlock() const;
+ int MaxParametersPerResidualBlock() const;
+ int MaxResidualsPerResidualBlock() const;
+
+ // A human-readable dump of the parameter blocks for debugging.
+ // TODO(keir): If necessary, also dump the residual blocks.
+ std::string ToString() const;
+
+ private:
+ // Remove constant parameter blocks and residual blocks with no
+ // varying parameter blocks while preserving their relative order.
+ //
+ // removed_parameter_blocks on exit will contain the list of
+ // parameter blocks that were removed.
+ //
+ // fixed_cost will be equal to the sum of the costs of the residual
+ // blocks that were removed.
+ //
+ // If there was a problem, then the function will return false and
+ // error will contain a human readable description of the problem.
+ bool RemoveFixedBlocks(std::vector<double*>* removed_parameter_blocks,
+ double* fixed_cost,
+ std::string* message);
+
+ // The Program does not own the ParameterBlock or ResidualBlock objects.
+ std::vector<ParameterBlock*> parameter_blocks_;
+ std::vector<ResidualBlock*> residual_blocks_;
+
+ friend class ProblemImpl;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PROGRAM_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// The ProgramEvaluator runs the cost functions contained in each residual block
+// and stores the result into a jacobian. The particular type of jacobian is
+// abstracted out using two template parameters:
+//
+// - An "EvaluatePreparer" that is responsible for creating the array with
+// pointers to the jacobian blocks where the cost function evaluates to.
+// - A "JacobianWriter" that is responsible for storing the resulting
+// jacobian blocks in the passed sparse matrix.
+//
+// This abstraction affords an efficient evaluator implementation while still
+// supporting writing to multiple sparse matrix formats. For example, when the
+// ProgramEvaluator is parameterized for writing to block sparse matrices, the
+// residual jacobians are written directly into their final position in the
+// block sparse matrix by the user's CostFunction; there is no copying.
+//
+// The evaluation is threaded with OpenMP.
+//
+// The EvaluatePreparer and JacobianWriter interfaces are as follows:
+//
+// class EvaluatePreparer {
+// // Prepare the jacobians array for use as the destination of a call to
+// // a cost function's evaluate method.
+// void Prepare(const ResidualBlock* residual_block,
+// int residual_block_index,
+// SparseMatrix* jacobian,
+// double** jacobians);
+// }
+//
+// class JacobianWriter {
+// // Create a jacobian that this writer can write. Same as
+// // Evaluator::CreateJacobian.
+// SparseMatrix* CreateJacobian() const;
+//
+// // Create num_threads evaluate preparers. Caller owns result which must
+// // be freed with delete[]. Resulting preparers are valid while *this is.
+// EvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+//
+// // Write the block jacobians from a residual block evaluation to the
+// // larger sparse jacobian.
+// void Write(int residual_id,
+// int residual_offset,
+// double** jacobians,
+// SparseMatrix* jacobian);
+// }
+//
+// Note: The ProgramEvaluator is not thread safe, since internally it maintains
+// some per-thread scratch space.
+
+#ifndef CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+#define CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <map>
+#include <string>
+#include <vector>
+#include "ceres/execution_summary.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/small_blas.h"
+
+namespace ceres {
+namespace internal {
+
+struct NullJacobianFinalizer {
+ void operator()(SparseMatrix* jacobian, int num_parameters) {}
+};
+
+template<typename EvaluatePreparer,
+ typename JacobianWriter,
+ typename JacobianFinalizer = NullJacobianFinalizer>
+class ProgramEvaluator : public Evaluator {
+ public:
+ ProgramEvaluator(const Evaluator::Options &options, Program* program)
+ : options_(options),
+ program_(program),
+ jacobian_writer_(options, program),
+ evaluate_preparers_(
+ jacobian_writer_.CreateEvaluatePreparers(options.num_threads)) {
+#ifndef CERES_USE_OPENMP
+ if (options_.num_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_threads = 1 is supported. Switching "
+ << "to single threaded mode.";
+ options_.num_threads = 1;
+ }
+#endif
+
+ BuildResidualLayout(*program, &residual_layout_);
+ evaluate_scratch_.reset(CreateEvaluatorScratch(*program,
+ options.num_threads));
+ }
+
+ // Implementation of Evaluator interface.
+ SparseMatrix* CreateJacobian() const {
+ return jacobian_writer_.CreateJacobian();
+ }
+
+ bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+ const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) {
+ ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
+ ScopedExecutionTimer call_type_timer(gradient == NULL && jacobian == NULL
+ ? "Evaluator::Residual"
+ : "Evaluator::Jacobian",
+ &execution_summary_);
+
+ // The parameters are stateful, so set the state before evaluating.
+ if (!program_->StateVectorToParameterBlocks(state)) {
+ return false;
+ }
+
+ if (residuals != NULL) {
+ VectorRef(residuals, program_->NumResiduals()).setZero();
+ }
+
+ if (jacobian != NULL) {
+ jacobian->SetZero();
+ }
+
+ // Each thread gets it's own cost and evaluate scratch space.
+ for (int i = 0; i < options_.num_threads; ++i) {
+ evaluate_scratch_[i].cost = 0.0;
+ if (gradient != NULL) {
+ VectorRef(evaluate_scratch_[i].gradient.get(),
+ program_->NumEffectiveParameters()).setZero();
+ }
+ }
+
+ // This bool is used to disable the loop if an error is encountered
+ // without breaking out of it. The remaining loop iterations are still run,
+ // but with an empty body, and so will finish quickly.
+ bool abort = false;
+ int num_residual_blocks = program_->NumResidualBlocks();
+#pragma omp parallel for num_threads(options_.num_threads)
+ for (int i = 0; i < num_residual_blocks; ++i) {
+// Disable the loop instead of breaking, as required by OpenMP.
+#pragma omp flush(abort)
+ if (abort) {
+ continue;
+ }
+
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ EvaluatePreparer* preparer = &evaluate_preparers_[thread_id];
+ EvaluateScratch* scratch = &evaluate_scratch_[thread_id];
+
+ // Prepare block residuals if requested.
+ const ResidualBlock* residual_block = program_->residual_blocks()[i];
+ double* block_residuals = NULL;
+ if (residuals != NULL) {
+ block_residuals = residuals + residual_layout_[i];
+ } else if (gradient != NULL) {
+ block_residuals = scratch->residual_block_residuals.get();
+ }
+
+ // Prepare block jacobians if requested.
+ double** block_jacobians = NULL;
+ if (jacobian != NULL || gradient != NULL) {
+ preparer->Prepare(residual_block,
+ i,
+ jacobian,
+ scratch->jacobian_block_ptrs.get());
+ block_jacobians = scratch->jacobian_block_ptrs.get();
+ }
+
+ // Evaluate the cost, residuals, and jacobians.
+ double block_cost;
+ if (!residual_block->Evaluate(
+ evaluate_options.apply_loss_function,
+ &block_cost,
+ block_residuals,
+ block_jacobians,
+ scratch->residual_block_evaluate_scratch.get())) {
+ abort = true;
+// This ensures that the OpenMP threads have a consistent view of 'abort'. Do
+// the flush inside the failure case so that there is usually only one
+// synchronization point per loop iteration instead of two.
+#pragma omp flush(abort)
+ continue;
+ }
+
+ scratch->cost += block_cost;
+
+ // Store the jacobians, if they were requested.
+ if (jacobian != NULL) {
+ jacobian_writer_.Write(i,
+ residual_layout_[i],
+ block_jacobians,
+ jacobian);
+ }
+
+ // Compute and store the gradient, if it was requested.
+ if (gradient != NULL) {
+ int num_residuals = residual_block->NumResiduals();
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+
+ MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ block_jacobians[j],
+ num_residuals,
+ parameter_block->LocalSize(),
+ block_residuals,
+ scratch->gradient.get() + parameter_block->delta_offset());
+ }
+ }
+ }
+
+ if (!abort) {
+ const int num_parameters = program_->NumEffectiveParameters();
+
+ // Sum the cost and gradient (if requested) from each thread.
+ (*cost) = 0.0;
+ if (gradient != NULL) {
+ VectorRef(gradient, num_parameters).setZero();
+ }
+ for (int i = 0; i < options_.num_threads; ++i) {
+ (*cost) += evaluate_scratch_[i].cost;
+ if (gradient != NULL) {
+ VectorRef(gradient, num_parameters) +=
+ VectorRef(evaluate_scratch_[i].gradient.get(), num_parameters);
+ }
+ }
+
+ // Finalize the Jacobian if it is available.
+ // `num_parameters` is passed to the finalizer so that additional
+ // storage can be reserved for additional diagonal elements if
+ // necessary.
+ if (jacobian != NULL) {
+ JacobianFinalizer f;
+ f(jacobian, num_parameters);
+ }
+ }
+ return !abort;
+ }
+
+ bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ return program_->Plus(state, delta, state_plus_delta);
+ }
+
+ int NumParameters() const {
+ return program_->NumParameters();
+ }
+ int NumEffectiveParameters() const {
+ return program_->NumEffectiveParameters();
+ }
+
+ int NumResiduals() const {
+ return program_->NumResiduals();
+ }
+
+ virtual std::map<std::string, int> CallStatistics() const {
+ return execution_summary_.calls();
+ }
+
+ virtual std::map<std::string, double> TimeStatistics() const {
+ return execution_summary_.times();
+ }
+
+ private:
+ // Per-thread scratch space needed to evaluate and store each residual block.
+ struct EvaluateScratch {
+ void Init(int max_parameters_per_residual_block,
+ int max_scratch_doubles_needed_for_evaluate,
+ int max_residuals_per_residual_block,
+ int num_parameters) {
+ residual_block_evaluate_scratch.reset(
+ new double[max_scratch_doubles_needed_for_evaluate]);
+ gradient.reset(new double[num_parameters]);
+ VectorRef(gradient.get(), num_parameters).setZero();
+ residual_block_residuals.reset(
+ new double[max_residuals_per_residual_block]);
+ jacobian_block_ptrs.reset(
+ new double*[max_parameters_per_residual_block]);
+ }
+
+ double cost;
+ scoped_array<double> residual_block_evaluate_scratch;
+ // The gradient in the local parameterization.
+ scoped_array<double> gradient;
+ // Enough space to store the residual for the largest residual block.
+ scoped_array<double> residual_block_residuals;
+ scoped_array<double*> jacobian_block_ptrs;
+ };
+
+ static void BuildResidualLayout(const Program& program,
+ std::vector<int>* residual_layout) {
+ const std::vector<ResidualBlock*>& residual_blocks =
+ program.residual_blocks();
+ residual_layout->resize(program.NumResidualBlocks());
+ int residual_pos = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const int num_residuals = residual_blocks[i]->NumResiduals();
+ (*residual_layout)[i] = residual_pos;
+ residual_pos += num_residuals;
+ }
+ }
+
+ // Create scratch space for each thread evaluating the program.
+ static EvaluateScratch* CreateEvaluatorScratch(const Program& program,
+ int num_threads) {
+ int max_parameters_per_residual_block =
+ program.MaxParametersPerResidualBlock();
+ int max_scratch_doubles_needed_for_evaluate =
+ program.MaxScratchDoublesNeededForEvaluate();
+ int max_residuals_per_residual_block =
+ program.MaxResidualsPerResidualBlock();
+ int num_parameters = program.NumEffectiveParameters();
+
+ EvaluateScratch* evaluate_scratch = new EvaluateScratch[num_threads];
+ for (int i = 0; i < num_threads; i++) {
+ evaluate_scratch[i].Init(max_parameters_per_residual_block,
+ max_scratch_doubles_needed_for_evaluate,
+ max_residuals_per_residual_block,
+ num_parameters);
+ }
+ return evaluate_scratch;
+ }
+
+ Evaluator::Options options_;
+ Program* program_;
+ JacobianWriter jacobian_writer_;
+ scoped_array<EvaluatePreparer> evaluate_preparers_;
+ scoped_array<EvaluateScratch> evaluate_scratch_;
+ std::vector<int> residual_layout_;
+ ::ceres::internal::ExecutionSummary execution_summary_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PROGRAM_EVALUATOR_H_
--- /dev/null
+// 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/program.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "ceres/sized_cost_function.h"
+#include "ceres/problem_impl.h"
+#include "ceres/residual_block.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// A cost function that simply returns its argument.
+class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = parameters[0][0];
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 1.0;
+ }
+ return true;
+ }
+};
+
+// Templated base class for the CostFunction signatures.
+template <int kNumResiduals, int N0, int N1, int N2>
+class MockCostFunctionBase : public
+SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < kNumResiduals; ++i) {
+ residuals[i] = kNumResiduals + N0 + N1 + N2;
+ }
+ return true;
+ }
+};
+
+class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
+class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
+class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};
+
+TEST(Program, RemoveFixedBlocksNothingConstant) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 3);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 3);
+ EXPECT_EQ(removed_parameter_blocks.size(), 0);
+ EXPECT_EQ(fixed_cost, 0.0);
+}
+
+TEST(Program, RemoveFixedBlocksAllParameterBlocksConstant) {
+ ProblemImpl problem;
+ double x = 1.0;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 0);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 0);
+ EXPECT_EQ(removed_parameter_blocks.size(), 1);
+ EXPECT_EQ(removed_parameter_blocks[0], &x);
+ EXPECT_EQ(fixed_cost, 9.0);
+}
+
+
+TEST(Program, RemoveFixedBlocksNoResidualBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 0);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 0);
+ EXPECT_EQ(removed_parameter_blocks.size(), 3);
+ EXPECT_EQ(fixed_cost, 0.0);
+}
+
+TEST(Program, RemoveFixedBlocksOneParameterBlockConstant) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 1);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 1);
+}
+
+TEST(Program, RemoveFixedBlocksNumEliminateBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 2);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 2);
+}
+
+TEST(Program, RemoveFixedBlocksFixedCost) {
+ ProblemImpl problem;
+ double x = 1.23;
+ double y = 4.56;
+ double z = 7.89;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryIdentityCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+ ResidualBlock *expected_removed_block =
+ problem.program().residual_blocks()[0];
+ scoped_array<double> scratch(
+ new double[expected_removed_block->NumScratchDoublesForEvaluate()]);
+ double expected_fixed_cost;
+ expected_removed_block->Evaluate(true,
+ &expected_fixed_cost,
+ NULL,
+ NULL,
+ scratch.get());
+
+
+ vector<double*> removed_parameter_blocks;
+ double fixed_cost = 0.0;
+ string message;
+ scoped_ptr<Program> reduced_program(
+ CHECK_NOTNULL(problem
+ .program()
+ .CreateReducedProgram(&removed_parameter_blocks,
+ &fixed_cost,
+ &message)));
+
+ EXPECT_EQ(reduced_program->NumParameterBlocks(), 2);
+ EXPECT_EQ(reduced_program->NumResidualBlocks(), 2);
+ EXPECT_DOUBLE_EQ(fixed_cost, expected_fixed_cost);
+}
+
+TEST(Program, CreateJacobianBlockSparsityTranspose) {
+ ProblemImpl problem;
+ double x[2];
+ double y[3];
+ double z;
+
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(&z, 1);
+
+ problem.AddResidualBlock(new MockCostFunctionBase<2, 2, 0, 0>(), NULL, x);
+ problem.AddResidualBlock(new MockCostFunctionBase<3, 1, 2, 0>(), NULL, &z, x);
+ problem.AddResidualBlock(new MockCostFunctionBase<4, 1, 3, 0>(), NULL, &z, y);
+ problem.AddResidualBlock(new MockCostFunctionBase<5, 1, 3, 0>(), NULL, &z, y);
+ problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 1, 0>(), NULL, x, &z);
+ problem.AddResidualBlock(new MockCostFunctionBase<2, 1, 3, 0>(), NULL, &z, y);
+ problem.AddResidualBlock(new MockCostFunctionBase<2, 2, 1, 0>(), NULL, x, &z);
+ problem.AddResidualBlock(new MockCostFunctionBase<1, 3, 0, 0>(), NULL, y);
+
+ TripletSparseMatrix expected_block_sparse_jacobian(3, 8, 14);
+ {
+ int* rows = expected_block_sparse_jacobian.mutable_rows();
+ int* cols = expected_block_sparse_jacobian.mutable_cols();
+ double* values = expected_block_sparse_jacobian.mutable_values();
+ rows[0] = 0;
+ cols[0] = 0;
+
+ rows[1] = 2;
+ cols[1] = 1;
+ rows[2] = 0;
+ cols[2] = 1;
+
+ rows[3] = 2;
+ cols[3] = 2;
+ rows[4] = 1;
+ cols[4] = 2;
+
+ rows[5] = 2;
+ cols[5] = 3;
+ rows[6] = 1;
+ cols[6] = 3;
+
+ rows[7] = 0;
+ cols[7] = 4;
+ rows[8] = 2;
+ cols[8] = 4;
+
+ rows[9] = 2;
+ cols[9] = 5;
+ rows[10] = 1;
+ cols[10] = 5;
+
+ rows[11] = 0;
+ cols[11] = 6;
+ rows[12] = 2;
+ cols[12] = 6;
+
+ rows[13] = 1;
+ cols[13] = 7;
+ std::fill(values, values + 14, 1.0);
+ expected_block_sparse_jacobian.set_num_nonzeros(14);
+ }
+
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ scoped_ptr<TripletSparseMatrix> actual_block_sparse_jacobian(
+ program->CreateJacobianBlockSparsityTranspose());
+
+ Matrix expected_dense_jacobian;
+ expected_block_sparse_jacobian.ToDenseMatrix(&expected_dense_jacobian);
+
+ Matrix actual_dense_jacobian;
+ actual_block_sparse_jacobian->ToDenseMatrix(&actual_dense_jacobian);
+ EXPECT_EQ((expected_dense_jacobian - actual_dense_jacobian).norm(), 0.0);
+}
+
+template <int kNumResiduals, int kNumParameterBlocks>
+class NumParameterBlocksCostFunction : public CostFunction {
+ public:
+ NumParameterBlocksCostFunction() {
+ set_num_residuals(kNumResiduals);
+ for (int i = 0; i < kNumParameterBlocks; ++i) {
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+ }
+
+ virtual ~NumParameterBlocksCostFunction() {
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+TEST(Program, ReallocationInCreateJacobianBlockSparsityTranspose) {
+ // CreateJacobianBlockSparsityTranspose starts with a conservative
+ // estimate of the size of the sparsity pattern. This test ensures
+ // that when those estimates are violated, the reallocation/resizing
+ // logic works correctly.
+
+ ProblemImpl problem;
+ double x[20];
+
+ vector<double*> parameter_blocks;
+ for (int i = 0; i < 20; ++i) {
+ problem.AddParameterBlock(x + i, 1);
+ parameter_blocks.push_back(x + i);
+ }
+
+ problem.AddResidualBlock(new NumParameterBlocksCostFunction<1, 20>(),
+ NULL,
+ parameter_blocks);
+
+ TripletSparseMatrix expected_block_sparse_jacobian(20, 1, 20);
+ {
+ int* rows = expected_block_sparse_jacobian.mutable_rows();
+ int* cols = expected_block_sparse_jacobian.mutable_cols();
+ for (int i = 0; i < 20; ++i) {
+ rows[i] = i;
+ cols[i] = 0;
+ }
+
+ double* values = expected_block_sparse_jacobian.mutable_values();
+ std::fill(values, values + 20, 1.0);
+ expected_block_sparse_jacobian.set_num_nonzeros(20);
+ }
+
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ scoped_ptr<TripletSparseMatrix> actual_block_sparse_jacobian(
+ program->CreateJacobianBlockSparsityTranspose());
+
+ Matrix expected_dense_jacobian;
+ expected_block_sparse_jacobian.ToDenseMatrix(&expected_dense_jacobian);
+
+ Matrix actual_dense_jacobian;
+ actual_block_sparse_jacobian->ToDenseMatrix(&actual_dense_jacobian);
+ EXPECT_EQ((expected_dense_jacobian - actual_dense_jacobian).norm(), 0.0);
+}
+
+TEST(Program, ProblemHasNanParameterBlocks) {
+ ProblemImpl problem;
+ double x[2];
+ x[0] = 1.0;
+ x[1] = std::numeric_limits<double>::quiet_NaN();
+ problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+ string error;
+ EXPECT_FALSE(problem.program().ParameterBlocksAreFinite(&error));
+ EXPECT_NE(error.find("has at least one invalid value"),
+ string::npos) << error;
+}
+
+TEST(Program, InfeasibleParameterBlock) {
+ ProblemImpl problem;
+ double x[] = {0.0, 0.0};
+ problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+ problem.SetParameterLowerBound(x, 0, 2.0);
+ problem.SetParameterUpperBound(x, 0, 1.0);
+ string error;
+ EXPECT_FALSE(problem.program().IsFeasible(&error));
+ EXPECT_NE(error.find("infeasible bound"), string::npos) << error;
+}
+
+TEST(Program, InfeasibleConstantParameterBlock) {
+ ProblemImpl problem;
+ double x[] = {0.0, 0.0};
+ problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+ problem.SetParameterLowerBound(x, 0, 1.0);
+ problem.SetParameterUpperBound(x, 0, 2.0);
+ problem.SetParameterBlockConstant(x);
+ string error;
+ EXPECT_FALSE(problem.program().IsFeasible(&error));
+ EXPECT_NE(error.find("infeasible value"), string::npos) << error;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_RANDOM_H_
+#define CERES_INTERNAL_RANDOM_H_
+
+#include <cmath>
+#include <cstdlib>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+inline void SetRandomState(int state) {
+ srand(state);
+}
+
+inline int Uniform(int n) {
+ if (n) {
+ return rand() % n;
+ } else {
+ return 0;
+ }
+}
+
+inline double RandDouble() {
+ double r = static_cast<double>(rand());
+ return r / RAND_MAX;
+}
+
+// Box-Muller algorithm for normal random number generation.
+// http://en.wikipedia.org/wiki/Box-Muller_transform
+inline double RandNormal() {
+ double x1, x2, w;
+ do {
+ x1 = 2.0 * RandDouble() - 1.0;
+ x2 = 2.0 * RandDouble() - 1.0;
+ w = x1 * x1 + x2 * x2;
+ } while ( w >= 1.0 || w == 0.0 );
+
+ w = sqrt((-2.0 * log(w)) / w);
+ return x1 * w;
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RANDOM_H_
--- /dev/null
+// 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/reorder_program.h"
+
+#include <algorithm>
+#include <numeric>
+#include <vector>
+
+#include "ceres/cxsparse.h"
+#include "ceres/internal/port.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "Eigen/SparseCore"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/OrderingMethods"
+#endif
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::set;
+using std::string;
+using std::vector;
+
+namespace {
+
+// Find the minimum index of any parameter block to the given
+// residual. Parameter blocks that have indices greater than
+// size_of_first_elimination_group are considered to have an index
+// equal to size_of_first_elimination_group.
+static int MinParameterBlock(const ResidualBlock* residual_block,
+ int size_of_first_elimination_group) {
+ int min_parameter_block_position = size_of_first_elimination_group;
+ for (int i = 0; i < residual_block->NumParameterBlocks(); ++i) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[i];
+ if (!parameter_block->IsConstant()) {
+ CHECK_NE(parameter_block->index(), -1)
+ << "Did you forget to call Program::SetParameterOffsetsAndIndex()? "
+ << "This is a Ceres bug; please contact the developers!";
+ min_parameter_block_position = std::min(parameter_block->index(),
+ min_parameter_block_position);
+ }
+ }
+ return min_parameter_block_position;
+}
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2) && defined(CERES_USE_EIGEN_SPARSE)
+Eigen::SparseMatrix<int> CreateBlockJacobian(
+ const TripletSparseMatrix& block_jacobian_transpose) {
+ typedef Eigen::SparseMatrix<int> SparseMatrix;
+ typedef Eigen::Triplet<int> Triplet;
+
+ const int* rows = block_jacobian_transpose.rows();
+ const int* cols = block_jacobian_transpose.cols();
+ int num_nonzeros = block_jacobian_transpose.num_nonzeros();
+ vector<Triplet> triplets;
+ triplets.reserve(num_nonzeros);
+ for (int i = 0; i < num_nonzeros; ++i) {
+ triplets.push_back(Triplet(cols[i], rows[i], 1));
+ }
+
+ SparseMatrix block_jacobian(block_jacobian_transpose.num_cols(),
+ block_jacobian_transpose.num_rows());
+ block_jacobian.setFromTriplets(triplets.begin(), triplets.end());
+ return block_jacobian;
+}
+#endif
+
+void OrderingForSparseNormalCholeskyUsingSuiteSparse(
+ const TripletSparseMatrix& tsm_block_jacobian_transpose,
+ const vector<ParameterBlock*>& parameter_blocks,
+ const ParameterBlockOrdering& parameter_block_ordering,
+ int* ordering) {
+#ifdef CERES_NO_SUITESPARSE
+ LOG(FATAL) << "Congratulations, you found a Ceres bug! "
+ << "Please report this error to the developers.";
+#else
+ SuiteSparse ss;
+ cholmod_sparse* block_jacobian_transpose =
+ ss.CreateSparseMatrix(
+ const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
+
+ // No CAMD or the user did not supply a useful ordering, then just
+ // use regular AMD.
+ if (parameter_block_ordering.NumGroups() <= 1 ||
+ !SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
+ ss.ApproximateMinimumDegreeOrdering(block_jacobian_transpose, &ordering[0]);
+ } else {
+ vector<int> constraints;
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ constraints.push_back(
+ parameter_block_ordering.GroupId(
+ parameter_blocks[i]->mutable_user_state()));
+ }
+
+ // Renumber the entries of constraints to be contiguous integers
+ // as CAMD requires that the group ids be in the range [0,
+ // parameter_blocks.size() - 1].
+ MapValuesToContiguousRange(constraints.size(), &constraints[0]);
+ ss.ConstrainedApproximateMinimumDegreeOrdering(block_jacobian_transpose,
+ &constraints[0],
+ ordering);
+ }
+
+ VLOG(2) << "Block ordering stats: "
+ << " flops: " << ss.mutable_cc()->fl
+ << " lnz : " << ss.mutable_cc()->lnz
+ << " anz : " << ss.mutable_cc()->anz;
+
+ ss.Free(block_jacobian_transpose);
+#endif // CERES_NO_SUITESPARSE
+}
+
+void OrderingForSparseNormalCholeskyUsingCXSparse(
+ const TripletSparseMatrix& tsm_block_jacobian_transpose,
+ int* ordering) {
+#ifdef CERES_NO_CXSPARSE
+ LOG(FATAL) << "Congratulations, you found a Ceres bug! "
+ << "Please report this error to the developers.";
+#else // CERES_NO_CXSPARSE
+ // CXSparse works with J'J instead of J'. So compute the block
+ // sparsity for J'J and compute an approximate minimum degree
+ // ordering.
+ CXSparse cxsparse;
+ cs_di* block_jacobian_transpose;
+ block_jacobian_transpose =
+ cxsparse.CreateSparseMatrix(
+ const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
+ cs_di* block_jacobian = cxsparse.TransposeMatrix(block_jacobian_transpose);
+ cs_di* block_hessian =
+ cxsparse.MatrixMatrixMultiply(block_jacobian_transpose, block_jacobian);
+ cxsparse.Free(block_jacobian);
+ cxsparse.Free(block_jacobian_transpose);
+
+ cxsparse.ApproximateMinimumDegreeOrdering(block_hessian, ordering);
+ cxsparse.Free(block_hessian);
+#endif // CERES_NO_CXSPARSE
+}
+
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+void OrderingForSparseNormalCholeskyUsingEigenSparse(
+ const TripletSparseMatrix& tsm_block_jacobian_transpose,
+ int* ordering) {
+#ifndef CERES_USE_EIGEN_SPARSE
+ LOG(FATAL) <<
+ "SPARSE_NORMAL_CHOLESKY cannot be used with EIGEN_SPARSE "
+ "because Ceres was not built with support for "
+ "Eigen's SimplicialLDLT decomposition. "
+ "This requires enabling building with -DEIGENSPARSE=ON.";
+#else
+
+ // This conversion from a TripletSparseMatrix to a Eigen::Triplet
+ // matrix is unfortunate, but unavoidable for now. It is not a
+ // significant performance penalty in the grand scheme of
+ // things. The right thing to do here would be to get a compressed
+ // row sparse matrix representation of the jacobian and go from
+ // there. But that is a project for another day.
+ typedef Eigen::SparseMatrix<int> SparseMatrix;
+
+ const SparseMatrix block_jacobian =
+ CreateBlockJacobian(tsm_block_jacobian_transpose);
+ const SparseMatrix block_hessian =
+ block_jacobian.transpose() * block_jacobian;
+
+ Eigen::AMDOrdering<int> amd_ordering;
+ Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> perm;
+ amd_ordering(block_hessian, perm);
+ for (int i = 0; i < block_hessian.rows(); ++i) {
+ ordering[i] = perm.indices()[i];
+ }
+#endif // CERES_USE_EIGEN_SPARSE
+}
+#endif
+
+} // namespace
+
+bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ Program* program,
+ string* error) {
+ const int num_parameter_blocks = program->NumParameterBlocks();
+ if (ordering.NumElements() != num_parameter_blocks) {
+ *error = StringPrintf("User specified ordering does not have the same "
+ "number of parameters as the problem. The problem"
+ "has %d blocks while the ordering has %d blocks.",
+ num_parameter_blocks,
+ ordering.NumElements());
+ return false;
+ }
+
+ vector<ParameterBlock*>* parameter_blocks =
+ program->mutable_parameter_blocks();
+ parameter_blocks->clear();
+
+ const map<int, set<double*> >& groups = ordering.group_to_elements();
+ for (map<int, set<double*> >::const_iterator group_it = groups.begin();
+ group_it != groups.end();
+ ++group_it) {
+ const set<double*>& group = group_it->second;
+ for (set<double*>::const_iterator parameter_block_ptr_it = group.begin();
+ parameter_block_ptr_it != group.end();
+ ++parameter_block_ptr_it) {
+ ProblemImpl::ParameterMap::const_iterator parameter_block_it =
+ parameter_map.find(*parameter_block_ptr_it);
+ if (parameter_block_it == parameter_map.end()) {
+ *error = StringPrintf("User specified ordering contains a pointer "
+ "to a double that is not a parameter block in "
+ "the problem. The invalid double is in group: %d",
+ group_it->first);
+ return false;
+ }
+ parameter_blocks->push_back(parameter_block_it->second);
+ }
+ }
+ return true;
+}
+
+bool LexicographicallyOrderResidualBlocks(
+ const int size_of_first_elimination_group,
+ Program* program,
+ string* error) {
+ CHECK_GE(size_of_first_elimination_group, 1)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ // Create a histogram of the number of residuals for each E block. There is an
+ // extra bucket at the end to catch all non-eliminated F blocks.
+ vector<int> residual_blocks_per_e_block(size_of_first_elimination_group + 1);
+ vector<ResidualBlock*>* residual_blocks = program->mutable_residual_blocks();
+ vector<int> min_position_per_residual(residual_blocks->size());
+ for (int i = 0; i < residual_blocks->size(); ++i) {
+ ResidualBlock* residual_block = (*residual_blocks)[i];
+ int position = MinParameterBlock(residual_block,
+ size_of_first_elimination_group);
+ min_position_per_residual[i] = position;
+ DCHECK_LE(position, size_of_first_elimination_group);
+ residual_blocks_per_e_block[position]++;
+ }
+
+ // Run a cumulative sum on the histogram, to obtain offsets to the start of
+ // each histogram bucket (where each bucket is for the residuals for that
+ // E-block).
+ vector<int> offsets(size_of_first_elimination_group + 1);
+ std::partial_sum(residual_blocks_per_e_block.begin(),
+ residual_blocks_per_e_block.end(),
+ offsets.begin());
+ CHECK_EQ(offsets.back(), residual_blocks->size())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ CHECK(find(residual_blocks_per_e_block.begin(),
+ residual_blocks_per_e_block.end() - 1, 0) !=
+ residual_blocks_per_e_block.end())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ // Fill in each bucket with the residual blocks for its corresponding E block.
+ // Each bucket is individually filled from the back of the bucket to the front
+ // of the bucket. The filling order among the buckets is dictated by the
+ // residual blocks. This loop uses the offsets as counters; subtracting one
+ // from each offset as a residual block is placed in the bucket. When the
+ // filling is finished, the offset pointerts should have shifted down one
+ // entry (this is verified below).
+ vector<ResidualBlock*> reordered_residual_blocks(
+ (*residual_blocks).size(), static_cast<ResidualBlock*>(NULL));
+ for (int i = 0; i < residual_blocks->size(); ++i) {
+ int bucket = min_position_per_residual[i];
+
+ // Decrement the cursor, which should now point at the next empty position.
+ offsets[bucket]--;
+
+ // Sanity.
+ CHECK(reordered_residual_blocks[offsets[bucket]] == NULL)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ reordered_residual_blocks[offsets[bucket]] = (*residual_blocks)[i];
+ }
+
+ // Sanity check #1: The difference in bucket offsets should match the
+ // histogram sizes.
+ for (int i = 0; i < size_of_first_elimination_group; ++i) {
+ CHECK_EQ(residual_blocks_per_e_block[i], offsets[i + 1] - offsets[i])
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+ }
+ // Sanity check #2: No NULL's left behind.
+ for (int i = 0; i < reordered_residual_blocks.size(); ++i) {
+ CHECK(reordered_residual_blocks[i] != NULL)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+ }
+
+ // Now that the residuals are collected by E block, swap them in place.
+ swap(*program->mutable_residual_blocks(), reordered_residual_blocks);
+ return true;
+}
+
+// Pre-order the columns corresponding to the schur complement if
+// possible.
+void MaybeReorderSchurComplementColumnsUsingSuiteSparse(
+ const ParameterBlockOrdering& parameter_block_ordering,
+ Program* program) {
+#ifndef CERES_NO_SUITESPARSE
+ SuiteSparse ss;
+ if (!SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
+ return;
+ }
+
+ vector<int> constraints;
+ vector<ParameterBlock*>& parameter_blocks =
+ *(program->mutable_parameter_blocks());
+
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ constraints.push_back(
+ parameter_block_ordering.GroupId(
+ parameter_blocks[i]->mutable_user_state()));
+ }
+
+ // Renumber the entries of constraints to be contiguous integers as
+ // CAMD requires that the group ids be in the range [0,
+ // parameter_blocks.size() - 1].
+ MapValuesToContiguousRange(constraints.size(), &constraints[0]);
+
+ // Compute a block sparse presentation of J'.
+ scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+ program->CreateJacobianBlockSparsityTranspose());
+
+ cholmod_sparse* block_jacobian_transpose =
+ ss.CreateSparseMatrix(tsm_block_jacobian_transpose.get());
+
+ vector<int> ordering(parameter_blocks.size(), 0);
+ ss.ConstrainedApproximateMinimumDegreeOrdering(block_jacobian_transpose,
+ &constraints[0],
+ &ordering[0]);
+ ss.Free(block_jacobian_transpose);
+
+ const vector<ParameterBlock*> parameter_blocks_copy(parameter_blocks);
+ for (int i = 0; i < program->NumParameterBlocks(); ++i) {
+ parameter_blocks[i] = parameter_blocks_copy[ordering[i]];
+ }
+
+ program->SetParameterOffsetsAndIndex();
+#endif
+}
+
+void MaybeReorderSchurComplementColumnsUsingEigen(
+ const int size_of_first_elimination_group,
+ const ProblemImpl::ParameterMap& parameter_map,
+ Program* program) {
+#if !EIGEN_VERSION_AT_LEAST(3, 2, 2) || !defined(CERES_USE_EIGEN_SPARSE)
+ return;
+#else
+
+ scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+ program->CreateJacobianBlockSparsityTranspose());
+
+ typedef Eigen::SparseMatrix<int> SparseMatrix;
+ const SparseMatrix block_jacobian =
+ CreateBlockJacobian(*tsm_block_jacobian_transpose);
+ const int num_rows = block_jacobian.rows();
+ const int num_cols = block_jacobian.cols();
+
+ // Vertically partition the jacobian in parameter blocks of type E
+ // and F.
+ const SparseMatrix E =
+ block_jacobian.block(0,
+ 0,
+ num_rows,
+ size_of_first_elimination_group);
+ const SparseMatrix F =
+ block_jacobian.block(0,
+ size_of_first_elimination_group,
+ num_rows,
+ num_cols - size_of_first_elimination_group);
+
+ // Block sparsity pattern of the schur complement.
+ const SparseMatrix block_schur_complement =
+ F.transpose() * F - F.transpose() * E * E.transpose() * F;
+
+ Eigen::AMDOrdering<int> amd_ordering;
+ Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> perm;
+ amd_ordering(block_schur_complement, perm);
+
+ const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+ vector<ParameterBlock*> ordering(num_cols);
+
+ // The ordering of the first size_of_first_elimination_group does
+ // not matter, so we preserve the existing ordering.
+ for (int i = 0; i < size_of_first_elimination_group; ++i) {
+ ordering[i] = parameter_blocks[i];
+ }
+
+ // For the rest of the blocks, use the ordering computed using AMD.
+ for (int i = 0; i < block_schur_complement.cols(); ++i) {
+ ordering[size_of_first_elimination_group + i] =
+ parameter_blocks[size_of_first_elimination_group + perm.indices()[i]];
+ }
+
+ swap(*program->mutable_parameter_blocks(), ordering);
+ program->SetParameterOffsetsAndIndex();
+#endif
+}
+
+bool ReorderProgramForSchurTypeLinearSolver(
+ const LinearSolverType linear_solver_type,
+ const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ const ProblemImpl::ParameterMap& parameter_map,
+ ParameterBlockOrdering* parameter_block_ordering,
+ Program* program,
+ string* error) {
+ if (parameter_block_ordering->NumElements() !=
+ program->NumParameterBlocks()) {
+ *error = StringPrintf(
+ "The program has %d parameter blocks, but the parameter block "
+ "ordering has %d parameter blocks.",
+ program->NumParameterBlocks(),
+ parameter_block_ordering->NumElements());
+ return false;
+ }
+
+ if (parameter_block_ordering->NumGroups() == 1) {
+ // If the user supplied an parameter_block_ordering with just one
+ // group, it is equivalent to the user supplying NULL as an
+ // parameter_block_ordering. Ceres is completely free to choose the
+ // parameter block ordering as it sees fit. For Schur type solvers,
+ // this means that the user wishes for Ceres to identify the
+ // e_blocks, which we do by computing a maximal independent set.
+ vector<ParameterBlock*> schur_ordering;
+ const int size_of_first_elimination_group =
+ ComputeStableSchurOrdering(*program, &schur_ordering);
+
+ CHECK_EQ(schur_ordering.size(), program->NumParameterBlocks())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ // Update the parameter_block_ordering object.
+ for (int i = 0; i < schur_ordering.size(); ++i) {
+ double* parameter_block = schur_ordering[i]->mutable_user_state();
+ const int group_id = (i < size_of_first_elimination_group) ? 0 : 1;
+ parameter_block_ordering->AddElementToGroup(parameter_block, group_id);
+ }
+
+ // We could call ApplyOrdering but this is cheaper and
+ // simpler.
+ swap(*program->mutable_parameter_blocks(), schur_ordering);
+ } else {
+ // The user provided an ordering with more than one elimination
+ // group.
+
+ // Verify that the first elimination group is an independent set.
+ const set<double*>& first_elimination_group =
+ parameter_block_ordering
+ ->group_to_elements()
+ .begin()
+ ->second;
+ if (!program->IsParameterBlockSetIndependent(first_elimination_group)) {
+ *error =
+ StringPrintf("The first elimination group in the parameter block "
+ "ordering of size %zd is not an independent set",
+ first_elimination_group.size());
+ return false;
+ }
+
+ if (!ApplyOrdering(parameter_map,
+ *parameter_block_ordering,
+ program,
+ error)) {
+ return false;
+ }
+ }
+
+ program->SetParameterOffsetsAndIndex();
+
+ const int size_of_first_elimination_group =
+ parameter_block_ordering->group_to_elements().begin()->second.size();
+
+ if (linear_solver_type == SPARSE_SCHUR) {
+ if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+ MaybeReorderSchurComplementColumnsUsingSuiteSparse(
+ *parameter_block_ordering,
+ program);
+ } else if (sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+ MaybeReorderSchurComplementColumnsUsingEigen(
+ size_of_first_elimination_group,
+ parameter_map,
+ program);
+ }
+ }
+
+ // Schur type solvers also require that their residual blocks be
+ // lexicographically ordered.
+ if (!LexicographicallyOrderResidualBlocks(size_of_first_elimination_group,
+ program,
+ error)) {
+ return false;
+ }
+
+ return true;
+}
+
+bool ReorderProgramForSparseNormalCholesky(
+ const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ const ParameterBlockOrdering& parameter_block_ordering,
+ Program* program,
+ string* error) {
+ if (parameter_block_ordering.NumElements() != program->NumParameterBlocks()) {
+ *error = StringPrintf(
+ "The program has %d parameter blocks, but the parameter block "
+ "ordering has %d parameter blocks.",
+ program->NumParameterBlocks(),
+ parameter_block_ordering.NumElements());
+ return false;
+ }
+
+ // Compute a block sparse presentation of J'.
+ scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+ program->CreateJacobianBlockSparsityTranspose());
+
+ vector<int> ordering(program->NumParameterBlocks(), 0);
+ vector<ParameterBlock*>& parameter_blocks =
+ *(program->mutable_parameter_blocks());
+
+ if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+ OrderingForSparseNormalCholeskyUsingSuiteSparse(
+ *tsm_block_jacobian_transpose,
+ parameter_blocks,
+ parameter_block_ordering,
+ &ordering[0]);
+ } else if (sparse_linear_algebra_library_type == CX_SPARSE) {
+ OrderingForSparseNormalCholeskyUsingCXSparse(
+ *tsm_block_jacobian_transpose,
+ &ordering[0]);
+ } else if (sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+ OrderingForSparseNormalCholeskyUsingEigenSparse(
+ *tsm_block_jacobian_transpose,
+ &ordering[0]);
+#else
+ // For Eigen versions less than 3.2.2, there is nothing to do as
+ // older versions of Eigen do not expose a method for doing
+ // symbolic analysis on pre-ordered matrices, so a block
+ // pre-ordering is a bit pointless.
+
+ return true;
+#endif
+ }
+
+ // Apply ordering.
+ const vector<ParameterBlock*> parameter_blocks_copy(parameter_blocks);
+ for (int i = 0; i < program->NumParameterBlocks(); ++i) {
+ parameter_blocks[i] = parameter_blocks_copy[ordering[i]];
+ }
+
+ program->SetParameterOffsetsAndIndex();
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_REORDER_PROGRAM_H_
+#define CERES_INTERNAL_REORDER_PROGRAM_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+
+// Reorder the parameter blocks in program using the ordering
+bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ Program* program,
+ std::string* error);
+
+// Reorder the residuals for program, if necessary, so that the residuals
+// involving each E block occur together. This is a necessary condition for the
+// Schur eliminator, which works on these "row blocks" in the jacobian.
+bool LexicographicallyOrderResidualBlocks(int size_of_first_elimination_group,
+ Program* program,
+ std::string* error);
+
+// Schur type solvers require that all parameter blocks eliminated
+// by the Schur eliminator occur before others and the residuals be
+// sorted in lexicographic order of their parameter blocks.
+//
+// If the parameter_block_ordering only contains one elimination
+// group then a maximal independent set is computed and used as the
+// first elimination group, otherwise the user's ordering is used.
+//
+// If the linear solver type is SPARSE_SCHUR and support for
+// constrained fill-reducing ordering is available in the sparse
+// linear algebra library (SuiteSparse version >= 4.2.0) then
+// columns of the schur complement matrix are ordered to reduce the
+// fill-in the Cholesky factorization.
+//
+// Upon return, ordering contains the parameter block ordering that
+// was used to order the program.
+bool ReorderProgramForSchurTypeLinearSolver(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ const ProblemImpl::ParameterMap& parameter_map,
+ ParameterBlockOrdering* parameter_block_ordering,
+ Program* program,
+ std::string* error);
+
+// Sparse cholesky factorization routines when doing the sparse
+// cholesky factorization of the Jacobian matrix, reorders its
+// columns to reduce the fill-in. Compute this permutation and
+// re-order the parameter blocks.
+//
+// When using SuiteSparse, if the parameter_block_ordering contains
+// more than one elimination group and support for constrained
+// fill-reducing ordering is available in the sparse linear algebra
+// library (SuiteSparse version >= 4.2.0) then the fill reducing
+// ordering will take it into account, otherwise it will be ignored.
+bool ReorderProgramForSparseNormalCholesky(
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ const ParameterBlockOrdering& parameter_block_ordering,
+ Program* program,
+ std::string* error);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_REORDER_PROGRAM_
--- /dev/null
+// 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/reorder_program.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Templated base class for the CostFunction signatures.
+template <int kNumResiduals, int N0, int N1, int N2>
+class MockCostFunctionBase : public
+SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Do nothing. This is never called.
+ return true;
+ }
+};
+
+class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
+class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
+class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};
+
+TEST(_, ReorderResidualBlockNormalFunction) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);
+
+ ParameterBlockOrdering* linear_solver_ordering = new ParameterBlockOrdering;
+ linear_solver_ordering->AddElementToGroup(&x, 0);
+ linear_solver_ordering->AddElementToGroup(&y, 0);
+ linear_solver_ordering->AddElementToGroup(&z, 1);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering.reset(linear_solver_ordering);
+
+ const vector<ResidualBlock*>& residual_blocks =
+ problem.program().residual_blocks();
+
+ vector<ResidualBlock*> expected_residual_blocks;
+
+ // This is a bit fragile, but it serves the purpose. We know the
+ // bucketing algorithm that the reordering function uses, so we
+ // expect the order for residual blocks for each e_block to be
+ // filled in reverse.
+ expected_residual_blocks.push_back(residual_blocks[4]);
+ expected_residual_blocks.push_back(residual_blocks[1]);
+ expected_residual_blocks.push_back(residual_blocks[0]);
+ expected_residual_blocks.push_back(residual_blocks[5]);
+ expected_residual_blocks.push_back(residual_blocks[2]);
+ expected_residual_blocks.push_back(residual_blocks[3]);
+
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ std::string message;
+ EXPECT_TRUE(LexicographicallyOrderResidualBlocks(
+ 2,
+ problem.mutable_program(),
+ &message));
+ EXPECT_EQ(residual_blocks.size(), expected_residual_blocks.size());
+ for (int i = 0; i < expected_residual_blocks.size(); ++i) {
+ EXPECT_EQ(residual_blocks[i], expected_residual_blocks[i]);
+ }
+}
+
+TEST(_, ApplyOrderingOrderingTooSmall) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x, 0);
+ linear_solver_ordering.AddElementToGroup(&y, 1);
+
+ Program program(problem.program());
+ std::string message;
+ EXPECT_FALSE(ApplyOrdering(problem.parameter_map(),
+ linear_solver_ordering,
+ &program,
+ &message));
+}
+
+TEST(_, ApplyOrderingNormal) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x, 0);
+ linear_solver_ordering.AddElementToGroup(&y, 2);
+ linear_solver_ordering.AddElementToGroup(&z, 1);
+
+ Program* program = problem.mutable_program();
+ std::string message;
+
+ EXPECT_TRUE(ApplyOrdering(problem.parameter_map(),
+ linear_solver_ordering,
+ program,
+ &message));
+ const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+
+ EXPECT_EQ(parameter_blocks.size(), 3);
+ EXPECT_EQ(parameter_blocks[0]->user_state(), &x);
+ EXPECT_EQ(parameter_blocks[1]->user_state(), &z);
+ EXPECT_EQ(parameter_blocks[2]->user_state(), &y);
+}
+
+#ifndef CERES_NO_SUITESPARSE
+class ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest :
+ public ::testing::Test {
+ protected:
+ void SetUp() {
+ problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &x_);
+ problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &z_, &x_);
+ problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &z_, &y_);
+ problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &z_);
+ problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &x_, &y_);
+ problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &y_);
+ }
+
+ void ComputeAndValidateOrdering(
+ const ParameterBlockOrdering& linear_solver_ordering) {
+ Program* program = problem_.mutable_program();
+ vector<ParameterBlock*> unordered_parameter_blocks =
+ program->parameter_blocks();
+
+ std::string error;
+ EXPECT_TRUE(ReorderProgramForSparseNormalCholesky(
+ ceres::SUITE_SPARSE,
+ linear_solver_ordering,
+ program,
+ &error));
+ const vector<ParameterBlock*>& ordered_parameter_blocks =
+ program->parameter_blocks();
+ EXPECT_EQ(ordered_parameter_blocks.size(),
+ unordered_parameter_blocks.size());
+
+ EXPECT_THAT(unordered_parameter_blocks,
+ ::testing::UnorderedElementsAreArray(ordered_parameter_blocks));
+ }
+
+ ProblemImpl problem_;
+ double x_;
+ double y_;
+ double z_;
+};
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+ EverythingInGroupZero) {
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x_, 0);
+ linear_solver_ordering.AddElementToGroup(&y_, 0);
+ linear_solver_ordering.AddElementToGroup(&z_, 0);
+
+ ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+ ContiguousGroups) {
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x_, 0);
+ linear_solver_ordering.AddElementToGroup(&y_, 1);
+ linear_solver_ordering.AddElementToGroup(&z_, 2);
+
+ ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+ GroupsWithGaps) {
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x_, 0);
+ linear_solver_ordering.AddElementToGroup(&y_, 2);
+ linear_solver_ordering.AddElementToGroup(&z_, 2);
+
+ ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+ NonContiguousStartingAtTwo) {
+ ParameterBlockOrdering linear_solver_ordering;
+ linear_solver_ordering.AddElementToGroup(&x_, 2);
+ linear_solver_ordering.AddElementToGroup(&y_, 4);
+ linear_solver_ordering.AddElementToGroup(&z_, 4);
+
+ ComputeAndValidateOrdering(linear_solver_ordering);
+}
+#endif // CERES_NO_SUITESPARSE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <vector>
+#include "ceres/corrector.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/small_blas.h"
+
+using Eigen::Dynamic;
+
+namespace ceres {
+namespace internal {
+
+ResidualBlock::ResidualBlock(
+ const CostFunction* cost_function,
+ const LossFunction* loss_function,
+ const std::vector<ParameterBlock*>& parameter_blocks,
+ int index)
+ : cost_function_(cost_function),
+ loss_function_(loss_function),
+ parameter_blocks_(
+ new ParameterBlock* [
+ cost_function->parameter_block_sizes().size()]),
+ index_(index) {
+ std::copy(parameter_blocks.begin(),
+ parameter_blocks.end(),
+ parameter_blocks_.get());
+}
+
+bool ResidualBlock::Evaluate(const bool apply_loss_function,
+ double* cost,
+ double* residuals,
+ double** jacobians,
+ double* scratch) const {
+ const int num_parameter_blocks = NumParameterBlocks();
+ const int num_residuals = cost_function_->num_residuals();
+
+ // Collect the parameters from their blocks. This will rarely allocate, since
+ // residuals taking more than 8 parameter block arguments are rare.
+ FixedArray<const double*, 8> parameters(num_parameter_blocks);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ parameters[i] = parameter_blocks_[i]->state();
+ }
+
+ // Put pointers into the scratch space into global_jacobians as appropriate.
+ FixedArray<double*, 8> global_jacobians(num_parameter_blocks);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (jacobians[i] != NULL &&
+ parameter_block->LocalParameterizationJacobian() != NULL) {
+ global_jacobians[i] = scratch;
+ scratch += num_residuals * parameter_block->Size();
+ } else {
+ global_jacobians[i] = jacobians[i];
+ }
+ }
+ }
+
+ // If the caller didn't request residuals, use the scratch space for them.
+ bool outputting_residuals = (residuals != NULL);
+ if (!outputting_residuals) {
+ residuals = scratch;
+ }
+
+ // Invalidate the evaluation buffers so that we can check them after
+ // the CostFunction::Evaluate call, to see if all the return values
+ // that were required were written to and that they are finite.
+ double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL;
+
+ InvalidateEvaluation(*this, cost, residuals, eval_jacobians);
+
+ if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) {
+ return false;
+ }
+
+ if (!IsEvaluationValid(*this,
+ parameters.get(),
+ cost,
+ residuals,
+ eval_jacobians)) {
+ std::string message =
+ "\n\n"
+ "Error in evaluating the ResidualBlock.\n\n"
+ "There are two possible reasons. Either the CostFunction did not evaluate and fill all \n" // NOLINT
+ "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT
+ "generated during the or jacobian computation. \n\n" +
+ EvaluationToString(*this,
+ parameters.get(),
+ cost,
+ residuals,
+ eval_jacobians);
+ LOG(WARNING) << message;
+ return false;
+ }
+
+ double squared_norm = VectorRef(residuals, num_residuals).squaredNorm();
+
+ // Update the jacobians with the local parameterizations.
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ if (jacobians[i] != NULL) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+ // Apply local reparameterization to the jacobians.
+ if (parameter_block->LocalParameterizationJacobian() != NULL) {
+ // jacobians[i] = global_jacobians[i] * global_to_local_jacobian.
+ MatrixMatrixMultiply<Dynamic, Dynamic, Dynamic, Dynamic, 0>(
+ global_jacobians[i],
+ num_residuals,
+ parameter_block->Size(),
+ parameter_block->LocalParameterizationJacobian(),
+ parameter_block->Size(),
+ parameter_block->LocalSize(),
+ jacobians[i], 0, 0, num_residuals, parameter_block->LocalSize());
+ }
+ }
+ }
+ }
+
+ if (loss_function_ == NULL || !apply_loss_function) {
+ *cost = 0.5 * squared_norm;
+ return true;
+ }
+
+ double rho[3];
+ loss_function_->Evaluate(squared_norm, rho);
+ *cost = 0.5 * rho[0];
+
+ // No jacobians and not outputting residuals? All done. Doing an early exit
+ // here avoids constructing the "Corrector" object below in a common case.
+ if (jacobians == NULL && !outputting_residuals) {
+ return true;
+ }
+
+ // Correct for the effects of the loss function. The jacobians need to be
+ // corrected before the residuals, since they use the uncorrected residuals.
+ Corrector correct(squared_norm, rho);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ if (jacobians[i] != NULL) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+ // Correct the jacobians for the loss function.
+ correct.CorrectJacobian(num_residuals,
+ parameter_block->LocalSize(),
+ residuals,
+ jacobians[i]);
+ }
+ }
+ }
+
+ // Correct the residuals with the loss function.
+ if (outputting_residuals) {
+ correct.CorrectResiduals(num_residuals, residuals);
+ }
+ return true;
+}
+
+int ResidualBlock::NumScratchDoublesForEvaluate() const {
+ // Compute the amount of scratch space needed to store the full-sized
+ // jacobians. For parameters that have no local parameterization no storage
+ // is needed and the passed-in jacobian array is used directly. Also include
+ // space to store the residuals, which is needed for cost-only evaluations.
+ // This is slightly pessimistic, since both won't be needed all the time, but
+ // the amount of excess should not cause problems for the caller.
+ int num_parameters = NumParameterBlocks();
+ int scratch_doubles = 1;
+ for (int i = 0; i < num_parameters; ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (!parameter_block->IsConstant() &&
+ parameter_block->LocalParameterizationJacobian() != NULL) {
+ scratch_doubles += parameter_block->Size();
+ }
+ }
+ scratch_doubles *= NumResiduals();
+ return scratch_doubles;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+//
+// Purpose : Class and struct definitions for parameter and residual blocks.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class LossFunction;
+
+namespace internal {
+
+class ParameterBlock;
+
+// A term in the least squares problem. The mathematical form of each term in
+// the overall least-squares cost function is:
+//
+// 1
+// --- loss_function( || cost_function(block1, block2, ...) ||^2 ),
+// 2
+//
+// Storing the cost function and the loss function separately permits optimizing
+// the problem with standard non-linear least techniques, without requiring a
+// more general non-linear solver.
+//
+// The residual block stores pointers to but does not own the cost functions,
+// loss functions, and parameter blocks.
+class ResidualBlock {
+ public:
+ // Construct the residual block with the given cost/loss functions. Loss may
+ // be null. The index is the index of the residual block in the Program's
+ // residual_blocks array.
+ ResidualBlock(const CostFunction* cost_function,
+ const LossFunction* loss_function,
+ const std::vector<ParameterBlock*>& parameter_blocks,
+ int index);
+
+ // Evaluates the residual term, storing the scalar cost in *cost, the residual
+ // components in *residuals, and the jacobians between the parameters and
+ // residuals in jacobians[i], in row-major order. If residuals is NULL, the
+ // residuals are not computed. If jacobians is NULL, no jacobians are
+ // computed. If jacobians[i] is NULL, then the jacobian for that parameter is
+ // not computed.
+ //
+ // Evaluate needs scratch space which must be supplied by the caller via
+ // scratch. The array should have at least NumScratchDoublesForEvaluate()
+ // space available.
+ //
+ // The return value indicates the success or failure. If the function returns
+ // false, the caller should expect the the output memory locations to have
+ // been modified.
+ //
+ // The returned cost and jacobians have had robustification and local
+ // parameterizations applied already; for example, the jacobian for a
+ // 4-dimensional quaternion parameter using the "QuaternionParameterization"
+ // is num_residuals by 3 instead of num_residuals by 4.
+ //
+ // apply_loss_function as the name implies allows the user to switch
+ // the application of the loss function on and off.
+ bool Evaluate(bool apply_loss_function,
+ double* cost,
+ double* residuals,
+ double** jacobians,
+ double* scratch) const;
+
+
+ const CostFunction* cost_function() const { return cost_function_; }
+ const LossFunction* loss_function() const { return loss_function_; }
+
+ // Access the parameter blocks for this residual. The array has size
+ // NumParameterBlocks().
+ ParameterBlock* const* parameter_blocks() const {
+ return parameter_blocks_.get();
+ }
+
+ // Number of variable blocks that this residual term depends on.
+ int NumParameterBlocks() const {
+ return cost_function_->parameter_block_sizes().size();
+ }
+
+ // The size of the residual vector returned by this residual function.
+ int NumResiduals() const { return cost_function_->num_residuals(); }
+
+ // The minimum amount of scratch space needed to pass to Evaluate().
+ int NumScratchDoublesForEvaluate() const;
+
+ // This residual block's index in an array.
+ int index() const { return index_; }
+ void set_index(int index) { index_ = index; }
+
+ std::string ToString() const {
+ return StringPrintf("{residual block; index=%d}", index_);
+ }
+
+ private:
+ const CostFunction* cost_function_;
+ const LossFunction* loss_function_;
+ scoped_array<ParameterBlock*> parameter_blocks_;
+
+ // The index of the residual, typically in a Program. This is only to permit
+ // switching from a ResidualBlock* to an index in the Program's array, needed
+ // to do efficient removals.
+ int32 index_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RESIDUAL_BLOCK_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/residual_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int32 parameter_block1_size,
+ int32 parameter_block2_size,
+ int32 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = i;
+ }
+ if (jacobians) {
+ for (int k = 0; k < 3; ++k) {
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ num_residuals(),
+ parameter_block_sizes()[k]);
+ jacobian.setConstant(k);
+ }
+ }
+ }
+ return true;
+ }
+};
+
+TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) {
+ double scratch[64];
+
+ // Prepare the parameter blocks.
+ double values_x[2];
+ ParameterBlock x(values_x, 2, -1);
+
+ double values_y[3];
+ ParameterBlock y(values_y, 3, -1);
+
+ double values_z[4];
+ ParameterBlock z(values_z, 4, -1);
+
+ vector<ParameterBlock*> parameters;
+ parameters.push_back(&x);
+ parameters.push_back(&y);
+ parameters.push_back(&z);
+
+ TernaryCostFunction cost_function(3, 2, 3, 4);
+
+ // Create the object under tests.
+ ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
+
+ // Verify getters.
+ EXPECT_EQ(&cost_function, residual_block.cost_function());
+ EXPECT_EQ(NULL, residual_block.loss_function());
+ EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+ EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+ EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+ EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate());
+
+ // Verify cost-only evaluation.
+ double cost;
+ residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+ // Verify cost and residual evaluation.
+ double residuals[3];
+ residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ // Verify cost, residual, and jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+
+ Matrix jacobian_rx(3, 2);
+ Matrix jacobian_ry(3, 3);
+ Matrix jacobian_rz(3, 4);
+
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ double *jacobian_ptrs[3] = {
+ jacobian_rx.data(),
+ jacobian_ry.data(),
+ jacobian_rz.data()
+ };
+
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
+ EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
+
+ // Verify cost, residual, and partial jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
+
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
+ EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
+}
+
+// Trivial cost function that accepts three arguments.
+class LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = i;
+ }
+ if (jacobians) {
+ for (int k = 0; k < 3; ++k) {
+ // The jacobians here are full sized, but they are transformed in the
+ // evaluator into the "local" jacobian. In the tests, the "subset
+ // constant" parameterization is used, which should pick out columns
+ // from these jacobians. Put values in the jacobian that make this
+ // obvious; in particular, make the jacobians like this:
+ //
+ // 0 1 2 3 4 ...
+ // 0 1 2 3 4 ...
+ // 0 1 2 3 4 ...
+ //
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ num_residuals(),
+ parameter_block_sizes()[k]);
+ for (int j = 0; j < k + 2; ++j) {
+ jacobian.col(j).setConstant(j);
+ }
+ }
+ }
+ }
+ return true;
+ }
+};
+
+TEST(ResidualBlock, EvaluteWithLocalParameterizations) {
+ double scratch[64];
+
+ // Prepare the parameter blocks.
+ double values_x[2];
+ ParameterBlock x(values_x, 2, -1);
+
+ double values_y[3];
+ ParameterBlock y(values_y, 3, -1);
+
+ double values_z[4];
+ ParameterBlock z(values_z, 4, -1);
+
+ vector<ParameterBlock*> parameters;
+ parameters.push_back(&x);
+ parameters.push_back(&y);
+ parameters.push_back(&z);
+
+ // Make x have the first component fixed.
+ vector<int> x_fixed;
+ x_fixed.push_back(0);
+ SubsetParameterization x_parameterization(2, x_fixed);
+ x.SetParameterization(&x_parameterization);
+
+ // Make z have the last and last component fixed.
+ vector<int> z_fixed;
+ z_fixed.push_back(2);
+ SubsetParameterization z_parameterization(4, z_fixed);
+ z.SetParameterization(&z_parameterization);
+
+ LocallyParameterizedCostFunction cost_function;
+
+ // Create the object under tests.
+ ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
+
+ // Verify getters.
+ EXPECT_EQ(&cost_function, residual_block.cost_function());
+ EXPECT_EQ(NULL, residual_block.loss_function());
+ EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+ EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+ EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+ EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate());
+
+ // Verify cost-only evaluation.
+ double cost;
+ residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+ // Verify cost and residual evaluation.
+ double residuals[3];
+ residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ // Verify cost, residual, and jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+
+ Matrix jacobian_rx(3, 1); // Since the first element is fixed.
+ Matrix jacobian_ry(3, 3);
+ Matrix jacobian_rz(3, 3); // Since the third element is fixed.
+
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ double *jacobian_ptrs[3] = {
+ jacobian_rx.data(),
+ jacobian_ry.data(),
+ jacobian_rz.data()
+ };
+
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ Matrix expected_jacobian_rx(3, 1);
+ expected_jacobian_rx << 1.0, 1.0, 1.0;
+
+ Matrix expected_jacobian_ry(3, 3);
+ expected_jacobian_ry << 0.0, 1.0, 2.0,
+ 0.0, 1.0, 2.0,
+ 0.0, 1.0, 2.0;
+
+ Matrix expected_jacobian_rz(3, 3);
+ expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0, // 3rd parameter constant.
+ 0.0, 1.0, /* 2.0, */ 3.0,
+ 0.0, 1.0, /* 2.0, */ 3.0;
+
+ EXPECT_EQ(expected_jacobian_rx, jacobian_rx)
+ << "\nExpected:\n" << expected_jacobian_rx
+ << "\nActual:\n" << jacobian_rx;
+ EXPECT_EQ(expected_jacobian_ry, jacobian_ry)
+ << "\nExpected:\n" << expected_jacobian_ry
+ << "\nActual:\n" << jacobian_ry;
+ EXPECT_EQ(expected_jacobian_rz, jacobian_rz)
+ << "\nExpected:\n " << expected_jacobian_rz
+ << "\nActual:\n" << jacobian_rz;
+
+ // Verify cost, residual, and partial jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
+
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_EQ(expected_jacobian_rx, jacobian_rx);
+ EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_EQ(expected_jacobian_rz, jacobian_rz);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/residual_block_utils.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void InvalidateEvaluation(const ResidualBlock& block,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ InvalidateArray(1, cost);
+ InvalidateArray(num_residuals, residuals);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
+ }
+ }
+}
+
+string EvaluationToString(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ CHECK_NOTNULL(cost);
+ CHECK_NOTNULL(residuals);
+
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+ string result = "";
+
+ StringAppendF(&result,
+ "Residual Block size: %d parameter blocks x %d residuals\n\n",
+ num_parameter_blocks, num_residuals);
+ result +=
+ "For each parameter block, the value of the parameters are printed in the first column \n" // NOLINT
+ "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n" // NOLINT
+ "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n" // NOLINT
+ "of the Jacobian/residual array was requested but was not written to by user code, it is \n" // NOLINT
+ "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n" // NOLINT
+ "to Inf or NaN is also an error. \n\n"; // NOLINT
+
+ string space = "Residuals: ";
+ result += space;
+ AppendArrayToString(num_residuals, residuals, &result);
+ StringAppendF(&result, "\n\n");
+
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ StringAppendF(
+ &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
+ StringAppendF(&result, "\n");
+ for (int j = 0; j < parameter_block_size; ++j) {
+ AppendArrayToString(1, parameters[i] + j, &result);
+ StringAppendF(&result, "| ");
+ for (int k = 0; k < num_residuals; ++k) {
+ AppendArrayToString(1,
+ (jacobians != NULL && jacobians[i] != NULL)
+ ? jacobians[i] + k * parameter_block_size + j
+ : NULL,
+ &result);
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ return result;
+}
+
+bool IsEvaluationValid(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ if (!IsArrayValid(num_residuals, residuals)) {
+ return false;
+ }
+
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Utility routines for ResidualBlock evaluation.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of a cost/residual/jacobian.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+
+// Invalidate cost, resdual and jacobian arrays (if not NULL).
+void InvalidateEvaluation(const ResidualBlock& block,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+// Check if any of the arrays cost, residuals or jacobians contains an
+// NaN, return true if it does.
+bool IsEvaluationValid(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+// Create a string representation of the Residual block containing the
+// value of the parameters, residuals and jacobians if present.
+// Useful for debugging output.
+std::string EvaluationToString(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
--- /dev/null
+// 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 <cmath>
+#include <limits>
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+// Routine to check if ResidualBlock::Evaluate for unary CostFunction
+// with one residual succeeds with true or dies.
+void CheckEvaluation(const CostFunction& cost_function, bool is_good) {
+ double x = 1.0;
+ ParameterBlock parameter_block(&x, 1, -1);
+ std::vector<ParameterBlock*> parameter_blocks;
+ parameter_blocks.push_back(¶meter_block);
+
+ ResidualBlock residual_block(&cost_function,
+ NULL,
+ parameter_blocks,
+ -1);
+
+ scoped_array<double> scratch(
+ new double[residual_block.NumScratchDoublesForEvaluate()]);
+
+ double cost;
+ double residuals;
+ double jacobian;
+ double* jacobians[] = { &jacobian };
+
+ EXPECT_EQ(residual_block.Evaluate(true,
+ &cost,
+ &residuals,
+ jacobians,
+ scratch.get()), is_good);
+}
+
+// A CostFunction that behaves normaly, i.e., it computes numerically
+// valid residuals and jacobians.
+class GoodCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+// The following four CostFunctions simulate the different ways in
+// which user code can cause ResidualBlock::Evaluate to fail.
+class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Forget to update the residuals.
+ // residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ // Forget to update the jacobians.
+ // jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class BadResidualCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = std::numeric_limits<double>::infinity();
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class BadJacobianCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1.0;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = std::numeric_limits<double>::quiet_NaN();
+ }
+ return true;
+ }
+};
+
+// Note: It is preferable to write the below test as:
+//
+// CheckEvaluation(GoodCostFunction(), true);
+// CheckEvaluation(NoResidualUpdateCostFunction(), false);
+// CheckEvaluation(NoJacobianUpdateCostFunction(), false);
+// ...
+//
+// however, there is a bug in the version of GCC on Mac OS X we tested, which
+// requires the objects get put into local variables instead of getting
+// instantiated on the stack.
+TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) {
+ GoodCostFunction good_fun;
+ CheckEvaluation(good_fun, true);
+ NoResidualUpdateCostFunction no_residual;
+ CheckEvaluation(no_residual, false);
+ NoJacobianUpdateCostFunction no_jacobian;
+ CheckEvaluation(no_jacobian, false);
+ BadResidualCostFunction bad_residual;
+ CheckEvaluation(bad_residual, false);
+ BadJacobianCostFunction bad_jacobian;
+ CheckEvaluation(bad_jacobian, false);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 <cmath>
+#include <limits>
+#include <string>
+#include "ceres/internal/eigen.h"
+#include "ceres/is_close.h"
+#include "ceres/internal/port.h"
+#include "ceres/jet.h"
+#include "ceres/rotation.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::min;
+using std::max;
+using std::numeric_limits;
+using std::string;
+using std::swap;
+
+const double kPi = 3.14159265358979323846;
+const double kHalfSqrt2 = 0.707106781186547524401;
+
+double RandDouble() {
+ double r = rand();
+ return r / RAND_MAX;
+}
+
+// A tolerance value for floating-point comparisons.
+static double const kTolerance = numeric_limits<double>::epsilon() * 10;
+
+// Looser tolerance used for numerically unstable conversions.
+static double const kLooseTolerance = 1e-9;
+
+// Use as:
+// double quaternion[4];
+// EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+MATCHER(IsNormalizedQuaternion, "") {
+ if (arg == NULL) {
+ *result_listener << "Null quaternion";
+ return false;
+ }
+
+ double norm2 = arg[0] * arg[0] + arg[1] * arg[1] +
+ arg[2] * arg[2] + arg[3] * arg[3];
+ if (fabs(norm2 - 1.0) > kTolerance) {
+ *result_listener << "squared norm is " << norm2;
+ return false;
+ }
+
+ return true;
+}
+
+// Use as:
+// double expected_quaternion[4];
+// double actual_quaternion[4];
+// EXPECT_THAT(actual_quaternion, IsNearQuaternion(expected_quaternion));
+MATCHER_P(IsNearQuaternion, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null quaternion";
+ return false;
+ }
+
+ // Quaternions are equivalent upto a sign change. So we will compare
+ // both signs before declaring failure.
+ bool near = true;
+ for (int i = 0; i < 4; i++) {
+ if (fabs(arg[i] - expected[i]) > kTolerance) {
+ near = false;
+ break;
+ }
+ }
+
+ if (near) {
+ return true;
+ }
+
+ near = true;
+ for (int i = 0; i < 4; i++) {
+ if (fabs(arg[i] + expected[i]) > kTolerance) {
+ near = false;
+ break;
+ }
+ }
+
+ if (near) {
+ return true;
+ }
+
+ *result_listener << "expected : "
+ << expected[0] << " "
+ << expected[1] << " "
+ << expected[2] << " "
+ << expected[3] << " "
+ << "actual : "
+ << arg[0] << " "
+ << arg[1] << " "
+ << arg[2] << " "
+ << arg[3];
+ return false;
+}
+
+// Use as:
+// double expected_axis_angle[3];
+// double actual_axis_angle[3];
+// EXPECT_THAT(actual_axis_angle, IsNearAngleAxis(expected_axis_angle));
+MATCHER_P(IsNearAngleAxis, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null axis/angle";
+ return false;
+ }
+
+ Eigen::Vector3d a(arg[0], arg[1], arg[2]);
+ Eigen::Vector3d e(expected[0], expected[1], expected[2]);
+ const double e_norm = e.norm();
+
+ double delta_norm = numeric_limits<double>::max();
+ if (e_norm > 0) {
+ // Deal with the sign ambiguity near PI. Since the sign can flip,
+ // we take the smaller of the two differences.
+ if (fabs(e_norm - kPi) < kLooseTolerance) {
+ delta_norm = min((a - e).norm(), (a + e).norm()) / e_norm;
+ } else {
+ delta_norm = (a - e).norm() / e_norm;
+ }
+ } else {
+ delta_norm = a.norm();
+ }
+
+ if (delta_norm <= kLooseTolerance) {
+ return true;
+ }
+
+ *result_listener << " arg:"
+ << " " << arg[0]
+ << " " << arg[1]
+ << " " << arg[2]
+ << " was expected to be:"
+ << " " << expected[0]
+ << " " << expected[1]
+ << " " << expected[2];
+ return false;
+}
+
+// Use as:
+// double matrix[9];
+// EXPECT_THAT(matrix, IsOrthonormal());
+MATCHER(IsOrthonormal, "") {
+ if (arg == NULL) {
+ *result_listener << "Null matrix";
+ return false;
+ }
+
+ for (int c1 = 0; c1 < 3; c1++) {
+ for (int c2 = 0; c2 < 3; c2++) {
+ double v = 0;
+ for (int i = 0; i < 3; i++) {
+ v += arg[i + 3 * c1] * arg[i + 3 * c2];
+ }
+ double expected = (c1 == c2) ? 1 : 0;
+ if (fabs(expected - v) > kTolerance) {
+ *result_listener << "Columns " << c1 << " and " << c2
+ << " should have dot product " << expected
+ << " but have " << v;
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+// Use as:
+// double matrix1[9];
+// double matrix2[9];
+// EXPECT_THAT(matrix1, IsNear3x3Matrix(matrix2));
+MATCHER_P(IsNear3x3Matrix, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null matrix";
+ return false;
+ }
+
+ for (int i = 0; i < 9; i++) {
+ if (fabs(arg[i] - expected[i]) > kTolerance) {
+ *result_listener << "component " << i << " should be " << expected[i];
+ return false;
+ }
+ }
+
+ return true;
+}
+
+// Transforms a zero axis/angle to a quaternion.
+TEST(Rotation, ZeroAngleAxisToQuaternion) {
+ double axis_angle[3] = { 0, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { 1, 0, 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallAngleAxisToQuaternion) {
+ // Small, finite value to test.
+ double theta = 1.0e-2;
+ double axis_angle[3] = { theta, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyAngleAxisToQuaternion) {
+ // Very small value that could potentially cause underflow.
+ double theta = pow(numeric_limits<double>::min(), 0.75);
+ double axis_angle[3] = { theta, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a quaternion.
+TEST(Rotation, XRotationToQuaternion) {
+ double axis_angle[3] = { kPi / 2, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { kHalfSqrt2, kHalfSqrt2, 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a unit quaternion to an axis angle.
+TEST(Rotation, UnitQuaternionToAngleAxis) {
+ double quaternion[4] = { 1, 0, 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { 0, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi about the Y axis to an axis angle.
+TEST(Rotation, YRotationQuaternionToAngleAxis) {
+ double quaternion[4] = { 0, 0, 1, 0 };
+ double axis_angle[3];
+ double expected[3] = { 0, kPi, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi/3 about the Z axis to an axis
+// angle.
+TEST(Rotation, ZRotationQuaternionToAngleAxis) {
+ double quaternion[4] = { sqrt(3) / 2, 0, 0, 0.5 };
+ double axis_angle[3];
+ double expected[3] = { 0, 0, kPi / 3 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxis) {
+ // Small, finite value to test.
+ double theta = 1.0e-2;
+ double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { theta, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxis) {
+ // Very small value that could potentially cause underflow.
+ double theta = pow(numeric_limits<double>::min(), 0.75);
+ double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { theta, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+TEST(Rotation, QuaternionToAngleAxisAngleIsLessThanPi) {
+ double quaternion[4];
+ double angle_axis[3];
+
+ const double half_theta = 0.75 * kPi;
+
+ quaternion[0] = cos(half_theta);
+ quaternion[1] = 1.0 * sin(half_theta);
+ quaternion[2] = 0.0;
+ quaternion[3] = 0.0;
+ QuaternionToAngleAxis(quaternion, angle_axis);
+ const double angle = sqrt(angle_axis[0] * angle_axis[0] +
+ angle_axis[1] * angle_axis[1] +
+ angle_axis[2] * angle_axis[2]);
+ EXPECT_LE(angle, kPi);
+}
+
+static const int kNumTrials = 10000;
+
+// Takes a bunch of random axis/angle values, converts them to quaternions,
+// and back again.
+TEST(Rotation, AngleAxisToQuaterionAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double axis_angle[3];
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = RandDouble() * 2 - 1;
+ norm += axis_angle[i] * axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [-pi, pi).
+ double theta = kPi * 2 * RandDouble() - kPi;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = axis_angle[i] * theta / norm;
+ }
+
+ double quaternion[4];
+ double round_trip[3];
+ // We use ASSERTs here because if there's one failure, there are
+ // probably many and spewing a million failures doesn't make anyone's
+ // day.
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ASSERT_THAT(quaternion, IsNormalizedQuaternion());
+ QuaternionToAngleAxis(quaternion, round_trip);
+ ASSERT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+ }
+}
+
+// Takes a bunch of random quaternions, converts them to axis/angle,
+// and back again.
+TEST(Rotation, QuaterionToAngleAxisAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double quaternion[4];
+ // Choose four random numbers in [-1, 1) and normalize.
+ double norm = 0;
+ for (int i = 0; i < 4; i++) {
+ quaternion[i] = RandDouble() * 2 - 1;
+ norm += quaternion[i] * quaternion[i];
+ }
+ norm = sqrt(norm);
+
+ for (int i = 0; i < 4; i++) {
+ quaternion[i] = quaternion[i] / norm;
+ }
+
+ double axis_angle[3];
+ double round_trip[4];
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ AngleAxisToQuaternion(axis_angle, round_trip);
+ ASSERT_THAT(round_trip, IsNormalizedQuaternion());
+ ASSERT_THAT(round_trip, IsNearQuaternion(quaternion));
+ }
+}
+
+// Transforms a zero axis/angle to a rotation matrix.
+TEST(Rotation, ZeroAngleAxisToRotationMatrix) {
+ double axis_angle[3] = { 0, 0, 0 };
+ double matrix[9];
+ double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+TEST(Rotation, NearZeroAngleAxisToRotationMatrix) {
+ double axis_angle[3] = { 1e-24, 2e-24, 3e-24 };
+ double matrix[9];
+ double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a rotation matrix and back.
+TEST(Rotation, XRotationToRotationMatrix) {
+ double axis_angle[3] = { kPi / 2, 0, 0 };
+ double matrix[9];
+ // The rotation matrices are stored column-major.
+ double expected[9] = { 1, 0, 0, 0, 0, 1, 0, -1, 0 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Transforms an axis angle that rotates by pi about the Y axis to a
+// rotation matrix and back.
+TEST(Rotation, YRotationToRotationMatrix) {
+ double axis_angle[3] = { 0, kPi, 0 };
+ double matrix[9];
+ double expected[9] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+TEST(Rotation, NearPiAngleAxisRoundTrip) {
+ double in_axis_angle[3];
+ double matrix[9];
+ double out_axis_angle[3];
+
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ in_axis_angle[i] = RandDouble() * 2 - 1;
+ norm += in_axis_angle[i] * in_axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [pi - kMaxSmallAngle, pi).
+ const double kMaxSmallAngle = 1e-8;
+ double theta = kPi - kMaxSmallAngle * RandDouble();
+
+ for (int i = 0; i < 3; i++) {
+ in_axis_angle[i] *= (theta / norm);
+ }
+ AngleAxisToRotationMatrix(in_axis_angle, matrix);
+ RotationMatrixToAngleAxis(matrix, out_axis_angle);
+ EXPECT_THAT(in_axis_angle, IsNearAngleAxis(out_axis_angle));
+ }
+}
+
+TEST(Rotation, AtPiAngleAxisRoundTrip) {
+ // A rotation of kPi about the X axis;
+ static const double kMatrix[3][3] = {
+ {1.0, 0.0, 0.0},
+ {0.0, -1.0, 0.0},
+ {0.0, 0.0, -1.0}
+ };
+
+ double in_matrix[9];
+ // Fill it from kMatrix in col-major order.
+ for (int j = 0, k = 0; j < 3; ++j) {
+ for (int i = 0; i < 3; ++i, ++k) {
+ in_matrix[k] = kMatrix[i][j];
+ }
+ }
+
+ const double expected_axis_angle[3] = { kPi, 0, 0 };
+
+ double out_matrix[9];
+ double axis_angle[3];
+ RotationMatrixToAngleAxis(in_matrix, axis_angle);
+ AngleAxisToRotationMatrix(axis_angle, out_matrix);
+
+ LOG(INFO) << "AngleAxis = " << axis_angle[0] << " " << axis_angle[1]
+ << " " << axis_angle[2];
+ LOG(INFO) << "Expected AngleAxis = " << kPi << " 0 0";
+ double out_rowmajor[3][3];
+ for (int j = 0, k = 0; j < 3; ++j) {
+ for (int i = 0; i < 3; ++i, ++k) {
+ out_rowmajor[i][j] = out_matrix[k];
+ }
+ }
+ LOG(INFO) << "Rotation:";
+ LOG(INFO) << "EXPECTED | ACTUAL";
+ for (int i = 0; i < 3; ++i) {
+ string line;
+ for (int j = 0; j < 3; ++j) {
+ StringAppendF(&line, "%g ", kMatrix[i][j]);
+ }
+ line += " | ";
+ for (int j = 0; j < 3; ++j) {
+ StringAppendF(&line, "%g ", out_rowmajor[i][j]);
+ }
+ LOG(INFO) << line;
+ }
+
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected_axis_angle));
+ EXPECT_THAT(out_matrix, IsNear3x3Matrix(in_matrix));
+}
+
+// Transforms an axis angle that rotates by pi/3 about the Z axis to a
+// rotation matrix.
+TEST(Rotation, ZRotationToRotationMatrix) {
+ double axis_angle[3] = { 0, 0, kPi / 3 };
+ double matrix[9];
+ // This is laid-out row-major on the screen but is actually stored
+ // column-major.
+ double expected[9] = { 0.5, sqrt(3) / 2, 0, // Column 1
+ -sqrt(3) / 2, 0.5, 0, // Column 2
+ 0, 0, 1 }; // Column 3
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Takes a bunch of random axis/angle values, converts them to rotation
+// matrices, and back again.
+TEST(Rotation, AngleAxisToRotationMatrixAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double axis_angle[3];
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = RandDouble() * 2 - 1;
+ norm += axis_angle[i] * axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [-pi, pi).
+ double theta = kPi * 2 * RandDouble() - kPi;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = axis_angle[i] * theta / norm;
+ }
+
+ double matrix[9];
+ double round_trip[3];
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ ASSERT_THAT(matrix, IsOrthonormal());
+ RotationMatrixToAngleAxis(matrix, round_trip);
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(round_trip[i], axis_angle[i], kLooseTolerance);
+ }
+ }
+}
+
+// Takes a bunch of random axis/angle values near zero, converts them
+// to rotation matrices, and back again.
+TEST(Rotation, AngleAxisToRotationMatrixAndBackNearZero) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double axis_angle[3];
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = RandDouble() * 2 - 1;
+ norm += axis_angle[i] * axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Tiny theta.
+ double theta = 1e-16 * (kPi * 2 * RandDouble() - kPi);
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = axis_angle[i] * theta / norm;
+ }
+
+ double matrix[9];
+ double round_trip[3];
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ ASSERT_THAT(matrix, IsOrthonormal());
+ RotationMatrixToAngleAxis(matrix, round_trip);
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(round_trip[i], axis_angle[i],
+ numeric_limits<double>::epsilon());
+ }
+ }
+}
+
+
+// Transposes a 3x3 matrix.
+static void Transpose3x3(double m[9]) {
+ swap(m[1], m[3]);
+ swap(m[2], m[6]);
+ swap(m[5], m[7]);
+}
+
+// Convert Euler angles from radians to degrees.
+static void ToDegrees(double euler_angles[3]) {
+ for (int i = 0; i < 3; ++i) {
+ euler_angles[i] *= 180.0 / kPi;
+ }
+}
+
+// Compare the 3x3 rotation matrices produced by the axis-angle
+// rotation 'aa' and the Euler angle rotation 'ea' (in radians).
+static void CompareEulerToAngleAxis(double aa[3], double ea[3]) {
+ double aa_matrix[9];
+ AngleAxisToRotationMatrix(aa, aa_matrix);
+ Transpose3x3(aa_matrix); // Column to row major order.
+
+ double ea_matrix[9];
+ ToDegrees(ea); // Radians to degrees.
+ const int kRowStride = 3;
+ EulerAnglesToRotationMatrix(ea, kRowStride, ea_matrix);
+
+ EXPECT_THAT(aa_matrix, IsOrthonormal());
+ EXPECT_THAT(ea_matrix, IsOrthonormal());
+ EXPECT_THAT(ea_matrix, IsNear3x3Matrix(aa_matrix));
+}
+
+// Test with rotation axis along the x/y/z axes.
+// Also test zero rotation.
+TEST(EulerAnglesToRotationMatrix, OnAxis) {
+ int n_tests = 0;
+ for (double x = -1.0; x <= 1.0; x += 1.0) {
+ for (double y = -1.0; y <= 1.0; y += 1.0) {
+ for (double z = -1.0; z <= 1.0; z += 1.0) {
+ if ((x != 0) + (y != 0) + (z != 0) > 1)
+ continue;
+ double axis_angle[3] = {x, y, z};
+ double euler_angles[3] = {x, y, z};
+ CompareEulerToAngleAxis(axis_angle, euler_angles);
+ ++n_tests;
+ }
+ }
+ }
+ CHECK_EQ(7, n_tests);
+}
+
+// Test that a random rotation produces an orthonormal rotation
+// matrix.
+TEST(EulerAnglesToRotationMatrix, IsOrthonormal) {
+ srand(5);
+ for (int trial = 0; trial < kNumTrials; ++trial) {
+ double euler_angles_degrees[3];
+ for (int i = 0; i < 3; ++i) {
+ euler_angles_degrees[i] = RandDouble() * 360.0 - 180.0;
+ }
+ double rotation_matrix[9];
+ EulerAnglesToRotationMatrix(euler_angles_degrees, 3, rotation_matrix);
+ EXPECT_THAT(rotation_matrix, IsOrthonormal());
+ }
+}
+
+// Tests using Jets for specific behavior involving auto differentiation
+// near singularity points.
+
+typedef Jet<double, 3> J3;
+typedef Jet<double, 4> J4;
+
+J3 MakeJ3(double a, double v0, double v1, double v2) {
+ J3 j;
+ j.a = a;
+ j.v[0] = v0;
+ j.v[1] = v1;
+ j.v[2] = v2;
+ return j;
+}
+
+J4 MakeJ4(double a, double v0, double v1, double v2, double v3) {
+ J4 j;
+ j.a = a;
+ j.v[0] = v0;
+ j.v[1] = v1;
+ j.v[2] = v2;
+ j.v[3] = v3;
+ return j;
+}
+
+bool IsClose(double x, double y) {
+ EXPECT_FALSE(IsNaN(x));
+ EXPECT_FALSE(IsNaN(y));
+ return internal::IsClose(x, y, kTolerance, NULL, NULL);
+}
+
+template <int N>
+bool IsClose(const Jet<double, N> &x, const Jet<double, N> &y) {
+ if (!IsClose(x.a, y.a)) {
+ return false;
+ }
+ for (int i = 0; i < N; i++) {
+ if (!IsClose(x.v[i], y.v[i])) {
+ return false;
+ }
+ }
+ return true;
+}
+
+template <int M, int N>
+void ExpectJetArraysClose(const Jet<double, N> *x, const Jet<double, N> *y) {
+ for (int i = 0; i < M; i++) {
+ if (!IsClose(x[i], y[i])) {
+ LOG(ERROR) << "Jet " << i << "/" << M << " not equal";
+ LOG(ERROR) << "x[" << i << "]: " << x[i];
+ LOG(ERROR) << "y[" << i << "]: " << y[i];
+ Jet<double, N> d, zero;
+ d.a = y[i].a - x[i].a;
+ for (int j = 0; j < N; j++) {
+ d.v[j] = y[i].v[j] - x[i].v[j];
+ }
+ LOG(ERROR) << "diff: " << d;
+ EXPECT_TRUE(IsClose(x[i], y[i]));
+ }
+ }
+}
+
+// Log-10 of a value well below machine precision.
+static const int kSmallTinyCutoff =
+ static_cast<int>(2 * log(numeric_limits<double>::epsilon())/log(10.0));
+
+// Log-10 of a value just below values representable by double.
+static const int kTinyZeroLimit =
+ static_cast<int>(1 + log(numeric_limits<double>::min())/log(10.0));
+
+// Test that exact conversion works for small angles when jets are used.
+TEST(Rotation, SmallAngleAxisToQuaternionForJets) {
+ // Examine small x rotations that are still large enough
+ // to be well within the range represented by doubles.
+ for (int i = -2; i >= kSmallTinyCutoff; i--) {
+ double theta = pow(10.0, i);
+ J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ J3 expected[4] = {
+ MakeJ3(cos(theta/2), -sin(theta/2)/2, 0, 0),
+ MakeJ3(sin(theta/2), cos(theta/2)/2, 0, 0),
+ MakeJ3(0, 0, sin(theta/2)/theta, 0),
+ MakeJ3(0, 0, 0, sin(theta/2)/theta),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+ }
+}
+
+
+// Test that conversion works for very small angles when jets are used.
+TEST(Rotation, TinyAngleAxisToQuaternionForJets) {
+ // Examine tiny x rotations that extend all the way to where
+ // underflow occurs.
+ for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+ double theta = pow(10.0, i);
+ J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ // To avoid loss of precision in the test itself,
+ // a finite expansion is used here, which will
+ // be exact up to machine precision for the test values used.
+ J3 expected[4] = {
+ MakeJ3(1.0, 0, 0, 0),
+ MakeJ3(0, 0.5, 0, 0),
+ MakeJ3(0, 0, 0.5, 0),
+ MakeJ3(0, 0, 0, 0.5),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+ }
+}
+
+// Test that derivatives are correct for zero rotation.
+TEST(Rotation, ZeroAngleAxisToQuaternionForJets) {
+ J3 axis_angle[3] = { J3(0, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ J3 expected[4] = {
+ MakeJ3(1.0, 0, 0, 0),
+ MakeJ3(0, 0.5, 0, 0),
+ MakeJ3(0, 0, 0.5, 0),
+ MakeJ3(0, 0, 0, 0.5),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxisForJets) {
+ // Examine small x rotations that are still large enough
+ // to be well within the range represented by doubles.
+ for (int i = -2; i >= kSmallTinyCutoff; i--) {
+ double theta = pow(10.0, i);
+ double s = sin(theta);
+ double c = cos(theta);
+ J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ J4 expected[3] = {
+ MakeJ4(2*theta, -2*s, 2*c, 0, 0),
+ MakeJ4(0, 0, 0, 2*theta/s, 0),
+ MakeJ4(0, 0, 0, 0, 2*theta/s),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+ }
+}
+
+// Test that conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxisForJets) {
+ // Examine tiny x rotations that extend all the way to where
+ // underflow occurs.
+ for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+ double theta = pow(10.0, i);
+ double s = sin(theta);
+ double c = cos(theta);
+ J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ // To avoid loss of precision in the test itself,
+ // a finite expansion is used here, which will
+ // be exact up to machine precision for the test values used.
+ J4 expected[3] = {
+ MakeJ4(2*theta, -2*s, 2.0, 0, 0),
+ MakeJ4(0, 0, 0, 2.0, 0),
+ MakeJ4(0, 0, 0, 0, 2.0),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+ }
+}
+
+// Test that conversion works for no rotation.
+TEST(Rotation, ZeroQuaternionToAngleAxisForJets) {
+ J4 quaternion[4] = { J4(1, 0), J4(0, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ J4 expected[3] = {
+ MakeJ4(0, 0, 2.0, 0, 0),
+ MakeJ4(0, 0, 0, 2.0, 0),
+ MakeJ4(0, 0, 0, 0, 2.0),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+}
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrixCanned) {
+ // Canned data generated in octave.
+ double const q[4] = {
+ +0.1956830471754074,
+ -0.0150618562474847,
+ +0.7634572982788086,
+ -0.3019454777240753,
+ };
+ double const Q[3][3] = { // Scaled rotation matrix.
+ { -0.6355194033477252, 0.0951730541682254, 0.3078870197911186 },
+ { -0.1411693904792992, 0.5297609702153905, -0.4551502574482019 },
+ { -0.2896955822708862, -0.4669396571547050, -0.4536309793389248 },
+ };
+ double const R[3][3] = { // With unit rows and columns.
+ { -0.8918859164053080, 0.1335655625725649, 0.4320876677394745 },
+ { -0.1981166751680096, 0.7434648665444399, -0.6387564287225856 },
+ { -0.4065578619806013, -0.6553016349046693, -0.6366242786393164 },
+ };
+
+ // Compute R from q and compare to known answer.
+ double Rq[3][3];
+ QuaternionToScaledRotation<double>(q, Rq[0]);
+ ExpectArraysClose(9, Q[0], Rq[0], kTolerance);
+
+ // Now do the same but compute R with normalization.
+ QuaternionToRotation<double>(q, Rq[0]);
+ ExpectArraysClose(9, R[0], Rq[0], kTolerance);
+}
+
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrix) {
+ // Rotation defined by a unit quaternion.
+ double const q[4] = {
+ 0.2318160216097109,
+ -0.0178430356832060,
+ 0.9044300776717159,
+ -0.3576998641394597,
+ };
+ double const p[3] = {
+ +0.11,
+ -13.15,
+ 1.17,
+ };
+
+ double R[3 * 3];
+ QuaternionToRotation(q, R);
+
+ double result1[3];
+ UnitQuaternionRotatePoint(q, p, result1);
+
+ double result2[3];
+ VectorRef(result2, 3) = ConstMatrixRef(R, 3, 3)* ConstVectorRef(p, 3);
+ ExpectArraysClose(3, result1, result2, kTolerance);
+}
+
+
+// Verify that (a * b) * c == a * (b * c).
+TEST(Quaternion, MultiplicationIsAssociative) {
+ double a[4];
+ double b[4];
+ double c[4];
+ for (int i = 0; i < 4; ++i) {
+ a[i] = 2 * RandDouble() - 1;
+ b[i] = 2 * RandDouble() - 1;
+ c[i] = 2 * RandDouble() - 1;
+ }
+
+ double ab[4];
+ double ab_c[4];
+ QuaternionProduct(a, b, ab);
+ QuaternionProduct(ab, c, ab_c);
+
+ double bc[4];
+ double a_bc[4];
+ QuaternionProduct(b, c, bc);
+ QuaternionProduct(a, bc, a_bc);
+
+ ASSERT_NEAR(ab_c[0], a_bc[0], kTolerance);
+ ASSERT_NEAR(ab_c[1], a_bc[1], kTolerance);
+ ASSERT_NEAR(ab_c[2], a_bc[2], kTolerance);
+ ASSERT_NEAR(ab_c[3], a_bc[3], kTolerance);
+}
+
+
+TEST(AngleAxis, RotatePointGivesSameAnswerAsRotationMatrix) {
+ double angle_axis[3];
+ double R[9];
+ double p[3];
+ double angle_axis_rotated_p[3];
+ double rotation_matrix_rotated_p[3];
+
+ for (int i = 0; i < 10000; ++i) {
+ double theta = (2.0 * i * 0.0011 - 1.0) * kPi;
+ for (int j = 0; j < 50; ++j) {
+ double norm2 = 0.0;
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] = 2.0 * RandDouble() - 1.0;
+ p[k] = 2.0 * RandDouble() - 1.0;
+ norm2 = angle_axis[k] * angle_axis[k];
+ }
+
+ const double inv_norm = theta / sqrt(norm2);
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] *= inv_norm;
+ }
+
+ AngleAxisToRotationMatrix(angle_axis, R);
+ rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+ rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+ rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+ AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+ for (int k = 0; k < 3; ++k) {
+ EXPECT_NEAR(rotation_matrix_rotated_p[k],
+ angle_axis_rotated_p[k],
+ kTolerance) << "p: " << p[0]
+ << " " << p[1]
+ << " " << p[2]
+ << " angle_axis: " << angle_axis[0]
+ << " " << angle_axis[1]
+ << " " << angle_axis[2];
+ }
+ }
+ }
+}
+
+TEST(AngleAxis, NearZeroRotatePointGivesSameAnswerAsRotationMatrix) {
+ double angle_axis[3];
+ double R[9];
+ double p[3];
+ double angle_axis_rotated_p[3];
+ double rotation_matrix_rotated_p[3];
+
+ for (int i = 0; i < 10000; ++i) {
+ double norm2 = 0.0;
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] = 2.0 * RandDouble() - 1.0;
+ p[k] = 2.0 * RandDouble() - 1.0;
+ norm2 = angle_axis[k] * angle_axis[k];
+ }
+
+ double theta = (2.0 * i * 0.0001 - 1.0) * 1e-16;
+ const double inv_norm = theta / sqrt(norm2);
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] *= inv_norm;
+ }
+
+ AngleAxisToRotationMatrix(angle_axis, R);
+ rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+ rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+ rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+ AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+ for (int k = 0; k < 3; ++k) {
+ EXPECT_NEAR(rotation_matrix_rotated_p[k],
+ angle_axis_rotated_p[k],
+ kTolerance) << "p: " << p[0]
+ << " " << p[1]
+ << " " << p[2]
+ << " angle_axis: " << angle_axis[0]
+ << " " << angle_axis[1]
+ << " " << angle_axis[2];
+ }
+ }
+}
+
+TEST(MatrixAdapter, RowMajor3x3ReturnTypeAndAccessIsCorrect) {
+ double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+ const float const_array[9] =
+ { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+ MatrixAdapter<double, 3, 1> A = RowMajorAdapter3x3(array);
+ MatrixAdapter<const float, 3, 1> B = RowMajorAdapter3x3(const_array);
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ // The values are integers from 1 to 9, so equality tests are appropriate
+ // even for float and double values.
+ EXPECT_EQ(A(i, j), array[3*i+j]);
+ EXPECT_EQ(B(i, j), const_array[3*i+j]);
+ }
+ }
+}
+
+TEST(MatrixAdapter, ColumnMajor3x3ReturnTypeAndAccessIsCorrect) {
+ double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+ const float const_array[9] =
+ { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+ MatrixAdapter<double, 1, 3> A = ColumnMajorAdapter3x3(array);
+ MatrixAdapter<const float, 1, 3> B = ColumnMajorAdapter3x3(const_array);
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ // The values are integers from 1 to 9, so equality tests are
+ // appropriate even for float and double values.
+ EXPECT_EQ(A(i, j), array[3*j+i]);
+ EXPECT_EQ(B(i, j), const_array[3*j+i]);
+ }
+ }
+}
+
+TEST(MatrixAdapter, RowMajor2x4IsCorrect) {
+ const int expected[8] = { 1, 2, 3, 4, 5, 6, 7, 8 };
+ int array[8];
+ MatrixAdapter<int, 4, 1> M(array);
+ M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+ M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+ for (int k = 0; k < 8; ++k) {
+ EXPECT_EQ(array[k], expected[k]);
+ }
+}
+
+TEST(MatrixAdapter, ColumnMajor2x4IsCorrect) {
+ const int expected[8] = { 1, 5, 2, 6, 3, 7, 4, 8 };
+ int array[8];
+ MatrixAdapter<int, 1, 2> M(array);
+ M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+ M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+ for (int k = 0; k < 8; ++k) {
+ EXPECT_EQ(array[k], expected[k]);
+ }
+}
+
+TEST(RotationMatrixToAngleAxis, NearPiExampleOneFromTobiasStrauss) {
+ // Example from Tobias Strauss
+ const double rotation_matrix[] = {
+ -0.999807135425239, -0.0128154391194470, -0.0148814136745799,
+ -0.0128154391194470, -0.148441438622958, 0.988838158557669,
+ -0.0148814136745799, 0.988838158557669, 0.148248574048196
+ };
+
+ double angle_axis[3];
+ RotationMatrixToAngleAxis(RowMajorAdapter3x3(rotation_matrix), angle_axis);
+ double round_trip[9];
+ AngleAxisToRotationMatrix(angle_axis, RowMajorAdapter3x3(round_trip));
+ EXPECT_THAT(rotation_matrix, IsNear3x3Matrix(round_trip));
+}
+
+void CheckRotationMatrixToAngleAxisRoundTrip(const double theta,
+ const double phi,
+ const double angle) {
+ double angle_axis[3];
+ angle_axis[0] = angle * sin(phi) * cos(theta);
+ angle_axis[1] = angle * sin(phi) * sin(theta);
+ angle_axis[2] = angle * cos(phi);
+
+ double rotation_matrix[9];
+ AngleAxisToRotationMatrix(angle_axis, rotation_matrix);
+
+ double angle_axis_round_trip[3];
+ RotationMatrixToAngleAxis(rotation_matrix, angle_axis_round_trip);
+ EXPECT_THAT(angle_axis_round_trip, IsNearAngleAxis(angle_axis));
+}
+
+TEST(RotationMatrixToAngleAxis, ExhaustiveRoundTrip) {
+ const double kMaxSmallAngle = 1e-8;
+ const int kNumSteps = 1000;
+ for (int i = 0; i < kNumSteps; ++i) {
+ const double theta = static_cast<double>(i) / kNumSteps * 2.0 * kPi;
+ for (int j = 0; j < kNumSteps; ++j) {
+ const double phi = static_cast<double>(j) / kNumSteps * kPi;
+ // Rotations of angle Pi.
+ CheckRotationMatrixToAngleAxisRoundTrip(theta, phi, kPi);
+ // Rotation of angle approximately Pi.
+ CheckRotationMatrixToAngleAxisRoundTrip(
+ theta, phi, kPi - kMaxSmallAngle * RandDouble());
+ // Rotations of angle approximately zero.
+ CheckRotationMatrixToAngleAxisRoundTrip(
+ theta, phi, kMaxSmallAngle * 2.0 * RandDouble() - 1.0);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/schur_complement_solver.h"
+
+#include <algorithm>
+#include <ctime>
+#include <set>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "Eigen/SparseCore"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+namespace {
+
+class BlockRandomAccessSparseMatrixAdapter : public LinearOperator {
+ public:
+ explicit BlockRandomAccessSparseMatrixAdapter(
+ const BlockRandomAccessSparseMatrix& m)
+ : m_(m) {
+ }
+
+ virtual ~BlockRandomAccessSparseMatrixAdapter() {}
+
+ // y = y + Ax;
+ virtual void RightMultiply(const double* x, double* y) const {
+ m_.SymmetricRightMultiply(x, y);
+ }
+
+ // y = y + A'x;
+ virtual void LeftMultiply(const double* x, double* y) const {
+ m_.SymmetricRightMultiply(x, y);
+ }
+
+ virtual int num_rows() const { return m_.num_rows(); }
+ virtual int num_cols() const { return m_.num_rows(); }
+
+ private:
+ const BlockRandomAccessSparseMatrix& m_;
+};
+
+class BlockRandomAccessDiagonalMatrixAdapter : public LinearOperator {
+ public:
+ explicit BlockRandomAccessDiagonalMatrixAdapter(
+ const BlockRandomAccessDiagonalMatrix& m)
+ : m_(m) {
+ }
+
+ virtual ~BlockRandomAccessDiagonalMatrixAdapter() {}
+
+ // y = y + Ax;
+ virtual void RightMultiply(const double* x, double* y) const {
+ m_.RightMultiply(x, y);
+ }
+
+ // y = y + A'x;
+ virtual void LeftMultiply(const double* x, double* y) const {
+ m_.RightMultiply(x, y);
+ }
+
+ virtual int num_rows() const { return m_.num_rows(); }
+ virtual int num_cols() const { return m_.num_rows(); }
+
+ private:
+ const BlockRandomAccessDiagonalMatrix& m_;
+};
+
+} // namespace
+
+LinearSolver::Summary SchurComplementSolver::SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("SchurComplementSolver::Solve");
+
+ if (eliminator_.get() == NULL) {
+ InitStorage(A->block_structure());
+ DetectStructure(*A->block_structure(),
+ options_.elimination_groups[0],
+ &options_.row_block_size,
+ &options_.e_block_size,
+ &options_.f_block_size);
+ eliminator_.reset(CHECK_NOTNULL(SchurEliminatorBase::Create(options_)));
+ const bool kFullRankETE = true;
+ eliminator_->Init(
+ options_.elimination_groups[0], kFullRankETE, A->block_structure());
+ };
+
+ std::fill(x, x + A->num_cols(), 0.0);
+ event_logger.AddEvent("Setup");
+
+ eliminator_->Eliminate(A, b, per_solve_options.D, lhs_.get(), rhs_.get());
+ event_logger.AddEvent("Eliminate");
+
+ double* reduced_solution = x + A->num_cols() - lhs_->num_cols();
+ const LinearSolver::Summary summary =
+ SolveReducedLinearSystem(per_solve_options, reduced_solution);
+ event_logger.AddEvent("ReducedSolve");
+
+ if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+ eliminator_->BackSubstitute(A, b, per_solve_options.D, reduced_solution, x);
+ event_logger.AddEvent("BackSubstitute");
+ }
+
+ return summary;
+}
+
+// Initialize a BlockRandomAccessDenseMatrix to store the Schur
+// complement.
+void DenseSchurComplementSolver::InitStorage(
+ const CompressedRowBlockStructure* bs) {
+ const int num_eliminate_blocks = options().elimination_groups[0];
+ const int num_col_blocks = bs->cols.size();
+
+ vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks, j = 0;
+ i < num_col_blocks;
+ ++i, ++j) {
+ blocks[j] = bs->cols[i].size;
+ }
+
+ set_lhs(new BlockRandomAccessDenseMatrix(blocks));
+ set_rhs(new double[lhs()->num_rows()]);
+}
+
+// Solve the system Sx = r, assuming that the matrix S is stored in a
+// BlockRandomAccessDenseMatrix. The linear system is solved using
+// Eigen's Cholesky factorization.
+LinearSolver::Summary
+DenseSchurComplementSolver::SolveReducedLinearSystem(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution) {
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ const BlockRandomAccessDenseMatrix* m =
+ down_cast<const BlockRandomAccessDenseMatrix*>(lhs());
+ const int num_rows = m->num_rows();
+
+ // The case where there are no f blocks, and the system is block
+ // diagonal.
+ if (num_rows == 0) {
+ return summary;
+ }
+
+ summary.num_iterations = 1;
+
+ if (options().dense_linear_algebra_library_type == EIGEN) {
+ Eigen::LLT<Matrix, Eigen::Upper> llt =
+ ConstMatrixRef(m->values(), num_rows, num_rows)
+ .selfadjointView<Eigen::Upper>()
+ .llt();
+ if (llt.info() != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message =
+ "Eigen failure. Unable to perform dense Cholesky factorization.";
+ return summary;
+ }
+
+ VectorRef(solution, num_rows) = llt.solve(ConstVectorRef(rhs(), num_rows));
+ } else {
+ VectorRef(solution, num_rows) = ConstVectorRef(rhs(), num_rows);
+ summary.termination_type =
+ LAPACK::SolveInPlaceUsingCholesky(num_rows,
+ m->values(),
+ solution,
+ &summary.message);
+ }
+
+ return summary;
+}
+
+SparseSchurComplementSolver::SparseSchurComplementSolver(
+ const LinearSolver::Options& options)
+ : SchurComplementSolver(options) {
+ if (options.type != ITERATIVE_SCHUR) {
+ sparse_cholesky_.reset(
+ SparseCholesky::Create(options.sparse_linear_algebra_library_type,
+ options.use_postordering ? AMD : NATURAL));
+ }
+}
+
+SparseSchurComplementSolver::~SparseSchurComplementSolver() {
+}
+
+// Determine the non-zero blocks in the Schur Complement matrix, and
+// initialize a BlockRandomAccessSparseMatrix object.
+void SparseSchurComplementSolver::InitStorage(
+ const CompressedRowBlockStructure* bs) {
+ const int num_eliminate_blocks = options().elimination_groups[0];
+ const int num_col_blocks = bs->cols.size();
+ const int num_row_blocks = bs->rows.size();
+
+ blocks_.resize(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+ blocks_[i - num_eliminate_blocks] = bs->cols[i].size;
+ }
+
+ set<pair<int, int> > block_pairs;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ block_pairs.insert(make_pair(i, i));
+ }
+
+ int r = 0;
+ while (r < num_row_blocks) {
+ int e_block_id = bs->rows[r].cells.front().block_id;
+ if (e_block_id >= num_eliminate_blocks) {
+ break;
+ }
+ vector<int> f_blocks;
+
+ // Add to the chunk until the first block in the row is
+ // different than the one in the first row for the chunk.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs->rows[r];
+ if (row.cells.front().block_id != e_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first
+ // block since it is the one to be eliminated.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ f_blocks.push_back(cell.block_id - num_eliminate_blocks);
+ }
+ }
+
+ sort(f_blocks.begin(), f_blocks.end());
+ f_blocks.erase(unique(f_blocks.begin(), f_blocks.end()), f_blocks.end());
+ for (int i = 0; i < f_blocks.size(); ++i) {
+ for (int j = i + 1; j < f_blocks.size(); ++j) {
+ block_pairs.insert(make_pair(f_blocks[i], f_blocks[j]));
+ }
+ }
+ }
+
+ // Remaing rows do not contribute to the chunks and directly go
+ // into the schur complement via an outer product.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs->rows[r];
+ CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+ for (int i = 0; i < row.cells.size(); ++i) {
+ int r_block1_id = row.cells[i].block_id - num_eliminate_blocks;
+ for (int j = 0; j < row.cells.size(); ++j) {
+ int r_block2_id = row.cells[j].block_id - num_eliminate_blocks;
+ if (r_block1_id <= r_block2_id) {
+ block_pairs.insert(make_pair(r_block1_id, r_block2_id));
+ }
+ }
+ }
+ }
+
+ set_lhs(new BlockRandomAccessSparseMatrix(blocks_, block_pairs));
+ set_rhs(new double[lhs()->num_rows()]);
+}
+
+LinearSolver::Summary SparseSchurComplementSolver::SolveReducedLinearSystem(
+ const LinearSolver::PerSolveOptions& per_solve_options, double* solution) {
+ if (options().type == ITERATIVE_SCHUR) {
+ return SolveReducedLinearSystemUsingConjugateGradients(per_solve_options,
+ solution);
+ }
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ const TripletSparseMatrix* tsm =
+ down_cast<const BlockRandomAccessSparseMatrix*>(lhs())->matrix();
+ if (tsm->num_rows() == 0) {
+ return summary;
+ }
+
+ scoped_ptr<CompressedRowSparseMatrix> lhs;
+ const CompressedRowSparseMatrix::StorageType storage_type =
+ sparse_cholesky_->StorageType();
+ if (storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+ lhs.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+ lhs->set_storage_type(CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+ } else {
+ lhs.reset(
+ CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+ lhs->set_storage_type(CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+ }
+
+ *lhs->mutable_col_blocks() = blocks_;
+ *lhs->mutable_row_blocks() = blocks_;
+
+ summary.num_iterations = 1;
+ summary.termination_type = sparse_cholesky_->FactorAndSolve(
+ lhs.get(), rhs(), solution, &summary.message);
+ return summary;
+}
+
+LinearSolver::Summary
+SparseSchurComplementSolver::SolveReducedLinearSystemUsingConjugateGradients(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution) {
+ CHECK(options().use_explicit_schur_complement);
+ const int num_rows = lhs()->num_rows();
+ // The case where there are no f blocks, and the system is block
+ // diagonal.
+ if (num_rows == 0) {
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+ return summary;
+ }
+
+ // Only SCHUR_JACOBI is supported over here right now.
+ CHECK_EQ(options().preconditioner_type, SCHUR_JACOBI);
+
+ if (preconditioner_.get() == NULL) {
+ preconditioner_.reset(new BlockRandomAccessDiagonalMatrix(blocks_));
+ }
+
+ BlockRandomAccessSparseMatrix* sc =
+ down_cast<BlockRandomAccessSparseMatrix*>(
+ const_cast<BlockRandomAccessMatrix*>(lhs()));
+
+ // Extract block diagonal from the Schur complement to construct the
+ // schur_jacobi preconditioner.
+ for (int i = 0; i < blocks_.size(); ++i) {
+ const int block_size = blocks_[i];
+
+ int sc_r, sc_c, sc_row_stride, sc_col_stride;
+ CellInfo* sc_cell_info =
+ CHECK_NOTNULL(sc->GetCell(i, i,
+ &sc_r, &sc_c,
+ &sc_row_stride, &sc_col_stride));
+ MatrixRef sc_m(sc_cell_info->values, sc_row_stride, sc_col_stride);
+
+ int pre_r, pre_c, pre_row_stride, pre_col_stride;
+ CellInfo* pre_cell_info = CHECK_NOTNULL(
+ preconditioner_->GetCell(i, i,
+ &pre_r, &pre_c,
+ &pre_row_stride, &pre_col_stride));
+ MatrixRef pre_m(pre_cell_info->values, pre_row_stride, pre_col_stride);
+
+ pre_m.block(pre_r, pre_c, block_size, block_size) =
+ sc_m.block(sc_r, sc_c, block_size, block_size);
+ }
+ preconditioner_->Invert();
+
+ VectorRef(solution, num_rows).setZero();
+
+ scoped_ptr<LinearOperator> lhs_adapter(
+ new BlockRandomAccessSparseMatrixAdapter(*sc));
+ scoped_ptr<LinearOperator> preconditioner_adapter(
+ new BlockRandomAccessDiagonalMatrixAdapter(*preconditioner_));
+
+
+ LinearSolver::Options cg_options;
+ cg_options.min_num_iterations = options().min_num_iterations;
+ cg_options.max_num_iterations = options().max_num_iterations;
+ ConjugateGradientsSolver cg_solver(cg_options);
+
+ LinearSolver::PerSolveOptions cg_per_solve_options;
+ cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
+ cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
+ cg_per_solve_options.preconditioner = preconditioner_adapter.get();
+
+ return cg_solver.Solve(lhs_adapter.get(),
+ rhs(),
+ cg_per_solve_options,
+ solution);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include <set>
+#include <utility>
+#include <vector>
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/types.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/SparseCholesky"
+#include "Eigen/OrderingMethods"
+#endif
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class SparseCholesky;
+
+// Base class for Schur complement based linear least squares
+// solvers. It assumes that the input linear system Ax = b can be
+// partitioned into
+//
+// E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables. The paritioning
+// of the variables is such that, E'E is a block diagonal
+// matrix. Further, the rows of A are ordered so that for every
+// variable block in y, all the rows containing that variable block
+// occur as a vertically contiguous block. i.e the matrix A looks like
+//
+// E F
+// A = [ y1 0 0 0 | z1 0 0 0 z5]
+// [ y1 0 0 0 | z1 z2 0 0 0]
+// [ 0 y2 0 0 | 0 0 z3 0 0]
+// [ 0 0 y3 0 | z1 z2 z3 z4 z5]
+// [ 0 0 y3 0 | z1 0 0 0 z5]
+// [ 0 0 0 y4 | 0 0 0 0 z5]
+// [ 0 0 0 y4 | 0 z2 0 0 0]
+// [ 0 0 0 y4 | 0 0 0 0 0]
+// [ 0 0 0 0 | z1 0 0 0 0]
+// [ 0 0 0 0 | 0 0 z3 z4 z5]
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular.
+//
+// SchurComplementSolver has two sub-classes.
+//
+// DenseSchurComplementSolver: For problems where the Schur complement
+// matrix is small and dense, or if CHOLMOD/SuiteSparse is not
+// installed. For structure from motion problems, this is solver can
+// be used for problems with upto a few hundred cameras.
+//
+// SparseSchurComplementSolver: For problems where the Schur
+// complement matrix is large and sparse. It requires that Ceres be
+// build with at least one sparse linear algebra library, as it
+// computes a sparse Cholesky factorization of the Schur complement.
+//
+// This solver can be used for solving structure from motion problems
+// with tens of thousands of cameras, though depending on the exact
+// sparsity structure, it maybe better to use an iterative solver.
+//
+// The two solvers can be instantiated by calling
+// LinearSolver::CreateLinearSolver with LinearSolver::Options::type
+// set to DENSE_SCHUR and SPARSE_SCHUR
+// respectively. LinearSolver::Options::elimination_groups[0] should
+// be at least 1.
+class SchurComplementSolver : public BlockSparseMatrixSolver {
+ public:
+ explicit SchurComplementSolver(const LinearSolver::Options& options)
+ : options_(options) {
+ CHECK_GT(options.elimination_groups.size(), 1);
+ CHECK_GT(options.elimination_groups[0], 0);
+ }
+
+ // LinearSolver methods
+ virtual ~SchurComplementSolver() {}
+ virtual LinearSolver::Summary SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ protected:
+ const LinearSolver::Options& options() const { return options_; }
+
+ const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); }
+ void set_lhs(BlockRandomAccessMatrix* lhs) { lhs_.reset(lhs); }
+ const double* rhs() const { return rhs_.get(); }
+ void set_rhs(double* rhs) { rhs_.reset(rhs); }
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
+ virtual LinearSolver::Summary SolveReducedLinearSystem(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution) = 0;
+
+ LinearSolver::Options options_;
+
+ scoped_ptr<SchurEliminatorBase> eliminator_;
+ scoped_ptr<BlockRandomAccessMatrix> lhs_;
+ scoped_array<double> rhs_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(SchurComplementSolver);
+};
+
+// Dense Cholesky factorization based solver.
+class DenseSchurComplementSolver : public SchurComplementSolver {
+ public:
+ explicit DenseSchurComplementSolver(const LinearSolver::Options& options)
+ : SchurComplementSolver(options) {}
+ virtual ~DenseSchurComplementSolver() {}
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs);
+ virtual LinearSolver::Summary SolveReducedLinearSystem(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution);
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
+};
+
+// Sparse Cholesky factorization based solver.
+class SparseSchurComplementSolver : public SchurComplementSolver {
+ public:
+ explicit SparseSchurComplementSolver(const LinearSolver::Options& options);
+ virtual ~SparseSchurComplementSolver();
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs);
+ virtual LinearSolver::Summary SolveReducedLinearSystem(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution);
+ LinearSolver::Summary SolveReducedLinearSystemUsingConjugateGradients(
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* solution);
+
+ // Size of the blocks in the Schur complement.
+ std::vector<int> blocks_;
+ scoped_ptr<SparseCholesky> sparse_cholesky_;
+ scoped_ptr<BlockRandomAccessDiagonalMatrix> preconditioner_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
--- /dev/null
+// 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/schur_complement_solver.h"
+
+#include <cstddef>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class SchurComplementSolverTest : public ::testing::Test {
+ protected:
+ void SetUpFromProblemId(int problem_id) {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(problem_id));
+
+ CHECK_NOTNULL(problem.get());
+ A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b.reset(problem->b.release());
+ D.reset(problem->D.release());
+
+ num_cols = A->num_cols();
+ num_rows = A->num_rows();
+ num_eliminate_blocks = problem->num_eliminate_blocks;
+
+ x.resize(num_cols);
+ sol.resize(num_cols);
+ sol_d.resize(num_cols);
+
+ LinearSolver::Options options;
+ options.type = DENSE_QR;
+
+ scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+ TripletSparseMatrix triplet_A(A->num_rows(),
+ A->num_cols(),
+ A->num_nonzeros());
+ A->ToTripletSparseMatrix(&triplet_A);
+
+ // Gold standard solutions using dense QR factorization.
+ DenseSparseMatrix dense_A(triplet_A);
+ qr->Solve(&dense_A, b.get(), LinearSolver::PerSolveOptions(), sol.data());
+
+ // Gold standard solution with appended diagonal.
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D.get();
+ qr->Solve(&dense_A, b.get(), per_solve_options, sol_d.data());
+ }
+
+ void ComputeAndCompareSolutions(
+ int problem_id,
+ bool regularization,
+ ceres::LinearSolverType linear_solver_type,
+ ceres::DenseLinearAlgebraLibraryType dense_linear_algebra_library_type,
+ ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ bool use_postordering) {
+ SetUpFromProblemId(problem_id);
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks);
+ options.elimination_groups.push_back(
+ A->block_structure()->cols.size() - num_eliminate_blocks);
+ options.type = linear_solver_type;
+ options.dense_linear_algebra_library_type =
+ dense_linear_algebra_library_type;
+ options.sparse_linear_algebra_library_type =
+ sparse_linear_algebra_library_type;
+ options.use_postordering = use_postordering;
+ DetectStructure(*A->block_structure(),
+ num_eliminate_blocks,
+ &options.row_block_size,
+ &options.e_block_size,
+ &options.f_block_size);
+
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ LinearSolver::Summary summary;
+ if (regularization) {
+ per_solve_options.D = D.get();
+ }
+
+ summary = solver->Solve(A.get(), b.get(), per_solve_options, x.data());
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+ if (regularization) {
+
+ ASSERT_NEAR((sol_d - x).norm() / num_cols, 0, 1e-10)
+ << "Regularized Expected solution: " << sol_d.transpose()
+ << " Actual solution: " << x.transpose();
+ } else {
+ ASSERT_NEAR((sol - x).norm() / num_cols, 0, 1e-10)
+ << "Unregularized Expected solution: " << sol.transpose()
+ << " Actual solution: " << x.transpose();
+ }
+ }
+
+ int num_rows;
+ int num_cols;
+ int num_eliminate_blocks;
+
+ scoped_ptr<BlockSparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> D;
+ Vector x;
+ Vector sol;
+ Vector sol_d;
+};
+
+// TODO(sameeragarwal): Refactor these using value parameterized tests.
+// TODO(sameeragarwal): More extensive tests using random matrices.
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenSmallProblem) {
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenLargeProblem) {
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenVaryingFBlockSize) {
+ ComputeAndCompareSolutions(4, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+#ifndef CERES_NO_LAPACK
+TEST_F(SchurComplementSolverTest, DenseSchurWithLAPACKSmallProblem) {
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithLAPACKLargeProblem) {
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+#endif
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithSuiteSparseSmallProblemNoPostOrdering) {
+ ComputeAndCompareSolutions(
+ 2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+}
+
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithSuiteSparseSmallProblemPostOrdering) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithSuiteSparseLargeProblemNoPostOrdering) {
+ ComputeAndCompareSolutions(
+ 3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+}
+
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithSuiteSparseLargeProblemPostOrdering) {
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithCXSparseSmallProblem) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithCXSparseLargeProblem) {
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+}
+#endif // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithEigenSparseSmallProblem) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+ SparseSchurWithEigenSparseLargeProblem) {
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+}
+#endif // CERES_USE_EIGEN_SPARSE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 2)) {
+ return new SchurEliminator<2, 2, 2>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 2, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 2, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2)) {
+ return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 3, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 3, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 6)) {
+ return new SchurEliminator<2, 3, 6>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 9)) {
+ return new SchurEliminator<2, 3, 9>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3)) {
+ return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 4, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 4, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 8)) {
+ return new SchurEliminator<2, 4, 8>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 9)) {
+ return new SchurEliminator<2, 4, 9>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4)) {
+ return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
+ }
+ if (options.row_block_size == 2){
+ return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 2)) {
+ return new SchurEliminator<4, 4, 2>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<4, 4, 3>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<4, 4, 4>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4)) {
+ return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
+ }
+
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+
+#include <map>
+#include <vector>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Classes implementing the SchurEliminatorBase interface implement
+// variable elimination for linear least squares problems. Assuming
+// that the input linear system Ax = b can be partitioned into
+//
+// E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables. The paritioning
+// of the variables is such that, E'E is a block diagonal matrix. Or
+// in other words, the parameter blocks in E form an independent set
+// of the of the graph implied by the block matrix A'A. Then, this
+// class provides the functionality to compute the Schur complement
+// system
+//
+// S z = r
+//
+// where
+//
+// S = F'F - F'E (E'E)^{-1} E'F and r = F'b - F'E(E'E)^(-1) E'b
+//
+// This is the Eliminate operation, i.e., construct the linear system
+// obtained by eliminating the variables in E.
+//
+// The eliminator also provides the reverse functionality, i.e. given
+// values for z it can back substitute for the values of y, by solving the
+// linear system
+//
+// Ey = b - F z
+//
+// which is done by observing that
+//
+// y = (E'E)^(-1) [E'b - E'F z]
+//
+// The eliminator has a number of requirements.
+//
+// The rows of A are ordered so that for every variable block in y,
+// all the rows containing that variable block occur as a vertically
+// contiguous block. i.e the matrix A looks like
+//
+// E F chunk
+// A = [ y1 0 0 0 | z1 0 0 0 z5] 1
+// [ y1 0 0 0 | z1 z2 0 0 0] 1
+// [ 0 y2 0 0 | 0 0 z3 0 0] 2
+// [ 0 0 y3 0 | z1 z2 z3 z4 z5] 3
+// [ 0 0 y3 0 | z1 0 0 0 z5] 3
+// [ 0 0 0 y4 | 0 0 0 0 z5] 4
+// [ 0 0 0 y4 | 0 z2 0 0 0] 4
+// [ 0 0 0 y4 | 0 0 0 0 0] 4
+// [ 0 0 0 0 | z1 0 0 0 0] non chunk blocks
+// [ 0 0 0 0 | 0 0 z3 z4 z5] non chunk blocks
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular. For simplicity of exposition only the case
+// with a null D is described.
+//
+// The usual way to do the elimination is as follows. Starting with
+//
+// E y + F z = b
+//
+// we can form the normal equations,
+//
+// E'E y + E'F z = E'b
+// F'E y + F'F z = F'b
+//
+// multiplying both sides of the first equation by (E'E)^(-1) and then
+// by F'E we get
+//
+// F'E y + F'E (E'E)^(-1) E'F z = F'E (E'E)^(-1) E'b
+// F'E y + F'F z = F'b
+//
+// now subtracting the two equations we get
+//
+// [FF' - F'E (E'E)^(-1) E'F] z = F'b - F'E(E'E)^(-1) E'b
+//
+// Instead of forming the normal equations and operating on them as
+// general sparse matrices, the algorithm here deals with one
+// parameter block in y at a time. The rows corresponding to a single
+// parameter block yi are known as a chunk, and the algorithm operates
+// on one chunk at a time. The mathematics remains the same since the
+// reduced linear system can be shown to be the sum of the reduced
+// linear systems for each chunk. This can be seen by observing two
+// things.
+//
+// 1. E'E is a block diagonal matrix.
+//
+// 2. When E'F is computed, only the terms within a single chunk
+// interact, i.e for y1 column blocks when transposed and multiplied
+// with F, the only non-zero contribution comes from the blocks in
+// chunk1.
+//
+// Thus, the reduced linear system
+//
+// FF' - F'E (E'E)^(-1) E'F
+//
+// can be re-written as
+//
+// sum_k F_k F_k' - F_k'E_k (E_k'E_k)^(-1) E_k' F_k
+//
+// Where the sum is over chunks and E_k'E_k is dense matrix of size y1
+// x y1.
+//
+// Advanced usage. Uptil now it has been assumed that the user would
+// be interested in all of the Schur Complement S. However, it is also
+// possible to use this eliminator to obtain an arbitrary submatrix of
+// the full Schur complement. When the eliminator is generating the
+// blocks of S, it asks the RandomAccessBlockMatrix instance passed to
+// it if it has storage for that block. If it does, the eliminator
+// computes/updates it, if not it is skipped. This is useful when one
+// is interested in constructing a preconditioner based on the Schur
+// Complement, e.g., computing the block diagonal of S so that it can
+// be used as a preconditioner for an Iterative Substructuring based
+// solver [See Agarwal et al, Bundle Adjustment in the Large, ECCV
+// 2008 for an example of such use].
+//
+// Example usage: Please see schur_complement_solver.cc
+class SchurEliminatorBase {
+ public:
+ virtual ~SchurEliminatorBase() {}
+
+ // Initialize the eliminator. It is the user's responsibilty to call
+ // this function before calling Eliminate or BackSubstitute. It is
+ // also the caller's responsibilty to ensure that the
+ // CompressedRowBlockStructure object passed to this method is the
+ // same one (or is equivalent to) the one associated with the
+ // BlockSparseMatrix objects below.
+ //
+ // assume_full_rank_ete controls how the eliminator inverts with the
+ // diagonal blocks corresponding to e blocks in A'A. If
+ // assume_full_rank_ete is true, then a Cholesky factorization is
+ // used to compute the inverse, otherwise a singular value
+ // decomposition is used to compute the pseudo inverse.
+ virtual void Init(int num_eliminate_blocks,
+ bool assume_full_rank_ete,
+ const CompressedRowBlockStructure* bs) = 0;
+
+ // Compute the Schur complement system from the augmented linear
+ // least squares problem [A;D] x = [b;0]. The left hand side and the
+ // right hand side of the reduced linear system are returned in lhs
+ // and rhs respectively.
+ //
+ // It is the caller's responsibility to construct and initialize
+ // lhs. Depending upon the structure of the lhs object passed here,
+ // the full or a submatrix of the Schur complement will be computed.
+ //
+ // Since the Schur complement is a symmetric matrix, only the upper
+ // triangular part of the Schur complement is computed.
+ virtual void Eliminate(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) = 0;
+
+ // Given values for the variables z in the F block of A, solve for
+ // the optimal values of the variables y corresponding to the E
+ // block in A.
+ virtual void BackSubstitute(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y) = 0;
+ // Factory
+ static SchurEliminatorBase* Create(const LinearSolver::Options& options);
+};
+
+// Templated implementation of the SchurEliminatorBase interface. The
+// templating is on the sizes of the row, e and f blocks sizes in the
+// input matrix. In many problems, the sizes of one or more of these
+// blocks are constant, in that case, its worth passing these
+// parameters as template arguments so that they are visible to the
+// compiler and can be used for compile time optimization of the low
+// level linear algebra routines.
+//
+// This implementation is mulithreaded using OpenMP. The level of
+// parallelism is controlled by LinearSolver::Options::num_threads.
+template <int kRowBlockSize = Eigen::Dynamic,
+ int kEBlockSize = Eigen::Dynamic,
+ int kFBlockSize = Eigen::Dynamic >
+class SchurEliminator : public SchurEliminatorBase {
+ public:
+ explicit SchurEliminator(const LinearSolver::Options& options)
+ : num_threads_(options.num_threads) {
+ }
+
+ // SchurEliminatorBase Interface
+ virtual ~SchurEliminator();
+ virtual void Init(int num_eliminate_blocks,
+ bool assume_full_rank_ete,
+ const CompressedRowBlockStructure* bs);
+ virtual void Eliminate(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs);
+ virtual void BackSubstitute(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y);
+
+ private:
+ // Chunk objects store combinatorial information needed to
+ // efficiently eliminate a whole chunk out of the least squares
+ // problem. Consider the first chunk in the example matrix above.
+ //
+ // [ y1 0 0 0 | z1 0 0 0 z5]
+ // [ y1 0 0 0 | z1 z2 0 0 0]
+ //
+ // One of the intermediate quantities that needs to be calculated is
+ // for each row the product of the y block transposed with the
+ // non-zero z block, and the sum of these blocks across rows. A
+ // temporary array "buffer_" is used for computing and storing them
+ // and the buffer_layout maps the indices of the z-blocks to
+ // position in the buffer_ array. The size of the chunk is the
+ // number of row blocks/residual blocks for the particular y block
+ // being considered.
+ //
+ // For the example chunk shown above,
+ //
+ // size = 2
+ //
+ // The entries of buffer_layout will be filled in the following order.
+ //
+ // buffer_layout[z1] = 0
+ // buffer_layout[z5] = y1 * z1
+ // buffer_layout[z2] = y1 * z1 + y1 * z5
+ typedef std::map<int, int> BufferLayoutType;
+ struct Chunk {
+ Chunk() : size(0) {}
+ int size;
+ int start;
+ BufferLayoutType buffer_layout;
+ };
+
+ void ChunkDiagonalBlockAndGradient(
+ const Chunk& chunk,
+ const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* eet,
+ double* g,
+ double* buffer,
+ BlockRandomAccessMatrix* lhs);
+
+ void UpdateRhs(const Chunk& chunk,
+ const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ const double* inverse_ete_g,
+ double* rhs);
+
+ void ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+ const Matrix& inverse_eet,
+ const double* buffer,
+ const BufferLayoutType& buffer_layout,
+ BlockRandomAccessMatrix* lhs);
+ void EBlockRowOuterProduct(const BlockSparseMatrix* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs);
+
+
+ void NoEBlockRowsUpdate(const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs);
+
+ void NoEBlockRowOuterProduct(const BlockSparseMatrix* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs);
+
+ int num_threads_;
+ int num_eliminate_blocks_;
+ bool assume_full_rank_ete_;
+
+ // Block layout of the columns of the reduced linear system. Since
+ // the f blocks can be of varying size, this vector stores the
+ // position of each f block in the row/col of the reduced linear
+ // system. Thus lhs_row_layout_[i] is the row/col position of the
+ // i^th f block.
+ std::vector<int> lhs_row_layout_;
+
+ // Combinatorial structure of the chunks in A. For more information
+ // see the documentation of the Chunk object above.
+ std::vector<Chunk> chunks_;
+
+ // TODO(sameeragarwal): The following two arrays contain per-thread
+ // storage. They should be refactored into a per thread struct.
+
+ // Buffer to store the products of the y and z blocks generated
+ // during the elimination phase. buffer_ is of size num_threads *
+ // buffer_size_. Each thread accesses the chunk
+ //
+ // [thread_id * buffer_size_ , (thread_id + 1) * buffer_size_]
+ //
+ scoped_array<double> buffer_;
+
+ // Buffer to store per thread matrix matrix products used by
+ // ChunkOuterProduct. Like buffer_ it is of size num_threads *
+ // buffer_size_. Each thread accesses the chunk
+ //
+ // [thread_id * buffer_size_ , (thread_id + 1) * buffer_size_ -1]
+ //
+ scoped_array<double> chunk_outer_product_buffer_;
+
+ int buffer_size_;
+ int uneliminated_row_begins_;
+
+ // Locks for the blocks in the right hand side of the reduced linear
+ // system.
+ std::vector<Mutex*> rhs_locks_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_ELIMINATOR_H_
--- /dev/null
+// 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)
+//
+// TODO(sameeragarwal): row_block_counter can perhaps be replaced by
+// Chunk::start ?
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+
+// Eigen has an internal threshold switching between different matrix
+// multiplication algorithms. In particular for matrices larger than
+// EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD it uses a cache friendly
+// matrix matrix product algorithm that has a higher setup cost. For
+// matrix sizes close to this threshold, especially when the matrices
+// are thin and long, the default choice may not be optimal. This is
+// the case for us, as the default choice causes a 30% performance
+// regression when we moved from Eigen2 to Eigen3.
+
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 10
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <algorithm>
+#include <map>
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/invert_psd_matrix.h"
+#include "ceres/map_util.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/small_blas.h"
+#include "ceres/stl_util.h"
+#include "Eigen/Dense"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::~SchurEliminator() {
+ STLDeleteElements(&rhs_locks_);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Init(
+ int num_eliminate_blocks,
+ bool assume_full_rank_ete,
+ const CompressedRowBlockStructure* bs) {
+ CHECK_GT(num_eliminate_blocks, 0)
+ << "SchurComplementSolver cannot be initialized with "
+ << "num_eliminate_blocks = 0.";
+
+ num_eliminate_blocks_ = num_eliminate_blocks;
+ assume_full_rank_ete_ = assume_full_rank_ete;
+
+ const int num_col_blocks = bs->cols.size();
+ const int num_row_blocks = bs->rows.size();
+
+ buffer_size_ = 1;
+ chunks_.clear();
+ lhs_row_layout_.clear();
+
+ int lhs_num_rows = 0;
+ // Add a map object for each block in the reduced linear system
+ // and build the row/column block structure of the reduced linear
+ // system.
+ lhs_row_layout_.resize(num_col_blocks - num_eliminate_blocks_);
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ lhs_row_layout_[i - num_eliminate_blocks_] = lhs_num_rows;
+ lhs_num_rows += bs->cols[i].size;
+ }
+
+ int r = 0;
+ // Iterate over the row blocks of A, and detect the chunks. The
+ // matrix should already have been ordered so that all rows
+ // containing the same y block are vertically contiguous. Along
+ // the way also compute the amount of space each chunk will need
+ // to perform the elimination.
+ while (r < num_row_blocks) {
+ const int chunk_block_id = bs->rows[r].cells.front().block_id;
+ if (chunk_block_id >= num_eliminate_blocks_) {
+ break;
+ }
+
+ chunks_.push_back(Chunk());
+ Chunk& chunk = chunks_.back();
+ chunk.size = 0;
+ chunk.start = r;
+ int buffer_size = 0;
+ const int e_block_size = bs->cols[chunk_block_id].size;
+
+ // Add to the chunk until the first block in the row is
+ // different than the one in the first row for the chunk.
+ while (r + chunk.size < num_row_blocks) {
+ const CompressedRow& row = bs->rows[r + chunk.size];
+ if (row.cells.front().block_id != chunk_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first
+ // block since it is the one to be eliminated.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ if (InsertIfNotPresent(
+ &(chunk.buffer_layout), cell.block_id, buffer_size)) {
+ buffer_size += e_block_size * bs->cols[cell.block_id].size;
+ }
+ }
+
+ buffer_size_ = std::max(buffer_size, buffer_size_);
+ ++chunk.size;
+ }
+
+ CHECK_GT(chunk.size, 0);
+ r += chunk.size;
+ }
+ const Chunk& chunk = chunks_.back();
+
+ uneliminated_row_begins_ = chunk.start + chunk.size;
+ if (num_threads_ > 1) {
+ random_shuffle(chunks_.begin(), chunks_.end());
+ }
+
+ buffer_.reset(new double[buffer_size_ * num_threads_]);
+
+ // chunk_outer_product_buffer_ only needs to store e_block_size *
+ // f_block_size, which is always less than buffer_size_, so we just
+ // allocate buffer_size_ per thread.
+ chunk_outer_product_buffer_.reset(new double[buffer_size_ * num_threads_]);
+
+ STLDeleteElements(&rhs_locks_);
+ rhs_locks_.resize(num_col_blocks - num_eliminate_blocks_);
+ for (int i = 0; i < num_col_blocks - num_eliminate_blocks_; ++i) {
+ rhs_locks_[i] = new Mutex;
+ }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+Eliminate(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) {
+ if (lhs->num_rows() > 0) {
+ lhs->SetZero();
+ VectorRef(rhs, lhs->num_rows()).setZero();
+ }
+
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int num_col_blocks = bs->cols.size();
+
+ // Add the diagonal to the schur complement.
+ if (D != NULL) {
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ const int block_id = i - num_eliminate_blocks_;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block_id, block_id,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ const int block_size = bs->cols[i].size;
+ typename EigenTypes<Eigen::Dynamic>::ConstVectorRef
+ diag(D + bs->cols[i].position, block_size);
+
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block_size, block_size).diagonal()
+ += diag.array().square().matrix();
+ }
+ }
+ }
+
+ // Eliminate y blocks one chunk at a time. For each chunk, compute
+ // the entries of the normal equations and the gradient vector block
+ // corresponding to the y block and then apply Gaussian elimination
+ // to them. The matrix ete stores the normal matrix corresponding to
+ // the block being eliminated and array buffer_ contains the
+ // non-zero blocks in the row corresponding to this y block in the
+ // normal equations. This computation is done in
+ // ChunkDiagonalBlockAndGradient. UpdateRhs then applies gaussian
+ // elimination to the rhs of the normal equations, updating the rhs
+ // of the reduced linear system by modifying rhs blocks for all the
+ // z blocks that share a row block/residual term with the y
+ // block. EliminateRowOuterProduct does the corresponding operation
+ // for the lhs of the reduced linear system.
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = 0; i < chunks_.size(); ++i) {
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ double* buffer = buffer_.get() + thread_id * buffer_size_;
+ const Chunk& chunk = chunks_[i];
+ const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+ const int e_block_size = bs->cols[e_block_id].size;
+
+ VectorRef(buffer, buffer_size_).setZero();
+
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+ ete(e_block_size, e_block_size);
+
+ if (D != NULL) {
+ const typename EigenTypes<kEBlockSize>::ConstVectorRef
+ diag(D + bs->cols[e_block_id].position, e_block_size);
+ ete = diag.array().square().matrix().asDiagonal();
+ } else {
+ ete.setZero();
+ }
+
+ FixedArray<double, 8> g(e_block_size);
+ typename EigenTypes<kEBlockSize>::VectorRef gref(g.get(), e_block_size);
+ gref.setZero();
+
+ // We are going to be computing
+ //
+ // S += F'F - F'E(E'E)^{-1}E'F
+ //
+ // for each Chunk. The computation is broken down into a number of
+ // function calls as below.
+
+ // Compute the outer product of the e_blocks with themselves (ete
+ // = E'E). Compute the product of the e_blocks with the
+ // corresonding f_blocks (buffer = E'F), the gradient of the terms
+ // in this chunk (g) and add the outer product of the f_blocks to
+ // Schur complement (S += F'F).
+ ChunkDiagonalBlockAndGradient(
+ chunk, A, b, chunk.start, &ete, g.get(), buffer, lhs);
+
+ // Normally one wouldn't compute the inverse explicitly, but
+ // e_block_size will typically be a small number like 3, in
+ // which case its much faster to compute the inverse once and
+ // use it to multiply other matrices/vectors instead of doing a
+ // Solve call over and over again.
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix inverse_ete =
+ InvertPSDMatrix<kEBlockSize>(assume_full_rank_ete_, ete);
+
+ // For the current chunk compute and update the rhs of the reduced
+ // linear system.
+ //
+ // rhs = F'b - F'E(E'E)^(-1) E'b
+
+ FixedArray<double, 8> inverse_ete_g(e_block_size);
+ MatrixVectorMultiply<kEBlockSize, kEBlockSize, 0>(
+ inverse_ete.data(),
+ e_block_size,
+ e_block_size,
+ g.get(),
+ inverse_ete_g.get());
+
+ UpdateRhs(chunk, A, b, chunk.start, inverse_ete_g.get(), rhs);
+
+ // S -= F'E(E'E)^{-1}E'F
+ ChunkOuterProduct(bs, inverse_ete, buffer, chunk.buffer_layout, lhs);
+ }
+
+ // For rows with no e_blocks, the schur complement update reduces to
+ // S += F'F.
+ NoEBlockRowsUpdate(A, b, uneliminated_row_begins_, lhs, rhs);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+BackSubstitute(const BlockSparseMatrix* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = 0; i < chunks_.size(); ++i) {
+ const Chunk& chunk = chunks_[i];
+ const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+ const int e_block_size = bs->cols[e_block_id].size;
+
+ double* y_ptr = y + bs->cols[e_block_id].position;
+ typename EigenTypes<kEBlockSize>::VectorRef y_block(y_ptr, e_block_size);
+
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+ ete(e_block_size, e_block_size);
+ if (D != NULL) {
+ const typename EigenTypes<kEBlockSize>::ConstVectorRef
+ diag(D + bs->cols[e_block_id].position, e_block_size);
+ ete = diag.array().square().matrix().asDiagonal();
+ } else {
+ ete.setZero();
+ }
+
+ const double* values = A->values();
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[chunk.start + j];
+ const Cell& e_cell = row.cells.front();
+ DCHECK_EQ(e_block_id, e_cell.block_id);
+
+ FixedArray<double, 8> sj(row.block.size);
+
+ typename EigenTypes<kRowBlockSize>::VectorRef(sj.get(), row.block.size) =
+ typename EigenTypes<kRowBlockSize>::ConstVectorRef
+ (b + bs->rows[chunk.start + j].block.position, row.block.size);
+
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int f_block_id = row.cells[c].block_id;
+ const int f_block_size = bs->cols[f_block_id].size;
+ const int r_block = f_block_id - num_eliminate_blocks_;
+
+ MatrixVectorMultiply<kRowBlockSize, kFBlockSize, -1>(
+ values + row.cells[c].position, row.block.size, f_block_size,
+ z + lhs_row_layout_[r_block],
+ sj.get());
+ }
+
+ MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ sj.get(),
+ y_ptr);
+
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
+ ete.data(), 0, 0, e_block_size, e_block_size);
+ }
+
+ y_block = InvertPSDMatrix<kEBlockSize>(assume_full_rank_ete_, ete)
+ * y_block;
+ }
+}
+
+// Update the rhs of the reduced linear system. Compute
+//
+// F'b - F'E(E'E)^(-1) E'b
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateRhs(const Chunk& chunk,
+ const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ const double* inverse_ete_g,
+ double* rhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+ const int e_block_size = bs->cols[e_block_id].size;
+
+ int b_pos = bs->rows[row_block_counter].block.position;
+ const double* values = A->values();
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[row_block_counter + j];
+ const Cell& e_cell = row.cells.front();
+
+ typename EigenTypes<kRowBlockSize>::Vector sj =
+ typename EigenTypes<kRowBlockSize>::ConstVectorRef
+ (b + b_pos, row.block.size);
+
+ MatrixVectorMultiply<kRowBlockSize, kEBlockSize, -1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ inverse_ete_g, sj.data());
+
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int block_id = row.cells[c].block_id;
+ const int block_size = bs->cols[block_id].size;
+ const int block = block_id - num_eliminate_blocks_;
+ CeresMutexLock l(rhs_locks_[block]);
+ MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+ values + row.cells[c].position,
+ row.block.size, block_size,
+ sj.data(), rhs + lhs_row_layout_[block]);
+ }
+ b_pos += row.block.size;
+ }
+}
+
+// Given a Chunk - set of rows with the same e_block, e.g. in the
+// following Chunk with two rows.
+//
+// E F
+// [ y11 0 0 0 | z11 0 0 0 z51]
+// [ y12 0 0 0 | z12 z22 0 0 0]
+//
+// this function computes twp matrices. The diagonal block matrix
+//
+// ete = y11 * y11' + y12 * y12'
+//
+// and the off diagonal blocks in the Guass Newton Hessian.
+//
+// buffer = [y11'(z11 + z12), y12' * z22, y11' * z51]
+//
+// which are zero compressed versions of the block sparse matrices E'E
+// and E'F.
+//
+// and the gradient of the e_block, E'b.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkDiagonalBlockAndGradient(
+ const Chunk& chunk,
+ const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* ete,
+ double* g,
+ double* buffer,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+
+ int b_pos = bs->rows[row_block_counter].block.position;
+ const int e_block_size = ete->rows();
+
+ // Iterate over the rows in this chunk, for each row, compute the
+ // contribution of its F blocks to the Schur complement, the
+ // contribution of its E block to the matrix EE' (ete), and the
+ // corresponding block in the gradient vector.
+ const double* values = A->values();
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[row_block_counter + j];
+
+ if (row.cells.size() > 1) {
+ EBlockRowOuterProduct(A, row_block_counter + j, lhs);
+ }
+
+ // Extract the e_block, ETE += E_i' E_i
+ const Cell& e_cell = row.cells.front();
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ values + e_cell.position, row.block.size, e_block_size,
+ ete->data(), 0, 0, e_block_size, e_block_size);
+
+ // g += E_i' b_i
+ MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ b + b_pos,
+ g);
+
+
+ // buffer = E'F. This computation is done by iterating over the
+ // f_blocks for each row in the chunk.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int f_block_id = row.cells[c].block_id;
+ const int f_block_size = bs->cols[f_block_id].size;
+ double* buffer_ptr =
+ buffer + FindOrDie(chunk.buffer_layout, f_block_id);
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kEBlockSize, kRowBlockSize, kFBlockSize, 1>(
+ values + e_cell.position, row.block.size, e_block_size,
+ values + row.cells[c].position, row.block.size, f_block_size,
+ buffer_ptr, 0, 0, e_block_size, f_block_size);
+ }
+ b_pos += row.block.size;
+ }
+}
+
+// Compute the outer product F'E(E'E)^{-1}E'F and subtract it from the
+// Schur complement matrix, i.e
+//
+// S -= F'E(E'E)^{-1}E'F.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+ const Matrix& inverse_ete,
+ const double* buffer,
+ const BufferLayoutType& buffer_layout,
+ BlockRandomAccessMatrix* lhs) {
+ // This is the most computationally expensive part of this
+ // code. Profiling experiments reveal that the bottleneck is not the
+ // computation of the right-hand matrix product, but memory
+ // references to the left hand side.
+ const int e_block_size = inverse_ete.rows();
+ BufferLayoutType::const_iterator it1 = buffer_layout.begin();
+
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ double* b1_transpose_inverse_ete =
+ chunk_outer_product_buffer_.get() + thread_id * buffer_size_;
+
+ // S(i,j) -= bi' * ete^{-1} b_j
+ for (; it1 != buffer_layout.end(); ++it1) {
+ const int block1 = it1->first - num_eliminate_blocks_;
+ const int block1_size = bs->cols[it1->first].size;
+ MatrixTransposeMatrixMultiply
+ <kEBlockSize, kFBlockSize, kEBlockSize, kEBlockSize, 0>(
+ buffer + it1->second, e_block_size, block1_size,
+ inverse_ete.data(), e_block_size, e_block_size,
+ b1_transpose_inverse_ete, 0, 0, block1_size, e_block_size);
+
+ BufferLayoutType::const_iterator it2 = it1;
+ for (; it2 != buffer_layout.end(); ++it2) {
+ const int block2 = it2->first - num_eliminate_blocks_;
+
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ const int block2_size = bs->cols[it2->first].size;
+ CeresMutexLock l(&cell_info->m);
+ MatrixMatrixMultiply
+ <kFBlockSize, kEBlockSize, kEBlockSize, kFBlockSize, -1>(
+ b1_transpose_inverse_ete, block1_size, e_block_size,
+ buffer + it2->second, e_block_size, block2_size,
+ cell_info->values, r, c, row_stride, col_stride);
+ }
+ }
+ }
+}
+
+// For rows with no e_blocks, the schur complement update reduces to S
+// += F'F. This function iterates over the rows of A with no e_block,
+// and calls NoEBlockRowOuterProduct on each row.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowsUpdate(const BlockSparseMatrix* A,
+ const double* b,
+ int row_block_counter,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const double* values = A->values();
+ for (; row_block_counter < bs->rows.size(); ++row_block_counter) {
+ const CompressedRow& row = bs->rows[row_block_counter];
+ for (int c = 0; c < row.cells.size(); ++c) {
+ const int block_id = row.cells[c].block_id;
+ const int block_size = bs->cols[block_id].size;
+ const int block = block_id - num_eliminate_blocks_;
+ MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + row.cells[c].position, row.block.size, block_size,
+ b + row.block.position,
+ rhs + lhs_row_layout_[block]);
+ }
+ NoEBlockRowOuterProduct(A, row_block_counter, lhs);
+ }
+}
+
+
+// A row r of A, which has no e_blocks gets added to the Schur
+// Complement as S += r r'. This function is responsible for computing
+// the contribution of a single row r to the Schur complement. It is
+// very similar in structure to EBlockRowOuterProduct except for
+// one difference. It does not use any of the template
+// parameters. This is because the algorithm used for detecting the
+// static structure of the matrix A only pays attention to rows with
+// e_blocks. This is becase rows without e_blocks are rare and
+// typically arise from regularization terms in the original
+// optimization problem, and have a very different structure than the
+// rows with e_blocks. Including them in the static structure
+// detection will lead to most template parameters being set to
+// dynamic. Since the number of rows without e_blocks is small, the
+// lack of templating is not an issue.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowOuterProduct(const BlockSparseMatrix* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const CompressedRow& row = bs->rows[row_block_index];
+ const double* values = A->values();
+ for (int i = 0; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block1, 0);
+
+ const int block1_size = bs->cols[row.cells[i].block_id].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block1,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ CeresMutexLock l(&cell_info->m);
+ // This multiply currently ignores the fact that this is a
+ // symmetric outer product.
+ MatrixTransposeMatrixMultiply
+ <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ cell_info->values, r, c, row_stride, col_stride);
+ }
+
+ for (int j = i + 1; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block2, 0);
+ DCHECK_LT(block1, block2);
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ const int block2_size = bs->cols[row.cells[j].block_id].size;
+ CeresMutexLock l(&cell_info->m);
+ MatrixTransposeMatrixMultiply
+ <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[j].position, row.block.size, block2_size,
+ cell_info->values, r, c, row_stride, col_stride);
+ }
+ }
+ }
+}
+
+// For a row with an e_block, compute the contribition S += F'F. This
+// function has the same structure as NoEBlockRowOuterProduct, except
+// that this function uses the template parameters.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+EBlockRowOuterProduct(const BlockSparseMatrix* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const CompressedRow& row = bs->rows[row_block_index];
+ const double* values = A->values();
+ for (int i = 1; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block1, 0);
+
+ const int block1_size = bs->cols[row.cells[i].block_id].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block1,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ CeresMutexLock l(&cell_info->m);
+ // block += b1.transpose() * b1;
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[i].position, row.block.size, block1_size,
+ cell_info->values, r, c, row_stride, col_stride);
+ }
+
+ for (int j = i + 1; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block2, 0);
+ DCHECK_LT(block1, block2);
+ const int block2_size = bs->cols[row.cells[j].block_id].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ // block += b1.transpose() * b2;
+ CeresMutexLock l(&cell_info->m);
+ MatrixTransposeMatrixMultiply
+ <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+ values + row.cells[i].position, row.block.size, block1_size,
+ values + row.cells[j].position, row.block.size, block2_size,
+ cell_info->values, r, c, row_stride, col_stride);
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
--- /dev/null
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 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)
+#
+# Script for explicitly generating template specialization of the
+# SchurEliminator class. It is a rather large class
+# and the number of explicit instantiations is also large. Explicitly
+# generating these instantiations in separate .cc files breaks the
+# compilation into separate compilation unit rather than one large cc
+# file which takes 2+GB of RAM to compile.
+#
+# This script creates two sets of files.
+#
+# 1. schur_eliminator_x_x_x.cc
+# where, the x indicates the template parameters and
+#
+# 2. schur_eliminator.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# The list of tuples, specializations indicates the set of
+# specializations that is generated.
+
+# Set of template specializations to generate
+
+HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+DYNAMIC_FILE = """
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+} // namespace internal
+} // namespace ceres
+"""
+
+SPECIALIZATION_FILE = """
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_FILE_HEADER = """
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY = """ return new SchurEliminator<%s, %s, %s>(options);"""
+
+FACTORY_FOOTER = """
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
+}
+
+} // namespace internal
+} // namespace ceres
+"""
--- /dev/null
+// 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/schur_eliminator.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/test_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+// TODO(sameeragarwal): Reduce the size of these tests and redo the
+// parameterization to be more efficient.
+
+namespace ceres {
+namespace internal {
+
+class SchurEliminatorTest : public ::testing::Test {
+ protected:
+ void SetUpFromId(int id) {
+ scoped_ptr<LinearLeastSquaresProblem>
+ problem(CreateLinearLeastSquaresProblemFromId(id));
+ CHECK_NOTNULL(problem.get());
+ SetupHelper(problem.get());
+ }
+
+ void SetupHelper(LinearLeastSquaresProblem* problem) {
+ A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b.reset(problem->b.release());
+ D.reset(problem->D.release());
+
+ num_eliminate_blocks = problem->num_eliminate_blocks;
+ num_eliminate_cols = 0;
+ const CompressedRowBlockStructure* bs = A->block_structure();
+
+ for (int i = 0; i < num_eliminate_blocks; ++i) {
+ num_eliminate_cols += bs->cols[i].size;
+ }
+ }
+
+ // Compute the golden values for the reduced linear system and the
+ // solution to the linear least squares problem using dense linear
+ // algebra.
+ void ComputeReferenceSolution(const Vector& D) {
+ Matrix J;
+ A->ToDenseMatrix(&J);
+ VectorRef f(b.get(), J.rows());
+
+ Matrix H = (D.cwiseProduct(D)).asDiagonal();
+ H.noalias() += J.transpose() * J;
+
+ const Vector g = J.transpose() * f;
+ const int schur_size = J.cols() - num_eliminate_cols;
+
+ lhs_expected.resize(schur_size, schur_size);
+ lhs_expected.setZero();
+
+ rhs_expected.resize(schur_size);
+ rhs_expected.setZero();
+
+ sol_expected.resize(J.cols());
+ sol_expected.setZero();
+
+ Matrix P = H.block(0, 0, num_eliminate_cols, num_eliminate_cols);
+ Matrix Q = H.block(0,
+ num_eliminate_cols,
+ num_eliminate_cols,
+ schur_size);
+ Matrix R = H.block(num_eliminate_cols,
+ num_eliminate_cols,
+ schur_size,
+ schur_size);
+ int row = 0;
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ for (int i = 0; i < num_eliminate_blocks; ++i) {
+ const int block_size = bs->cols[i].size;
+ P.block(row, row, block_size, block_size) =
+ P
+ .block(row, row, block_size, block_size)
+ .llt()
+ .solve(Matrix::Identity(block_size, block_size));
+ row += block_size;
+ }
+
+ lhs_expected
+ .triangularView<Eigen::Upper>() = R - Q.transpose() * P * Q;
+ rhs_expected =
+ g.tail(schur_size) - Q.transpose() * P * g.head(num_eliminate_cols);
+ sol_expected = H.llt().solve(g);
+ }
+
+ void EliminateSolveAndCompare(const VectorRef& diagonal,
+ bool use_static_structure,
+ const double relative_tolerance) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int num_col_blocks = bs->cols.size();
+ std::vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+ blocks[i - num_eliminate_blocks] = bs->cols[i].size;
+ }
+
+ BlockRandomAccessDenseMatrix lhs(blocks);
+
+ const int num_cols = A->num_cols();
+ const int schur_size = lhs.num_rows();
+
+ Vector rhs(schur_size);
+
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks);
+ if (use_static_structure) {
+ DetectStructure(*bs,
+ num_eliminate_blocks,
+ &options.row_block_size,
+ &options.e_block_size,
+ &options.f_block_size);
+ }
+
+ scoped_ptr<SchurEliminatorBase> eliminator;
+ eliminator.reset(SchurEliminatorBase::Create(options));
+ const bool kFullRankETE = true;
+ eliminator->Init(num_eliminate_blocks, kFullRankETE, A->block_structure());
+ eliminator->Eliminate(A.get(), b.get(), diagonal.data(), &lhs, rhs.data());
+
+ MatrixRef lhs_ref(lhs.mutable_values(), lhs.num_rows(), lhs.num_cols());
+ Vector reduced_sol =
+ lhs_ref
+ .selfadjointView<Eigen::Upper>()
+ .llt()
+ .solve(rhs);
+
+ // Solution to the linear least squares problem.
+ Vector sol(num_cols);
+ sol.setZero();
+ sol.tail(schur_size) = reduced_sol;
+ eliminator->BackSubstitute(A.get(),
+ b.get(),
+ diagonal.data(),
+ reduced_sol.data(),
+ sol.data());
+
+ Matrix delta = (lhs_ref - lhs_expected).selfadjointView<Eigen::Upper>();
+ double diff = delta.norm();
+ EXPECT_NEAR(diff / lhs_expected.norm(), 0.0, relative_tolerance);
+ EXPECT_NEAR((rhs - rhs_expected).norm() / rhs_expected.norm(), 0.0,
+ relative_tolerance);
+ EXPECT_NEAR((sol - sol_expected).norm() / sol_expected.norm(), 0.0,
+ relative_tolerance);
+ }
+
+ scoped_ptr<BlockSparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> D;
+ int num_eliminate_blocks;
+ int num_eliminate_cols;
+
+ Matrix lhs_expected;
+ Vector rhs_expected;
+ Vector sol_expected;
+};
+
+TEST_F(SchurEliminatorTest, ScalarProblemNoRegularization) {
+ SetUpFromId(2);
+ Vector zero(A->num_cols());
+ zero.setZero();
+
+ ComputeReferenceSolution(VectorRef(zero.data(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), true, 1e-14);
+ EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), false, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, ScalarProblemWithRegularization) {
+ SetUpFromId(2);
+ ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-14);
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, VaryingFBlockSizeWithStaticStructure) {
+ SetUpFromId(4);
+ ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, VaryingFBlockSizeWithoutStaticStructure) {
+ SetUpFromId(4);
+ ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-14);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/schur_jacobi_preconditioner.h"
+
+#include <utility>
+#include <vector>
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+SchurJacobiPreconditioner::SchurJacobiPreconditioner(
+ const CompressedRowBlockStructure& bs,
+ const Preconditioner::Options& options)
+ : options_(options) {
+ CHECK_GT(options_.elimination_groups.size(), 1);
+ CHECK_GT(options_.elimination_groups[0], 0);
+ const int num_blocks = bs.cols.size() - options_.elimination_groups[0];
+ CHECK_GT(num_blocks, 0)
+ << "Jacobian should have atleast 1 f_block for "
+ << "SCHUR_JACOBI preconditioner.";
+
+ std::vector<int> blocks(num_blocks);
+ for (int i = 0; i < num_blocks; ++i) {
+ blocks[i] = bs.cols[i + options_.elimination_groups[0]].size;
+ }
+
+ m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+ InitEliminator(bs);
+}
+
+SchurJacobiPreconditioner::~SchurJacobiPreconditioner() {
+}
+
+// Initialize the SchurEliminator.
+void SchurJacobiPreconditioner::InitEliminator(
+ const CompressedRowBlockStructure& bs) {
+ LinearSolver::Options eliminator_options;
+ eliminator_options.elimination_groups = options_.elimination_groups;
+ eliminator_options.num_threads = options_.num_threads;
+ eliminator_options.e_block_size = options_.e_block_size;
+ eliminator_options.f_block_size = options_.f_block_size;
+ eliminator_options.row_block_size = options_.row_block_size;
+ eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+ const bool kFullRankETE = true;
+ eliminator_->Init(
+ eliminator_options.elimination_groups[0], kFullRankETE, &bs);
+}
+
+// Update the values of the preconditioner matrix and factorize it.
+bool SchurJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+ const double* D) {
+ const int num_rows = m_->num_rows();
+ CHECK_GT(num_rows, 0);
+
+ // We need a dummy rhs vector and a dummy b vector since the Schur
+ // eliminator combines the computation of the reduced camera matrix
+ // with the computation of the right hand side of that linear
+ // system.
+ //
+ // TODO(sameeragarwal): Perhaps its worth refactoring the
+ // SchurEliminator::Eliminate function to allow NULL for the rhs. As
+ // of now it does not seem to be worth the effort.
+ Vector rhs = Vector::Zero(m_->num_rows());
+ Vector b = Vector::Zero(A.num_rows());
+
+ // Compute a subset of the entries of the Schur complement.
+ eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data());
+ m_->Invert();
+ return true;
+}
+
+void SchurJacobiPreconditioner::RightMultiply(const double* x,
+ double* y) const {
+ m_->RightMultiply(x, y);
+}
+
+int SchurJacobiPreconditioner::num_rows() const {
+ return m_->num_rows();
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Detailed descriptions of these preconditions beyond what is
+// documented here can be found in
+//
+// Bundle Adjustment in the Large
+// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
+// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
+
+#ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
+#define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/collections_port.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/preconditioner.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessDiagonalMatrix;
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+class SchurEliminatorBase;
+
+// This class implements the SCHUR_JACOBI preconditioner for Structure
+// from Motion/Bundle Adjustment problems. Full mathematical details
+// can be found in
+//
+// Bundle Adjustment in the Large
+// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
+// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
+//
+// Example usage:
+//
+// Preconditioner::Options options;
+// options.preconditioner_type = SCHUR_JACOBI;
+// options.elimination_groups.push_back(num_points);
+// options.elimination_groups.push_back(num_cameras);
+// SchurJacobiPreconditioner preconditioner(
+// *A.block_structure(), options);
+// preconditioner.Update(A, NULL);
+// preconditioner.RightMultiply(x, y);
+//
+class SchurJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+ // Initialize the symbolic structure of the preconditioner. bs is
+ // the block structure of the linear system to be solved. It is used
+ // to determine the sparsity structure of the preconditioner matrix.
+ //
+ // It has the same structural requirement as other Schur complement
+ // based solvers. Please see schur_eliminator.h for more details.
+ SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs,
+ const Preconditioner::Options& options);
+ virtual ~SchurJacobiPreconditioner();
+
+ // Preconditioner interface.
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual int num_rows() const;
+
+ private:
+ void InitEliminator(const CompressedRowBlockStructure& bs);
+ virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+
+ Preconditioner::Options options_;
+ scoped_ptr<SchurEliminatorBase> eliminator_;
+ // Preconditioner matrix.
+ scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(SchurJacobiPreconditioner);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// What template specializations are available.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/internal/eigen.h"
+#include "ceres/schur_templates.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+ int* e_block_size,
+ int* f_block_size) {
+ LinearSolver::Options options;
+ options.row_block_size = *row_block_size;
+ options.e_block_size = *e_block_size;
+ options.f_block_size = *f_block_size;
+ *row_block_size = Eigen::Dynamic;
+ *e_block_size = Eigen::Dynamic;
+ *f_block_size = Eigen::Dynamic;
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 2)) {
+ *row_block_size = 2;
+ *e_block_size = 2;
+ *f_block_size = 2;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 3)) {
+ *row_block_size = 2;
+ *e_block_size = 2;
+ *f_block_size = 3;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 4)) {
+ *row_block_size = 2;
+ *e_block_size = 2;
+ *f_block_size = 4;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2)) {
+ *row_block_size = 2;
+ *e_block_size = 2;
+ *f_block_size = Eigen::Dynamic;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 3)) {
+ *row_block_size = 2;
+ *e_block_size = 3;
+ *f_block_size = 3;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 4)) {
+ *row_block_size = 2;
+ *e_block_size = 3;
+ *f_block_size = 4;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 6)) {
+ *row_block_size = 2;
+ *e_block_size = 3;
+ *f_block_size = 6;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 9)) {
+ *row_block_size = 2;
+ *e_block_size = 3;
+ *f_block_size = 9;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3)) {
+ *row_block_size = 2;
+ *e_block_size = 3;
+ *f_block_size = Eigen::Dynamic;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ *row_block_size = 2;
+ *e_block_size = 4;
+ *f_block_size = 3;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ *row_block_size = 2;
+ *e_block_size = 4;
+ *f_block_size = 4;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 8)) {
+ *row_block_size = 2;
+ *e_block_size = 4;
+ *f_block_size = 8;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 9)) {
+ *row_block_size = 2;
+ *e_block_size = 4;
+ *f_block_size = 9;
+ return;
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4)) {
+ *row_block_size = 2;
+ *e_block_size = 4;
+ *f_block_size = Eigen::Dynamic;
+ return;
+ }
+ if (options.row_block_size == 2){
+ *row_block_size = 2;
+ *e_block_size = Eigen::Dynamic;
+ *f_block_size = Eigen::Dynamic;
+ return;
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 2)) {
+ *row_block_size = 4;
+ *e_block_size = 4;
+ *f_block_size = 2;
+ return;
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ *row_block_size = 4;
+ *e_block_size = 4;
+ *f_block_size = 3;
+ return;
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ *row_block_size = 4;
+ *e_block_size = 4;
+ *f_block_size = 4;
+ return;
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4)) {
+ *row_block_size = 4;
+ *e_block_size = 4;
+ *f_block_size = Eigen::Dynamic;
+ return;
+ }
+
+#endif
+ return;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+
+#ifndef CERES_INTERNAL_SCHUR_TEMPLATES_H_
+#define CERES_INTERNAL_SCHUR_TEMPLATES_H_
+
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+ int* e_block_size,
+ int* f_block_size);
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_TEMPLATES_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(
+ const Program &program,
+ int num_threads) {
+ ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
+ int max_derivatives_per_residual_block =
+ program.MaxDerivativesPerResidualBlock();
+ for (int i = 0; i < num_threads; i++) {
+ preparers[i].Init(max_derivatives_per_residual_block);
+ }
+ return preparers;
+}
+
+void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
+ jacobian_scratch_.reset(
+ new double[max_derivatives_per_residual_block]);
+}
+
+// Point the jacobian blocks into the scratch area of this evaluate preparer.
+void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int /* residual_block_index */,
+ SparseMatrix* /* jacobian */,
+ double** jacobians) {
+ double* jacobian_block_cursor = jacobian_scratch_.get();
+ int num_residuals = residual_block->NumResiduals();
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (parameter_block->IsConstant()) {
+ jacobians[j] = NULL;
+ } else {
+ jacobians[j] = jacobian_block_cursor;
+ jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// A scratch evaluate preparer provides temporary storage for the jacobians that
+// are created when running user-provided cost functions. The evaluator takes
+// care to avoid evaluating the jacobian for fixed parameters.
+
+#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ResidualBlock;
+class SparseMatrix;
+
+class ScratchEvaluatePreparer {
+ public:
+ // Create num_threads ScratchEvaluatePreparers.
+ static ScratchEvaluatePreparer* Create(const Program &program,
+ int num_threads);
+
+ // EvaluatePreparer interface
+ void Init(int max_derivatives_per_residual_block);
+ void Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians);
+
+ private:
+ // Scratch space for the jacobians; each jacobian is packed one after another.
+ // There is enough scratch to hold all the jacobians for the largest residual.
+ scoped_array<double> jacobian_scratch_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
--- /dev/null
+// 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/single_linkage_clustering.h"
+
+#include "ceres/graph.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph_algorithms.h"
+
+namespace ceres {
+namespace internal {
+
+int ComputeSingleLinkageClustering(
+ const SingleLinkageClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ HashMap<int, int>* membership) {
+ CHECK_NOTNULL(membership)->clear();
+
+ // Initially each vertex is in its own cluster.
+ const HashSet<int>& vertices = graph.vertices();
+ for (HashSet<int>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ (*membership)[*it] = *it;
+ }
+
+ for (HashSet<int>::const_iterator it1 = vertices.begin();
+ it1 != vertices.end();
+ ++it1) {
+ const int vertex1 = *it1;
+ const HashSet<int>& neighbors = graph.Neighbors(vertex1);
+ for (HashSet<int>::const_iterator it2 = neighbors.begin();
+ it2 != neighbors.end();
+ ++it2) {
+ const int vertex2 = *it2;
+
+ // Since the graph is undirected, only pay attention to one side
+ // of the edge and ignore weak edges.
+ if ((vertex1 > vertex2) ||
+ (graph.EdgeWeight(vertex1, vertex2) < options.min_similarity)) {
+ continue;
+ }
+
+ // Use a union-find algorithm to keep track of the clusters.
+ const int c1 = FindConnectedComponent(vertex1, membership);
+ const int c2 = FindConnectedComponent(vertex2, membership);
+
+ if (c1 == c2) {
+ continue;
+ }
+
+ if (c1 < c2) {
+ (*membership)[c2] = c1;
+ } else {
+ (*membership)[c1] = c2;
+ }
+ }
+ }
+
+ // Make sure that every vertex is connected directly to the vertex
+ // identifying the cluster.
+ int num_clusters = 0;
+ for (HashMap<int, int>::iterator it = membership->begin();
+ it != membership->end();
+ ++it) {
+ it->second = FindConnectedComponent(it->first, membership);
+ if (it->first == it->second) {
+ ++num_clusters;
+ }
+ }
+
+ return num_clusters;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
+#define CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct SingleLinkageClusteringOptions {
+ SingleLinkageClusteringOptions()
+ : min_similarity(0.99) {
+ }
+
+ // Graph edges with edge weight less than min_similarity are ignored
+ // during the clustering process.
+ double min_similarity;
+};
+
+// Compute a partitioning of the vertices of the graph using the
+// single linkage clustering algorithm. Edges with weight less than
+// SingleLinkageClusteringOptions::min_similarity will be ignored.
+//
+// membership upon return will contain a mapping from the vertices of
+// the graph to an integer indicating the identity of the cluster that
+// it belongs to.
+//
+// The return value of this function is the number of clusters
+// identified by the algorithm.
+int ComputeSingleLinkageClustering(
+ const SingleLinkageClusteringOptions& options,
+ const WeightedGraph<int>& graph,
+ HashMap<int, int>* membership);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
--- /dev/null
+// 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: Sameer Agarwal (sameeragarwal@google.com)
+
+#include "ceres/single_linkage_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(SingleLinkageClustering, GraphHasTwoComponents) {
+ WeightedGraph<int> graph;
+ const int kNumVertices = 6;
+ for (int i = 0; i < kNumVertices; ++i) {
+ graph.AddVertex(i);
+ }
+ // Graph structure:
+ //
+ // 0-1-2-3 4-5
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(1, 2, 1.0);
+ graph.AddEdge(2, 3, 1.0);
+ graph.AddEdge(4, 5, 1.0);
+
+ SingleLinkageClusteringOptions options;
+ HashMap<int, int> membership;
+ ComputeSingleLinkageClustering(options, graph, &membership);
+ EXPECT_EQ(membership.size(), kNumVertices);
+
+ EXPECT_EQ(membership[1], membership[0]);
+ EXPECT_EQ(membership[2], membership[0]);
+ EXPECT_EQ(membership[3], membership[0]);
+ EXPECT_NE(membership[4], membership[0]);
+ EXPECT_NE(membership[5], membership[0]);
+ EXPECT_EQ(membership[4], membership[5]);
+}
+
+TEST(SingleLinkageClustering, ComponentWithWeakLink) {
+ WeightedGraph<int> graph;
+ const int kNumVertices = 6;
+ for (int i = 0; i < kNumVertices; ++i) {
+ graph.AddVertex(i);
+ }
+ // Graph structure:
+ //
+ // 0-1-2-3 4-5
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(1, 2, 1.0);
+ graph.AddEdge(2, 3, 1.0);
+
+ // This component should break up into two.
+ graph.AddEdge(4, 5, 0.5);
+
+ SingleLinkageClusteringOptions options;
+ HashMap<int, int> membership;
+ ComputeSingleLinkageClustering(options, graph, &membership);
+ EXPECT_EQ(membership.size(), kNumVertices);
+
+ EXPECT_EQ(membership[1], membership[0]);
+ EXPECT_EQ(membership[2], membership[0]);
+ EXPECT_EQ(membership[3], membership[0]);
+ EXPECT_NE(membership[4], membership[0]);
+ EXPECT_NE(membership[5], membership[0]);
+ EXPECT_NE(membership[4], membership[5]);
+}
+
+TEST(SingleLinkageClustering, ComponentWithWeakLinkAndStrongLink) {
+ WeightedGraph<int> graph;
+ const int kNumVertices = 6;
+ for (int i = 0; i < kNumVertices; ++i) {
+ graph.AddVertex(i);
+ }
+ // Graph structure:
+ //
+ // 0-1-2-3 4-5
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(1, 2, 1.0);
+ graph.AddEdge(2, 3, 0.5); // Weak link
+ graph.AddEdge(0, 3, 1.0);
+
+ // This component should break up into two.
+ graph.AddEdge(4, 5, 1.0);
+
+ SingleLinkageClusteringOptions options;
+ HashMap<int, int> membership;
+ ComputeSingleLinkageClustering(options, graph, &membership);
+ EXPECT_EQ(membership.size(), kNumVertices);
+
+ EXPECT_EQ(membership[1], membership[0]);
+ EXPECT_EQ(membership[2], membership[0]);
+ EXPECT_EQ(membership[3], membership[0]);
+ EXPECT_EQ(membership[4], membership[5]);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Simple blas functions for use in the Schur Eliminator. These are
+// fairly basic implementations which already yield a significant
+// speedup in the eliminator performance.
+
+#ifndef CERES_INTERNAL_SMALL_BLAS_H_
+#define CERES_INTERNAL_SMALL_BLAS_H_
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// The following three macros are used to share code and reduce
+// template junk across the various GEMM variants.
+#define CERES_GEMM_BEGIN(name) \
+ template<int kRowA, int kColA, int kRowB, int kColB, int kOperation> \
+ inline void name(const double* A, \
+ const int num_row_a, \
+ const int num_col_a, \
+ const double* B, \
+ const int num_row_b, \
+ const int num_col_b, \
+ double* C, \
+ const int start_row_c, \
+ const int start_col_c, \
+ const int row_stride_c, \
+ const int col_stride_c)
+
+#define CERES_GEMM_NAIVE_HEADER \
+ DCHECK_GT(num_row_a, 0); \
+ DCHECK_GT(num_col_a, 0); \
+ DCHECK_GT(num_row_b, 0); \
+ DCHECK_GT(num_col_b, 0); \
+ DCHECK_GE(start_row_c, 0); \
+ DCHECK_GE(start_col_c, 0); \
+ DCHECK_GT(row_stride_c, 0); \
+ DCHECK_GT(col_stride_c, 0); \
+ DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a)); \
+ DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a)); \
+ DCHECK((kRowB == Eigen::Dynamic) || (kRowB == num_row_b)); \
+ DCHECK((kColB == Eigen::Dynamic) || (kColB == num_col_b)); \
+ const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a); \
+ const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a); \
+ const int NUM_ROW_B = (kRowB != Eigen::Dynamic ? kRowB : num_row_b); \
+ const int NUM_COL_B = (kColB != Eigen::Dynamic ? kColB : num_col_b);
+
+#define CERES_GEMM_EIGEN_HEADER \
+ const typename EigenTypes<kRowA, kColA>::ConstMatrixRef \
+ Aref(A, num_row_a, num_col_a); \
+ const typename EigenTypes<kRowB, kColB>::ConstMatrixRef \
+ Bref(B, num_row_b, num_col_b); \
+ MatrixRef Cref(C, row_stride_c, col_stride_c); \
+
+#define CERES_CALL_GEMM(name) \
+ name<kRowA, kColA, kRowB, kColB, kOperation>( \
+ A, num_row_a, num_col_a, \
+ B, num_row_b, num_col_b, \
+ C, start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+
+// For the matrix-matrix functions below, there are three variants for
+// each functionality. Foo, FooNaive and FooEigen. Foo is the one to
+// be called by the user. FooNaive is a basic loop based
+// implementation and FooEigen uses Eigen's implementation. Foo
+// chooses between FooNaive and FooEigen depending on how many of the
+// template arguments are fixed at compile time. Currently, FooEigen
+// is called if all matrix dimensions are compile time
+// constants. FooNaive is called otherwise. This leads to the best
+// performance currently.
+//
+// The MatrixMatrixMultiply variants compute:
+//
+// C op A * B;
+//
+// The MatrixTransposeMatrixMultiply variants compute:
+//
+// C op A' * B
+//
+// where op can be +=, -=, or =.
+//
+// The template parameters (kRowA, kColA, kRowB, kColB) allow
+// specialization of the loop at compile time. If this information is
+// not available, then Eigen::Dynamic should be used as the template
+// argument.
+//
+// kOperation = 1 -> C += A * B
+// kOperation = -1 -> C -= A * B
+// kOperation = 0 -> C = A * B
+//
+// The functions can write into matrices C which are larger than the
+// matrix A * B. This is done by specifying the true size of C via
+// row_stride_c and col_stride_c, and then indicating where A * B
+// should be written into by start_row_c and start_col_c.
+//
+// Graphically if row_stride_c = 10, col_stride_c = 12, start_row_c =
+// 4 and start_col_c = 5, then if A = 3x2 and B = 2x4, we get
+//
+// ------------
+// ------------
+// ------------
+// ------------
+// -----xxxx---
+// -----xxxx---
+// -----xxxx---
+// ------------
+// ------------
+// ------------
+//
+CERES_GEMM_BEGIN(MatrixMatrixMultiplyEigen) {
+ CERES_GEMM_EIGEN_HEADER
+ Eigen::Block<MatrixRef, kRowA, kColB>
+ block(Cref, start_row_c, start_col_c, num_row_a, num_col_b);
+
+ if (kOperation > 0) {
+ block.noalias() += Aref * Bref;
+ } else if (kOperation < 0) {
+ block.noalias() -= Aref * Bref;
+ } else {
+ block.noalias() = Aref * Bref;
+ }
+}
+
+CERES_GEMM_BEGIN(MatrixMatrixMultiplyNaive) {
+ CERES_GEMM_NAIVE_HEADER
+ DCHECK_EQ(NUM_COL_A, NUM_ROW_B);
+
+ const int NUM_ROW_C = NUM_ROW_A;
+ const int NUM_COL_C = NUM_COL_B;
+ DCHECK_LE(start_row_c + NUM_ROW_C, row_stride_c);
+ DCHECK_LE(start_col_c + NUM_COL_C, col_stride_c);
+
+ for (int row = 0; row < NUM_ROW_C; ++row) {
+ for (int col = 0; col < NUM_COL_C; ++col) {
+ double tmp = 0.0;
+ for (int k = 0; k < NUM_COL_A; ++k) {
+ tmp += A[row * NUM_COL_A + k] * B[k * NUM_COL_B + col];
+ }
+
+ const int index = (row + start_row_c) * col_stride_c + start_col_c + col;
+ if (kOperation > 0) {
+ C[index] += tmp;
+ } else if (kOperation < 0) {
+ C[index] -= tmp;
+ } else {
+ C[index] = tmp;
+ }
+ }
+ }
+}
+
+CERES_GEMM_BEGIN(MatrixMatrixMultiply) {
+#ifdef CERES_NO_CUSTOM_BLAS
+
+ CERES_CALL_GEMM(MatrixMatrixMultiplyEigen)
+ return;
+
+#else
+
+ if (kRowA != Eigen::Dynamic && kColA != Eigen::Dynamic &&
+ kRowB != Eigen::Dynamic && kColB != Eigen::Dynamic) {
+ CERES_CALL_GEMM(MatrixMatrixMultiplyEigen)
+ } else {
+ CERES_CALL_GEMM(MatrixMatrixMultiplyNaive)
+ }
+
+#endif
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiplyEigen) {
+ CERES_GEMM_EIGEN_HEADER
+ Eigen::Block<MatrixRef, kColA, kColB> block(Cref,
+ start_row_c, start_col_c,
+ num_col_a, num_col_b);
+ if (kOperation > 0) {
+ block.noalias() += Aref.transpose() * Bref;
+ } else if (kOperation < 0) {
+ block.noalias() -= Aref.transpose() * Bref;
+ } else {
+ block.noalias() = Aref.transpose() * Bref;
+ }
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiplyNaive) {
+ CERES_GEMM_NAIVE_HEADER
+ DCHECK_EQ(NUM_ROW_A, NUM_ROW_B);
+
+ const int NUM_ROW_C = NUM_COL_A;
+ const int NUM_COL_C = NUM_COL_B;
+ DCHECK_LE(start_row_c + NUM_ROW_C, row_stride_c);
+ DCHECK_LE(start_col_c + NUM_COL_C, col_stride_c);
+
+ for (int row = 0; row < NUM_ROW_C; ++row) {
+ for (int col = 0; col < NUM_COL_C; ++col) {
+ double tmp = 0.0;
+ for (int k = 0; k < NUM_ROW_A; ++k) {
+ tmp += A[k * NUM_COL_A + row] * B[k * NUM_COL_B + col];
+ }
+
+ const int index = (row + start_row_c) * col_stride_c + start_col_c + col;
+ if (kOperation > 0) {
+ C[index]+= tmp;
+ } else if (kOperation < 0) {
+ C[index]-= tmp;
+ } else {
+ C[index]= tmp;
+ }
+ }
+ }
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiply) {
+#ifdef CERES_NO_CUSTOM_BLAS
+
+ CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyEigen)
+ return;
+
+#else
+
+ if (kRowA != Eigen::Dynamic && kColA != Eigen::Dynamic &&
+ kRowB != Eigen::Dynamic && kColB != Eigen::Dynamic) {
+ CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyEigen)
+ } else {
+ CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyNaive)
+ }
+
+#endif
+}
+
+// Matrix-Vector multiplication
+//
+// c op A * b;
+//
+// where op can be +=, -=, or =.
+//
+// The template parameters (kRowA, kColA) allow specialization of the
+// loop at compile time. If this information is not available, then
+// Eigen::Dynamic should be used as the template argument.
+//
+// kOperation = 1 -> c += A' * b
+// kOperation = -1 -> c -= A' * b
+// kOperation = 0 -> c = A' * b
+template<int kRowA, int kColA, int kOperation>
+inline void MatrixVectorMultiply(const double* A,
+ const int num_row_a,
+ const int num_col_a,
+ const double* b,
+ double* c) {
+#ifdef CERES_NO_CUSTOM_BLAS
+ const typename EigenTypes<kRowA, kColA>::ConstMatrixRef
+ Aref(A, num_row_a, num_col_a);
+ const typename EigenTypes<kColA>::ConstVectorRef bref(b, num_col_a);
+ typename EigenTypes<kRowA>::VectorRef cref(c, num_row_a);
+
+ // lazyProduct works better than .noalias() for matrix-vector
+ // products.
+ if (kOperation > 0) {
+ cref += Aref.lazyProduct(bref);
+ } else if (kOperation < 0) {
+ cref -= Aref.lazyProduct(bref);
+ } else {
+ cref = Aref.lazyProduct(bref);
+ }
+#else
+
+ DCHECK_GT(num_row_a, 0);
+ DCHECK_GT(num_col_a, 0);
+ DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a));
+ DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a));
+
+ const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);
+ const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);
+
+ for (int row = 0; row < NUM_ROW_A; ++row) {
+ double tmp = 0.0;
+ for (int col = 0; col < NUM_COL_A; ++col) {
+ tmp += A[row * NUM_COL_A + col] * b[col];
+ }
+
+ if (kOperation > 0) {
+ c[row] += tmp;
+ } else if (kOperation < 0) {
+ c[row] -= tmp;
+ } else {
+ c[row] = tmp;
+ }
+ }
+#endif // CERES_NO_CUSTOM_BLAS
+}
+
+// Similar to MatrixVectorMultiply, except that A is transposed, i.e.,
+//
+// c op A' * b;
+template<int kRowA, int kColA, int kOperation>
+inline void MatrixTransposeVectorMultiply(const double* A,
+ const int num_row_a,
+ const int num_col_a,
+ const double* b,
+ double* c) {
+#ifdef CERES_NO_CUSTOM_BLAS
+ const typename EigenTypes<kRowA, kColA>::ConstMatrixRef
+ Aref(A, num_row_a, num_col_a);
+ const typename EigenTypes<kRowA>::ConstVectorRef bref(b, num_row_a);
+ typename EigenTypes<kColA>::VectorRef cref(c, num_col_a);
+
+ // lazyProduct works better than .noalias() for matrix-vector
+ // products.
+ if (kOperation > 0) {
+ cref += Aref.transpose().lazyProduct(bref);
+ } else if (kOperation < 0) {
+ cref -= Aref.transpose().lazyProduct(bref);
+ } else {
+ cref = Aref.transpose().lazyProduct(bref);
+ }
+#else
+
+ DCHECK_GT(num_row_a, 0);
+ DCHECK_GT(num_col_a, 0);
+ DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a));
+ DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a));
+
+ const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);
+ const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);
+
+ for (int row = 0; row < NUM_COL_A; ++row) {
+ double tmp = 0.0;
+ for (int col = 0; col < NUM_ROW_A; ++col) {
+ tmp += A[col * NUM_COL_A + row] * b[col];
+ }
+
+ if (kOperation > 0) {
+ c[row] += tmp;
+ } else if (kOperation < 0) {
+ c[row] -= tmp;
+ } else {
+ c[row] = tmp;
+ }
+ }
+#endif // CERES_NO_CUSTOM_BLAS
+}
+
+#undef CERES_GEMM_BEGIN
+#undef CERES_GEMM_EIGEN_HEADER
+#undef CERES_GEMM_NAIVE_HEADER
+#undef CERES_CALL_GEMM
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SMALL_BLAS_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/small_blas.h"
+
+#include <limits>
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 3.0 * std::numeric_limits<double>::epsilon();
+
+TEST(BLAS, MatrixMatrixMultiply) {
+ const int kRowA = 3;
+ const int kColA = 5;
+ Matrix A(kRowA, kColA);
+ A.setOnes();
+
+ const int kRowB = 5;
+ const int kColB = 7;
+ Matrix B(kRowB, kColB);
+ B.setOnes();
+
+ for (int row_stride_c = kRowA; row_stride_c < 3 * kRowA; ++row_stride_c) {
+ for (int col_stride_c = kColB; col_stride_c < 3 * kColB; ++col_stride_c) {
+ Matrix C(row_stride_c, col_stride_c);
+ C.setOnes();
+
+ Matrix C_plus = C;
+ Matrix C_minus = C;
+ Matrix C_assign = C;
+
+ Matrix C_plus_ref = C;
+ Matrix C_minus_ref = C;
+ Matrix C_assign_ref = C;
+ for (int start_row_c = 0; start_row_c + kRowA < row_stride_c; ++start_row_c) {
+ for (int start_col_c = 0; start_col_c + kColB < col_stride_c; ++start_col_c) {
+ C_plus_ref.block(start_row_c, start_col_c, kRowA, kColB) +=
+ A * B;
+
+ MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, 1>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_plus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_plus_ref - C_plus).norm(), 0.0, kTolerance)
+ << "C += A * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_plus_ref << "\n"
+ << "C: \n" << C_plus;
+
+
+ C_minus_ref.block(start_row_c, start_col_c, kRowA, kColB) -=
+ A * B;
+
+ MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, -1>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_minus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_minus_ref - C_minus).norm(), 0.0, kTolerance)
+ << "C -= A * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_minus_ref << "\n"
+ << "C: \n" << C_minus;
+
+ C_assign_ref.block(start_row_c, start_col_c, kRowA, kColB) =
+ A * B;
+
+ MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, 0>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_assign.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_assign_ref - C_assign).norm(), 0.0, kTolerance)
+ << "C = A * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_assign_ref << "\n"
+ << "C: \n" << C_assign;
+ }
+ }
+ }
+ }
+}
+
+TEST(BLAS, MatrixTransposeMatrixMultiply) {
+ const int kRowA = 5;
+ const int kColA = 3;
+ Matrix A(kRowA, kColA);
+ A.setOnes();
+
+ const int kRowB = 5;
+ const int kColB = 7;
+ Matrix B(kRowB, kColB);
+ B.setOnes();
+
+ for (int row_stride_c = kColA; row_stride_c < 3 * kColA; ++row_stride_c) {
+ for (int col_stride_c = kColB; col_stride_c < 3 * kColB; ++col_stride_c) {
+ Matrix C(row_stride_c, col_stride_c);
+ C.setOnes();
+
+ Matrix C_plus = C;
+ Matrix C_minus = C;
+ Matrix C_assign = C;
+
+ Matrix C_plus_ref = C;
+ Matrix C_minus_ref = C;
+ Matrix C_assign_ref = C;
+ for (int start_row_c = 0; start_row_c + kColA < row_stride_c; ++start_row_c) {
+ for (int start_col_c = 0; start_col_c + kColB < col_stride_c; ++start_col_c) {
+ C_plus_ref.block(start_row_c, start_col_c, kColA, kColB) +=
+ A.transpose() * B;
+
+ MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, 1>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_plus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_plus_ref - C_plus).norm(), 0.0, kTolerance)
+ << "C += A' * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_plus_ref << "\n"
+ << "C: \n" << C_plus;
+
+ C_minus_ref.block(start_row_c, start_col_c, kColA, kColB) -=
+ A.transpose() * B;
+
+ MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, -1>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_minus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_minus_ref - C_minus).norm(), 0.0, kTolerance)
+ << "C -= A' * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_minus_ref << "\n"
+ << "C: \n" << C_minus;
+
+ C_assign_ref.block(start_row_c, start_col_c, kColA, kColB) =
+ A.transpose() * B;
+
+ MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, 0>(
+ A.data(), kRowA, kColA,
+ B.data(), kRowB, kColB,
+ C_assign.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+ EXPECT_NEAR((C_assign_ref - C_assign).norm(), 0.0, kTolerance)
+ << "C = A' * B \n"
+ << "row_stride_c : " << row_stride_c << "\n"
+ << "col_stride_c : " << col_stride_c << "\n"
+ << "start_row_c : " << start_row_c << "\n"
+ << "start_col_c : " << start_col_c << "\n"
+ << "Cref : \n" << C_assign_ref << "\n"
+ << "C: \n" << C_assign;
+ }
+ }
+ }
+ }
+}
+
+TEST(BLAS, MatrixVectorMultiply) {
+ const int kRowA = 5;
+ const int kColA = 3;
+ Matrix A(kRowA, kColA);
+ A.setOnes();
+
+ Vector b(kColA);
+ b.setOnes();
+
+ Vector c(kRowA);
+ c.setOnes();
+
+ Vector c_plus = c;
+ Vector c_minus = c;
+ Vector c_assign = c;
+
+ Vector c_plus_ref = c;
+ Vector c_minus_ref = c;
+ Vector c_assign_ref = c;
+
+ c_plus_ref += A * b;
+ MatrixVectorMultiply<kRowA, kColA, 1>(A.data(), kRowA, kColA,
+ b.data(),
+ c_plus.data());
+ EXPECT_NEAR((c_plus_ref - c_plus).norm(), 0.0, kTolerance)
+ << "c += A * b \n"
+ << "c_ref : \n" << c_plus_ref << "\n"
+ << "c: \n" << c_plus;
+
+ c_minus_ref -= A * b;
+ MatrixVectorMultiply<kRowA, kColA, -1>(A.data(), kRowA, kColA,
+ b.data(),
+ c_minus.data());
+ EXPECT_NEAR((c_minus_ref - c_minus).norm(), 0.0, kTolerance)
+ << "c += A * b \n"
+ << "c_ref : \n" << c_minus_ref << "\n"
+ << "c: \n" << c_minus;
+
+ c_assign_ref = A * b;
+ MatrixVectorMultiply<kRowA, kColA, 0>(A.data(), kRowA, kColA,
+ b.data(),
+ c_assign.data());
+ EXPECT_NEAR((c_assign_ref - c_assign).norm(), 0.0, kTolerance)
+ << "c += A * b \n"
+ << "c_ref : \n" << c_assign_ref << "\n"
+ << "c: \n" << c_assign;
+}
+
+TEST(BLAS, MatrixTransposeVectorMultiply) {
+ const int kRowA = 5;
+ const int kColA = 3;
+ Matrix A(kRowA, kColA);
+ A.setRandom();
+
+ Vector b(kRowA);
+ b.setRandom();
+
+ Vector c(kColA);
+ c.setOnes();
+
+ Vector c_plus = c;
+ Vector c_minus = c;
+ Vector c_assign = c;
+
+ Vector c_plus_ref = c;
+ Vector c_minus_ref = c;
+ Vector c_assign_ref = c;
+
+ c_plus_ref += A.transpose() * b;
+ MatrixTransposeVectorMultiply<kRowA, kColA, 1>(A.data(), kRowA, kColA,
+ b.data(),
+ c_plus.data());
+ EXPECT_NEAR((c_plus_ref - c_plus).norm(), 0.0, kTolerance)
+ << "c += A' * b \n"
+ << "c_ref : \n" << c_plus_ref << "\n"
+ << "c: \n" << c_plus;
+
+ c_minus_ref -= A.transpose() * b;
+ MatrixTransposeVectorMultiply<kRowA, kColA, -1>(A.data(), kRowA, kColA,
+ b.data(),
+ c_minus.data());
+ EXPECT_NEAR((c_minus_ref - c_minus).norm(), 0.0, kTolerance)
+ << "c += A' * b \n"
+ << "c_ref : \n" << c_minus_ref << "\n"
+ << "c: \n" << c_minus;
+
+ c_assign_ref = A.transpose() * b;
+ MatrixTransposeVectorMultiply<kRowA, kColA, 0>(A.data(), kRowA, kColA,
+ b.data(),
+ c_assign.data());
+ EXPECT_NEAR((c_assign_ref - c_assign).norm(), 0.0, kTolerance)
+ << "c += A' * b \n"
+ << "c_ref : \n" << c_assign_ref << "\n"
+ << "c: \n" << c_assign;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/solver.h"
+
+#include <algorithm>
+#include <sstream> // NOLINT
+#include <vector>
+#include "ceres/detect_structure.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/schur_templates.h"
+#include "ceres/solver_utils.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace {
+
+using std::map;
+using std::string;
+using std::vector;
+
+#define OPTION_OP(x, y, OP) \
+ if (!(options.x OP y)) { \
+ std::stringstream ss; \
+ ss << "Invalid configuration. "; \
+ ss << string("Solver::Options::" #x " = ") << options.x << ". "; \
+ ss << "Violated constraint: "; \
+ ss << string("Solver::Options::" #x " " #OP " "#y); \
+ *error = ss.str(); \
+ return false; \
+ }
+
+#define OPTION_OP_OPTION(x, y, OP) \
+ if (!(options.x OP options.y)) { \
+ std::stringstream ss; \
+ ss << "Invalid configuration. "; \
+ ss << string("Solver::Options::" #x " = ") << options.x << ". "; \
+ ss << string("Solver::Options::" #y " = ") << options.y << ". "; \
+ ss << "Violated constraint: "; \
+ ss << string("Solver::Options::" #x); \
+ ss << string(#OP " Solver::Options::" #y "."); \
+ *error = ss.str(); \
+ return false; \
+ }
+
+#define OPTION_GE(x, y) OPTION_OP(x, y, >=);
+#define OPTION_GT(x, y) OPTION_OP(x, y, >);
+#define OPTION_LE(x, y) OPTION_OP(x, y, <=);
+#define OPTION_LT(x, y) OPTION_OP(x, y, <);
+#define OPTION_LE_OPTION(x, y) OPTION_OP_OPTION(x, y, <=)
+#define OPTION_LT_OPTION(x, y) OPTION_OP_OPTION(x, y, <)
+
+bool CommonOptionsAreValid(const Solver::Options& options, string* error) {
+ OPTION_GE(max_num_iterations, 0);
+ OPTION_GE(max_solver_time_in_seconds, 0.0);
+ OPTION_GE(function_tolerance, 0.0);
+ OPTION_GE(gradient_tolerance, 0.0);
+ OPTION_GE(parameter_tolerance, 0.0);
+ OPTION_GT(num_threads, 0);
+ OPTION_GT(num_linear_solver_threads, 0);
+ if (options.check_gradients) {
+ OPTION_GT(gradient_check_relative_precision, 0.0);
+ OPTION_GT(gradient_check_numeric_derivative_relative_step_size, 0.0);
+ }
+ return true;
+}
+
+bool TrustRegionOptionsAreValid(const Solver::Options& options, string* error) {
+ OPTION_GT(initial_trust_region_radius, 0.0);
+ OPTION_GT(min_trust_region_radius, 0.0);
+ OPTION_GT(max_trust_region_radius, 0.0);
+ OPTION_LE_OPTION(min_trust_region_radius, max_trust_region_radius);
+ OPTION_LE_OPTION(min_trust_region_radius, initial_trust_region_radius);
+ OPTION_LE_OPTION(initial_trust_region_radius, max_trust_region_radius);
+ OPTION_GE(min_relative_decrease, 0.0);
+ OPTION_GE(min_lm_diagonal, 0.0);
+ OPTION_GE(max_lm_diagonal, 0.0);
+ OPTION_LE_OPTION(min_lm_diagonal, max_lm_diagonal);
+ OPTION_GE(max_num_consecutive_invalid_steps, 0);
+ OPTION_GT(eta, 0.0);
+ OPTION_GE(min_linear_solver_iterations, 0);
+ OPTION_GE(max_linear_solver_iterations, 1);
+ OPTION_LE_OPTION(min_linear_solver_iterations, max_linear_solver_iterations);
+
+ if (options.use_inner_iterations) {
+ OPTION_GE(inner_iteration_tolerance, 0.0);
+ }
+
+ if (options.use_nonmonotonic_steps) {
+ OPTION_GT(max_consecutive_nonmonotonic_steps, 0);
+ }
+
+ if (options.linear_solver_type == ITERATIVE_SCHUR &&
+ options.use_explicit_schur_complement &&
+ options.preconditioner_type != SCHUR_JACOBI) {
+ *error = "use_explicit_schur_complement only supports "
+ "SCHUR_JACOBI as the preconditioner.";
+ return false;
+ }
+
+ if (options.preconditioner_type == CLUSTER_JACOBI &&
+ options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
+ *error = "CLUSTER_JACOBI requires "
+ "Solver::Options::sparse_linear_algebra_library_type to be "
+ "SUITE_SPARSE";
+ return false;
+ }
+
+ if (options.preconditioner_type == CLUSTER_TRIDIAGONAL &&
+ options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
+ *error = "CLUSTER_TRIDIAGONAL requires "
+ "Solver::Options::sparse_linear_algebra_library_type to be "
+ "SUITE_SPARSE";
+ return false;
+ }
+
+#ifdef CERES_NO_LAPACK
+ if (options.dense_linear_algebra_library_type == LAPACK) {
+ if (options.linear_solver_type == DENSE_NORMAL_CHOLESKY) {
+ *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because "
+ "LAPACK was not enabled when Ceres was built.";
+ return false;
+ } else if (options.linear_solver_type == DENSE_QR) {
+ *error = "Can't use DENSE_QR with LAPACK because "
+ "LAPACK was not enabled when Ceres was built.";
+ return false;
+ } else if (options.linear_solver_type == DENSE_SCHUR) {
+ *error = "Can't use DENSE_SCHUR with LAPACK because "
+ "LAPACK was not enabled when Ceres was built.";
+ return false;
+ }
+ }
+#endif
+
+#ifdef CERES_NO_SUITESPARSE
+ if (options.sparse_linear_algebra_library_type == SUITE_SPARSE) {
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because "
+ "SuiteSparse was not enabled when Ceres was built.";
+ return false;
+ } else if (options.linear_solver_type == SPARSE_SCHUR) {
+ *error = "Can't use SPARSE_SCHUR with SUITESPARSE because "
+ "SuiteSparse was not enabled when Ceres was built.";
+ return false;
+ } else if (options.preconditioner_type == CLUSTER_JACOBI) {
+ *error = "CLUSTER_JACOBI preconditioner not supported. "
+ "SuiteSparse was not enabled when Ceres was built.";
+ return false;
+ } else if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) {
+ *error = "CLUSTER_TRIDIAGONAL preconditioner not supported. "
+ "SuiteSparse was not enabled when Ceres was built.";
+ return false;
+ }
+ }
+#endif
+
+#ifdef CERES_NO_CXSPARSE
+ if (options.sparse_linear_algebra_library_type == CX_SPARSE) {
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY with CX_SPARSE because "
+ "CXSparse was not enabled when Ceres was built.";
+ return false;
+ } else if (options.linear_solver_type == SPARSE_SCHUR) {
+ *error = "Can't use SPARSE_SCHUR with CX_SPARSE because "
+ "CXSparse was not enabled when Ceres was built.";
+ return false;
+ }
+ }
+#endif
+
+#ifndef CERES_USE_EIGEN_SPARSE
+ if (options.sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY with EIGEN_SPARSE because "
+ "Eigen's sparse linear algebra was not enabled when Ceres was "
+ "built.";
+ return false;
+ } else if (options.linear_solver_type == SPARSE_SCHUR) {
+ *error = "Can't use SPARSE_SCHUR with EIGEN_SPARSE because "
+ "Eigen's sparse linear algebra was not enabled when Ceres was "
+ "built.";
+ return false;
+ }
+ }
+#endif
+
+ if (options.sparse_linear_algebra_library_type == NO_SPARSE) {
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY as "
+ "sparse_linear_algebra_library_type is NO_SPARSE.";
+ return false;
+ } else if (options.linear_solver_type == SPARSE_SCHUR) {
+ *error = "Can't use SPARSE_SCHUR as "
+ "sparse_linear_algebra_library_type is NO_SPARSE.";
+ return false;
+ }
+ }
+
+ if (options.trust_region_strategy_type == DOGLEG) {
+ if (options.linear_solver_type == ITERATIVE_SCHUR ||
+ options.linear_solver_type == CGNR) {
+ *error = "DOGLEG only supports exact factorization based linear "
+ "solvers. If you want to use an iterative solver please "
+ "use LEVENBERG_MARQUARDT as the trust_region_strategy_type";
+ return false;
+ }
+ }
+
+ if (options.trust_region_minimizer_iterations_to_dump.size() > 0 &&
+ options.trust_region_problem_dump_format_type != CONSOLE &&
+ options.trust_region_problem_dump_directory.empty()) {
+ *error = "Solver::Options::trust_region_problem_dump_directory is empty.";
+ return false;
+ }
+
+ if (options.dynamic_sparsity &&
+ options.linear_solver_type != SPARSE_NORMAL_CHOLESKY) {
+ *error = "Dynamic sparsity is only supported with SPARSE_NORMAL_CHOLESKY.";
+ return false;
+ }
+
+ return true;
+}
+
+bool LineSearchOptionsAreValid(const Solver::Options& options, string* error) {
+ OPTION_GT(max_lbfgs_rank, 0);
+ OPTION_GT(min_line_search_step_size, 0.0);
+ OPTION_GT(max_line_search_step_contraction, 0.0);
+ OPTION_LT(max_line_search_step_contraction, 1.0);
+ OPTION_LT_OPTION(max_line_search_step_contraction,
+ min_line_search_step_contraction);
+ OPTION_LE(min_line_search_step_contraction, 1.0);
+ OPTION_GT(max_num_line_search_step_size_iterations, 0);
+ OPTION_GT(line_search_sufficient_function_decrease, 0.0);
+ OPTION_LT_OPTION(line_search_sufficient_function_decrease,
+ line_search_sufficient_curvature_decrease);
+ OPTION_LT(line_search_sufficient_curvature_decrease, 1.0);
+ OPTION_GT(max_line_search_step_expansion, 1.0);
+
+ if ((options.line_search_direction_type == ceres::BFGS ||
+ options.line_search_direction_type == ceres::LBFGS) &&
+ options.line_search_type != ceres::WOLFE) {
+ *error =
+ string("Invalid configuration: Solver::Options::line_search_type = ")
+ + string(LineSearchTypeToString(options.line_search_type))
+ + string(". When using (L)BFGS, "
+ "Solver::Options::line_search_type must be set to WOLFE.");
+ return false;
+ }
+
+ // Warn user if they have requested BISECTION interpolation, but constraints
+ // on max/min step size change during line search prevent bisection scaling
+ // from occurring. Warn only, as this is likely a user mistake, but one which
+ // does not prevent us from continuing.
+ LOG_IF(WARNING,
+ (options.line_search_interpolation_type == ceres::BISECTION &&
+ (options.max_line_search_step_contraction > 0.5 ||
+ options.min_line_search_step_contraction < 0.5)))
+ << "Line search interpolation type is BISECTION, but specified "
+ << "max_line_search_step_contraction: "
+ << options.max_line_search_step_contraction << ", and "
+ << "min_line_search_step_contraction: "
+ << options.min_line_search_step_contraction
+ << ", prevent bisection (0.5) scaling, continuing with solve regardless.";
+
+ return true;
+}
+
+#undef OPTION_OP
+#undef OPTION_OP_OPTION
+#undef OPTION_GT
+#undef OPTION_GE
+#undef OPTION_LE
+#undef OPTION_LT
+#undef OPTION_LE_OPTION
+#undef OPTION_LT_OPTION
+
+void StringifyOrdering(const vector<int>& ordering, string* report) {
+ if (ordering.size() == 0) {
+ internal::StringAppendF(report, "AUTOMATIC");
+ return;
+ }
+
+ for (int i = 0; i < ordering.size() - 1; ++i) {
+ internal::StringAppendF(report, "%d,", ordering[i]);
+ }
+ internal::StringAppendF(report, "%d", ordering.back());
+}
+
+void SummarizeGivenProgram(const internal::Program& program,
+ Solver::Summary* summary) {
+ summary->num_parameter_blocks = program.NumParameterBlocks();
+ summary->num_parameters = program.NumParameters();
+ summary->num_effective_parameters = program.NumEffectiveParameters();
+ summary->num_residual_blocks = program.NumResidualBlocks();
+ summary->num_residuals = program.NumResiduals();
+}
+
+void SummarizeReducedProgram(const internal::Program& program,
+ Solver::Summary* summary) {
+ summary->num_parameter_blocks_reduced = program.NumParameterBlocks();
+ summary->num_parameters_reduced = program.NumParameters();
+ summary->num_effective_parameters_reduced = program.NumEffectiveParameters();
+ summary->num_residual_blocks_reduced = program.NumResidualBlocks();
+ summary->num_residuals_reduced = program.NumResiduals();
+}
+
+void PreSolveSummarize(const Solver::Options& options,
+ const internal::ProblemImpl* problem,
+ Solver::Summary* summary) {
+ SummarizeGivenProgram(problem->program(), summary);
+ internal::OrderingToGroupSizes(options.linear_solver_ordering.get(),
+ &(summary->linear_solver_ordering_given));
+ internal::OrderingToGroupSizes(options.inner_iteration_ordering.get(),
+ &(summary->inner_iteration_ordering_given));
+
+ summary->dense_linear_algebra_library_type = options.dense_linear_algebra_library_type; // NOLINT
+ summary->dogleg_type = options.dogleg_type;
+ summary->inner_iteration_time_in_seconds = 0.0;
+ summary->num_line_search_steps = 0;
+ summary->line_search_cost_evaluation_time_in_seconds = 0.0;
+ summary->line_search_gradient_evaluation_time_in_seconds = 0.0;
+ summary->line_search_polynomial_minimization_time_in_seconds = 0.0;
+ summary->line_search_total_time_in_seconds = 0.0;
+ summary->inner_iterations_given = options.use_inner_iterations;
+ summary->line_search_direction_type = options.line_search_direction_type; // NOLINT
+ summary->line_search_interpolation_type = options.line_search_interpolation_type; // NOLINT
+ summary->line_search_type = options.line_search_type;
+ summary->linear_solver_type_given = options.linear_solver_type;
+ summary->max_lbfgs_rank = options.max_lbfgs_rank;
+ summary->minimizer_type = options.minimizer_type;
+ summary->nonlinear_conjugate_gradient_type = options.nonlinear_conjugate_gradient_type; // NOLINT
+ summary->num_linear_solver_threads_given = options.num_linear_solver_threads; // NOLINT
+ summary->num_threads_given = options.num_threads;
+ summary->preconditioner_type_given = options.preconditioner_type;
+ summary->sparse_linear_algebra_library_type = options.sparse_linear_algebra_library_type; // NOLINT
+ summary->trust_region_strategy_type = options.trust_region_strategy_type; // NOLINT
+ summary->visibility_clustering_type = options.visibility_clustering_type; // NOLINT
+}
+
+void PostSolveSummarize(const internal::PreprocessedProblem& pp,
+ Solver::Summary* summary) {
+ internal::OrderingToGroupSizes(pp.options.linear_solver_ordering.get(),
+ &(summary->linear_solver_ordering_used));
+ internal::OrderingToGroupSizes(pp.options.inner_iteration_ordering.get(),
+ &(summary->inner_iteration_ordering_used));
+
+ summary->inner_iterations_used = pp.inner_iteration_minimizer.get() != NULL; // NOLINT
+ summary->linear_solver_type_used = pp.linear_solver_options.type;
+ summary->num_linear_solver_threads_used = pp.options.num_linear_solver_threads; // NOLINT
+ summary->num_threads_used = pp.options.num_threads;
+ summary->preconditioner_type_used = pp.options.preconditioner_type; // NOLINT
+
+ internal::SetSummaryFinalCost(summary);
+
+ if (pp.reduced_program.get() != NULL) {
+ SummarizeReducedProgram(*pp.reduced_program, summary);
+ }
+
+ // It is possible that no evaluator was created. This would be the
+ // case if the preprocessor failed, or if the reduced problem did
+ // not contain any parameter blocks. Thus, only extract the
+ // evaluator statistics if one exists.
+ if (pp.evaluator.get() != NULL) {
+ const map<string, double>& evaluator_time_statistics =
+ pp.evaluator->TimeStatistics();
+ summary->residual_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+ summary->jacobian_evaluation_time_in_seconds =
+ FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+ }
+
+ // Again, like the evaluator, there may or may not be a linear
+ // solver from which we can extract run time statistics. In
+ // particular the line search solver does not use a linear solver.
+ if (pp.linear_solver.get() != NULL) {
+ const map<string, double>& linear_solver_time_statistics =
+ pp.linear_solver->TimeStatistics();
+ summary->linear_solver_time_in_seconds =
+ FindWithDefault(linear_solver_time_statistics,
+ "LinearSolver::Solve",
+ 0.0);
+ }
+}
+
+void Minimize(internal::PreprocessedProblem* pp,
+ Solver::Summary* summary) {
+ using internal::Program;
+ using internal::scoped_ptr;
+ using internal::Minimizer;
+
+ Program* program = pp->reduced_program.get();
+ if (pp->reduced_program->NumParameterBlocks() == 0) {
+ summary->message = "Function tolerance reached. "
+ "No non-constant parameter blocks found.";
+ summary->termination_type = CONVERGENCE;
+ VLOG_IF(1, pp->options.logging_type != SILENT) << summary->message;
+ summary->initial_cost = summary->fixed_cost;
+ summary->final_cost = summary->fixed_cost;
+ return;
+ }
+
+ scoped_ptr<Minimizer> minimizer(
+ Minimizer::Create(pp->options.minimizer_type));
+ minimizer->Minimize(pp->minimizer_options,
+ pp->reduced_parameters.data(),
+ summary);
+
+ if (summary->IsSolutionUsable()) {
+ program->StateVectorToParameterBlocks(pp->reduced_parameters.data());
+ program->CopyParameterBlockStateToUserState();
+ }
+}
+
+std::string SchurStructureToString(const int row_block_size,
+ const int e_block_size,
+ const int f_block_size) {
+ const std::string row =
+ (row_block_size == Eigen::Dynamic)
+ ? "d" : internal::StringPrintf("%d", row_block_size);
+
+ const std::string e =
+ (e_block_size == Eigen::Dynamic)
+ ? "d" : internal::StringPrintf("%d", e_block_size);
+
+ const std::string f =
+ (f_block_size == Eigen::Dynamic)
+ ? "d" : internal::StringPrintf("%d", f_block_size);
+
+ return internal::StringPrintf("%s,%s,%s", row.c_str(), e.c_str(), f.c_str());
+}
+
+} // namespace
+
+bool Solver::Options::IsValid(string* error) const {
+ if (!CommonOptionsAreValid(*this, error)) {
+ return false;
+ }
+
+ if (minimizer_type == TRUST_REGION &&
+ !TrustRegionOptionsAreValid(*this, error)) {
+ return false;
+ }
+
+ // We do not know if the problem is bounds constrained or not, if it
+ // is then the trust region solver will also use the line search
+ // solver to do a projection onto the box constraints, so make sure
+ // that the line search options are checked independent of what
+ // minimizer algorithm is being used.
+ return LineSearchOptionsAreValid(*this, error);
+}
+
+Solver::~Solver() {}
+
+void Solver::Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ using internal::PreprocessedProblem;
+ using internal::Preprocessor;
+ using internal::ProblemImpl;
+ using internal::Program;
+ using internal::scoped_ptr;
+ using internal::WallTimeInSeconds;
+
+ CHECK_NOTNULL(problem);
+ CHECK_NOTNULL(summary);
+
+ double start_time = WallTimeInSeconds();
+ *summary = Summary();
+ if (!options.IsValid(&summary->message)) {
+ LOG(ERROR) << "Terminating: " << summary->message;
+ return;
+ }
+
+ ProblemImpl* problem_impl = problem->problem_impl_.get();
+ Program* program = problem_impl->mutable_program();
+ PreSolveSummarize(options, problem_impl, summary);
+
+ // Make sure that all the parameter blocks states are set to the
+ // values provided by the user.
+ program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // If gradient_checking is enabled, wrap all cost functions in a
+ // gradient checker and install a callback that terminates if any gradient
+ // error is detected.
+ scoped_ptr<internal::ProblemImpl> gradient_checking_problem;
+ internal::GradientCheckingIterationCallback gradient_checking_callback;
+ Solver::Options modified_options = options;
+ if (options.check_gradients) {
+ modified_options.callbacks.push_back(&gradient_checking_callback);
+ gradient_checking_problem.reset(
+ CreateGradientCheckingProblemImpl(
+ problem_impl,
+ options.gradient_check_numeric_derivative_relative_step_size,
+ options.gradient_check_relative_precision,
+ &gradient_checking_callback));
+ problem_impl = gradient_checking_problem.get();
+ program = problem_impl->mutable_program();
+ }
+
+ scoped_ptr<Preprocessor> preprocessor(
+ Preprocessor::Create(modified_options.minimizer_type));
+ PreprocessedProblem pp;
+
+ const bool status = preprocessor->Preprocess(modified_options, problem_impl, &pp);
+
+ // We check the linear_solver_options.type rather than
+ // modified_options.linear_solver_type because, depending on the
+ // lack of a Schur structure, the preprocessor may change the linear
+ // solver type.
+ if (IsSchurType(pp.linear_solver_options.type)) {
+ // TODO(sameeragarwal): We can likely eliminate the duplicate call
+ // to DetectStructure here and inside the linear solver, by
+ // calling this in the preprocessor.
+ int row_block_size;
+ int e_block_size;
+ int f_block_size;
+ DetectStructure(*static_cast<internal::BlockSparseMatrix*>(
+ pp.minimizer_options.jacobian.get())
+ ->block_structure(),
+ pp.linear_solver_options.elimination_groups[0],
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+ summary->schur_structure_given =
+ SchurStructureToString(row_block_size, e_block_size, f_block_size);
+ internal::GetBestSchurTemplateSpecialization(&row_block_size,
+ &e_block_size,
+ &f_block_size);
+ summary->schur_structure_used =
+ SchurStructureToString(row_block_size, e_block_size, f_block_size);
+ }
+
+ summary->fixed_cost = pp.fixed_cost;
+ summary->preprocessor_time_in_seconds = WallTimeInSeconds() - start_time;
+
+ if (status) {
+ const double minimizer_start_time = WallTimeInSeconds();
+ Minimize(&pp, summary);
+ summary->minimizer_time_in_seconds =
+ WallTimeInSeconds() - minimizer_start_time;
+ } else {
+ summary->message = pp.error;
+ }
+
+ const double postprocessor_start_time = WallTimeInSeconds();
+ problem_impl = problem->problem_impl_.get();
+ program = problem_impl->mutable_program();
+ // On exit, ensure that the parameter blocks again point at the user
+ // provided values and the parameter blocks are numbered according
+ // to their position in the original user provided program.
+ program->SetParameterBlockStatePtrsToUserStatePtrs();
+ program->SetParameterOffsetsAndIndex();
+ PostSolveSummarize(pp, summary);
+ summary->postprocessor_time_in_seconds =
+ WallTimeInSeconds() - postprocessor_start_time;
+
+ // If the gradient checker reported an error, we want to report FAILURE
+ // instead of USER_FAILURE and provide the error log.
+ if (gradient_checking_callback.gradient_error_detected()) {
+ summary->termination_type = FAILURE;
+ summary->message = gradient_checking_callback.error_log();
+ }
+
+ summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ Solver solver;
+ solver.Solve(options, problem, summary);
+}
+
+Solver::Summary::Summary()
+ // Invalid values for most fields, to ensure that we are not
+ // accidentally reporting default values.
+ : minimizer_type(TRUST_REGION),
+ termination_type(FAILURE),
+ message("ceres::Solve was not called."),
+ initial_cost(-1.0),
+ final_cost(-1.0),
+ fixed_cost(-1.0),
+ num_successful_steps(-1),
+ num_unsuccessful_steps(-1),
+ num_inner_iteration_steps(-1),
+ num_line_search_steps(-1),
+ preprocessor_time_in_seconds(-1.0),
+ minimizer_time_in_seconds(-1.0),
+ postprocessor_time_in_seconds(-1.0),
+ total_time_in_seconds(-1.0),
+ linear_solver_time_in_seconds(-1.0),
+ residual_evaluation_time_in_seconds(-1.0),
+ jacobian_evaluation_time_in_seconds(-1.0),
+ inner_iteration_time_in_seconds(-1.0),
+ line_search_cost_evaluation_time_in_seconds(-1.0),
+ line_search_gradient_evaluation_time_in_seconds(-1.0),
+ line_search_polynomial_minimization_time_in_seconds(-1.0),
+ line_search_total_time_in_seconds(-1.0),
+ num_parameter_blocks(-1),
+ num_parameters(-1),
+ num_effective_parameters(-1),
+ num_residual_blocks(-1),
+ num_residuals(-1),
+ num_parameter_blocks_reduced(-1),
+ num_parameters_reduced(-1),
+ num_effective_parameters_reduced(-1),
+ num_residual_blocks_reduced(-1),
+ num_residuals_reduced(-1),
+ is_constrained(false),
+ num_threads_given(-1),
+ num_threads_used(-1),
+ num_linear_solver_threads_given(-1),
+ num_linear_solver_threads_used(-1),
+ linear_solver_type_given(SPARSE_NORMAL_CHOLESKY),
+ linear_solver_type_used(SPARSE_NORMAL_CHOLESKY),
+ inner_iterations_given(false),
+ inner_iterations_used(false),
+ preconditioner_type_given(IDENTITY),
+ preconditioner_type_used(IDENTITY),
+ visibility_clustering_type(CANONICAL_VIEWS),
+ trust_region_strategy_type(LEVENBERG_MARQUARDT),
+ dense_linear_algebra_library_type(EIGEN),
+ sparse_linear_algebra_library_type(SUITE_SPARSE),
+ line_search_direction_type(LBFGS),
+ line_search_type(ARMIJO),
+ line_search_interpolation_type(BISECTION),
+ nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+ max_lbfgs_rank(-1) {
+}
+
+using internal::StringAppendF;
+using internal::StringPrintf;
+
+string Solver::Summary::BriefReport() const {
+ return StringPrintf("Ceres Solver Report: "
+ "Iterations: %d, "
+ "Initial cost: %e, "
+ "Final cost: %e, "
+ "Termination: %s",
+ num_successful_steps + num_unsuccessful_steps,
+ initial_cost,
+ final_cost,
+ TerminationTypeToString(termination_type));
+}
+
+string Solver::Summary::FullReport() const {
+ using internal::VersionString;
+
+ string report = string("\nSolver Summary (v " + VersionString() + ")\n\n");
+
+ StringAppendF(&report, "%45s %21s\n", "Original", "Reduced");
+ StringAppendF(&report, "Parameter blocks % 25d% 25d\n",
+ num_parameter_blocks, num_parameter_blocks_reduced);
+ StringAppendF(&report, "Parameters % 25d% 25d\n",
+ num_parameters, num_parameters_reduced);
+ if (num_effective_parameters_reduced != num_parameters_reduced) {
+ StringAppendF(&report, "Effective parameters% 25d% 25d\n",
+ num_effective_parameters, num_effective_parameters_reduced);
+ }
+ StringAppendF(&report, "Residual blocks % 25d% 25d\n",
+ num_residual_blocks, num_residual_blocks_reduced);
+ StringAppendF(&report, "Residual % 25d% 25d\n",
+ num_residuals, num_residuals_reduced);
+
+ if (minimizer_type == TRUST_REGION) {
+ // TRUST_SEARCH HEADER
+ StringAppendF(&report, "\nMinimizer %19s\n",
+ "TRUST_REGION");
+
+ if (linear_solver_type_used == DENSE_NORMAL_CHOLESKY ||
+ linear_solver_type_used == DENSE_SCHUR ||
+ linear_solver_type_used == DENSE_QR) {
+ StringAppendF(&report, "\nDense linear algebra library %15s\n",
+ DenseLinearAlgebraLibraryTypeToString(
+ dense_linear_algebra_library_type));
+ }
+
+ if (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY ||
+ linear_solver_type_used == SPARSE_SCHUR ||
+ (linear_solver_type_used == ITERATIVE_SCHUR &&
+ (preconditioner_type_used == CLUSTER_JACOBI ||
+ preconditioner_type_used == CLUSTER_TRIDIAGONAL))) {
+ StringAppendF(&report, "\nSparse linear algebra library %15s\n",
+ SparseLinearAlgebraLibraryTypeToString(
+ sparse_linear_algebra_library_type));
+ }
+
+ StringAppendF(&report, "Trust region strategy %19s",
+ TrustRegionStrategyTypeToString(
+ trust_region_strategy_type));
+ if (trust_region_strategy_type == DOGLEG) {
+ if (dogleg_type == TRADITIONAL_DOGLEG) {
+ StringAppendF(&report, " (TRADITIONAL)");
+ } else {
+ StringAppendF(&report, " (SUBSPACE)");
+ }
+ }
+ StringAppendF(&report, "\n");
+ StringAppendF(&report, "\n");
+
+ StringAppendF(&report, "%45s %21s\n", "Given", "Used");
+ StringAppendF(&report, "Linear solver %25s%25s\n",
+ LinearSolverTypeToString(linear_solver_type_given),
+ LinearSolverTypeToString(linear_solver_type_used));
+
+ if (linear_solver_type_given == CGNR ||
+ linear_solver_type_given == ITERATIVE_SCHUR) {
+ StringAppendF(&report, "Preconditioner %25s%25s\n",
+ PreconditionerTypeToString(preconditioner_type_given),
+ PreconditionerTypeToString(preconditioner_type_used));
+ }
+
+ if (preconditioner_type_used == CLUSTER_JACOBI ||
+ preconditioner_type_used == CLUSTER_TRIDIAGONAL) {
+ StringAppendF(&report, "Visibility clustering%24s%25s\n",
+ VisibilityClusteringTypeToString(
+ visibility_clustering_type),
+ VisibilityClusteringTypeToString(
+ visibility_clustering_type));
+ }
+ StringAppendF(&report, "Threads % 25d% 25d\n",
+ num_threads_given, num_threads_used);
+ StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
+ num_linear_solver_threads_given,
+ num_linear_solver_threads_used);
+
+ string given;
+ StringifyOrdering(linear_solver_ordering_given, &given);
+ string used;
+ StringifyOrdering(linear_solver_ordering_used, &used);
+ StringAppendF(&report,
+ "Linear solver ordering %22s %24s\n",
+ given.c_str(),
+ used.c_str());
+ if (IsSchurType(linear_solver_type_used)) {
+ StringAppendF(&report,
+ "Schur structure %22s %24s\n",
+ schur_structure_given.c_str(),
+ schur_structure_used.c_str());
+ }
+
+ if (inner_iterations_given) {
+ StringAppendF(&report,
+ "Use inner iterations %20s %20s\n",
+ inner_iterations_given ? "True" : "False",
+ inner_iterations_used ? "True" : "False");
+ }
+
+ if (inner_iterations_used) {
+ string given;
+ StringifyOrdering(inner_iteration_ordering_given, &given);
+ string used;
+ StringifyOrdering(inner_iteration_ordering_used, &used);
+ StringAppendF(&report,
+ "Inner iteration ordering %20s %24s\n",
+ given.c_str(),
+ used.c_str());
+ }
+ } else {
+ // LINE_SEARCH HEADER
+ StringAppendF(&report, "\nMinimizer %19s\n", "LINE_SEARCH");
+
+
+ string line_search_direction_string;
+ if (line_search_direction_type == LBFGS) {
+ line_search_direction_string = StringPrintf("LBFGS (%d)", max_lbfgs_rank);
+ } else if (line_search_direction_type == NONLINEAR_CONJUGATE_GRADIENT) {
+ line_search_direction_string =
+ NonlinearConjugateGradientTypeToString(
+ nonlinear_conjugate_gradient_type);
+ } else {
+ line_search_direction_string =
+ LineSearchDirectionTypeToString(line_search_direction_type);
+ }
+
+ StringAppendF(&report, "Line search direction %19s\n",
+ line_search_direction_string.c_str());
+
+ const string line_search_type_string =
+ StringPrintf("%s %s",
+ LineSearchInterpolationTypeToString(
+ line_search_interpolation_type),
+ LineSearchTypeToString(line_search_type));
+ StringAppendF(&report, "Line search type %19s\n",
+ line_search_type_string.c_str());
+ StringAppendF(&report, "\n");
+
+ StringAppendF(&report, "%45s %21s\n", "Given", "Used");
+ StringAppendF(&report, "Threads % 25d% 25d\n",
+ num_threads_given, num_threads_used);
+ }
+
+ StringAppendF(&report, "\nCost:\n");
+ StringAppendF(&report, "Initial % 30e\n", initial_cost);
+ if (termination_type != FAILURE &&
+ termination_type != USER_FAILURE) {
+ StringAppendF(&report, "Final % 30e\n", final_cost);
+ StringAppendF(&report, "Change % 30e\n",
+ initial_cost - final_cost);
+ }
+
+ StringAppendF(&report, "\nMinimizer iterations % 16d\n",
+ num_successful_steps + num_unsuccessful_steps);
+
+ // Successful/Unsuccessful steps only matter in the case of the
+ // trust region solver. Line search terminates when it encounters
+ // the first unsuccessful step.
+ if (minimizer_type == TRUST_REGION) {
+ StringAppendF(&report, "Successful steps % 14d\n",
+ num_successful_steps);
+ StringAppendF(&report, "Unsuccessful steps % 14d\n",
+ num_unsuccessful_steps);
+ }
+ if (inner_iterations_used) {
+ StringAppendF(&report, "Steps with inner iterations % 14d\n",
+ num_inner_iteration_steps);
+ }
+
+ const bool line_search_used =
+ (minimizer_type == LINE_SEARCH ||
+ (minimizer_type == TRUST_REGION && is_constrained));
+
+ if (line_search_used) {
+ StringAppendF(&report, "Line search steps % 14d\n",
+ num_line_search_steps);
+ }
+
+ StringAppendF(&report, "\nTime (in seconds):\n");
+ StringAppendF(&report, "Preprocessor %25.4f\n",
+ preprocessor_time_in_seconds);
+
+ StringAppendF(&report, "\n Residual evaluation %23.4f\n",
+ residual_evaluation_time_in_seconds);
+ if (line_search_used) {
+ StringAppendF(&report, " Line search cost evaluation %10.4f\n",
+ line_search_cost_evaluation_time_in_seconds);
+ }
+ StringAppendF(&report, " Jacobian evaluation %23.4f\n",
+ jacobian_evaluation_time_in_seconds);
+ if (line_search_used) {
+ StringAppendF(&report, " Line search gradient evaluation %6.4f\n",
+ line_search_gradient_evaluation_time_in_seconds);
+ }
+
+ if (minimizer_type == TRUST_REGION) {
+ StringAppendF(&report, " Linear solver %23.4f\n",
+ linear_solver_time_in_seconds);
+ }
+
+ if (inner_iterations_used) {
+ StringAppendF(&report, " Inner iterations %23.4f\n",
+ inner_iteration_time_in_seconds);
+ }
+
+ if (line_search_used) {
+ StringAppendF(&report, " Line search polynomial minimization %.4f\n",
+ line_search_polynomial_minimization_time_in_seconds);
+ }
+
+ StringAppendF(&report, "Minimizer %25.4f\n\n",
+ minimizer_time_in_seconds);
+
+ StringAppendF(&report, "Postprocessor %24.4f\n",
+ postprocessor_time_in_seconds);
+
+ StringAppendF(&report, "Total %25.4f\n\n",
+ total_time_in_seconds);
+
+ StringAppendF(&report, "Termination: %25s (%s)\n",
+ TerminationTypeToString(termination_type), message.c_str());
+ return report;
+}
+
+bool Solver::Summary::IsSolutionUsable() const {
+ return internal::IsSolutionUsable(*this);
+}
+
+} // namespace ceres
--- /dev/null
+// 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/solver.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+TEST(SolverOptions, DefaultTrustRegionOptionsAreValid) {
+ Solver::Options options;
+ options.minimizer_type = TRUST_REGION;
+ string error;
+ EXPECT_TRUE(options.IsValid(&error)) << error;
+}
+
+TEST(SolverOptions, DefaultLineSearchOptionsAreValid) {
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ string error;
+ EXPECT_TRUE(options.IsValid(&error)) << error;
+}
+
+struct QuadraticCostFunctor {
+ template <typename T> bool operator()(const T* const x,
+ T* residual) const {
+ residual[0] = T(5.0) - *x;
+ return true;
+ }
+
+ static CostFunction* Create() {
+ return new AutoDiffCostFunction<QuadraticCostFunctor, 1, 1>(
+ new QuadraticCostFunctor);
+ }
+};
+
+struct RememberingCallback : public IterationCallback {
+ explicit RememberingCallback(double *x) : calls(0), x(x) {}
+ virtual ~RememberingCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ x_values.push_back(*x);
+ return SOLVER_CONTINUE;
+ }
+ int calls;
+ double *x;
+ std::vector<double> x_values;
+};
+
+TEST(Solver, UpdateStateEveryIterationOption) {
+ double x = 50.0;
+ const double original_x = x;
+
+ scoped_ptr<CostFunction> cost_function(QuadraticCostFunctor::Create());
+ Problem::Options problem_options;
+ problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+ Problem problem(problem_options);
+ problem.AddResidualBlock(cost_function.get(), NULL, &x);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+
+ RememberingCallback callback(&x);
+ options.callbacks.push_back(&callback);
+
+ Solver::Summary summary;
+
+ int num_iterations;
+
+ // First try: no updating.
+ Solve(options, &problem, &summary);
+ num_iterations = summary.num_successful_steps +
+ summary.num_unsuccessful_steps;
+ EXPECT_GT(num_iterations, 1);
+ for (int i = 0; i < callback.x_values.size(); ++i) {
+ EXPECT_EQ(50.0, callback.x_values[i]);
+ }
+
+ // Second try: with updating
+ x = 50.0;
+ options.update_state_every_iteration = true;
+ callback.x_values.clear();
+ Solve(options, &problem, &summary);
+ num_iterations = summary.num_successful_steps +
+ summary.num_unsuccessful_steps;
+ EXPECT_GT(num_iterations, 1);
+ EXPECT_EQ(original_x, callback.x_values[0]);
+ EXPECT_NE(original_x, callback.x_values[1]);
+}
+
+// The parameters must be in separate blocks so that they can be individually
+// set constant or not.
+struct Quadratic4DCostFunction {
+ template <typename T> bool operator()(const T* const x,
+ const T* const y,
+ const T* const z,
+ const T* const w,
+ T* residual) const {
+ // A 4-dimension axis-aligned quadratic.
+ residual[0] = T(10.0) - *x +
+ T(20.0) - *y +
+ T(30.0) - *z +
+ T(40.0) - *w;
+ return true;
+ }
+
+ static CostFunction* Create() {
+ return new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
+ new Quadratic4DCostFunction);
+ }
+};
+
+// A cost function that simply returns its argument.
+class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = parameters[0][0];
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 1.0;
+ }
+ return true;
+ }
+};
+
+TEST(Solver, TrustRegionProblemHasNoParameterBlocks) {
+ Problem problem;
+ Solver::Options options;
+ options.minimizer_type = TRUST_REGION;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.message,
+ "Function tolerance reached. "
+ "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, LineSearchProblemHasNoParameterBlocks) {
+ Problem problem;
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.message,
+ "Function tolerance reached. "
+ "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, TrustRegionProblemHasZeroResiduals) {
+ Problem problem;
+ double x = 1;
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ options.minimizer_type = TRUST_REGION;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.message,
+ "Function tolerance reached. "
+ "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, LineSearchProblemHasZeroResiduals) {
+ Problem problem;
+ double x = 1;
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.message,
+ "Function tolerance reached. "
+ "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, TrustRegionProblemIsConstant) {
+ Problem problem;
+ double x = 1;
+ problem.AddResidualBlock(new UnaryIdentityCostFunction, NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+ Solver::Options options;
+ options.minimizer_type = TRUST_REGION;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.initial_cost, 1.0 / 2.0);
+ EXPECT_EQ(summary.final_cost, 1.0 / 2.0);
+}
+
+TEST(Solver, LineSearchProblemIsConstant) {
+ Problem problem;
+ double x = 1;
+ problem.AddResidualBlock(new UnaryIdentityCostFunction, NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+ Solver::Options options;
+ options.minimizer_type = LINE_SEARCH;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_EQ(summary.termination_type, CONVERGENCE);
+ EXPECT_EQ(summary.initial_cost, 1.0 / 2.0);
+ EXPECT_EQ(summary.final_cost, 1.0 / 2.0);
+}
+
+#if defined(CERES_NO_SUITESPARSE)
+TEST(Solver, SparseNormalCholeskyNoSuiteSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoSuiteSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ options.linear_solver_type = SPARSE_SCHUR;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+#if defined(CERES_NO_CXSPARSE)
+TEST(Solver, SparseNormalCholeskyNoCXSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = CX_SPARSE;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoCXSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = CX_SPARSE;
+ options.linear_solver_type = SPARSE_SCHUR;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+#if !defined(CERES_USE_EIGEN_SPARSE)
+TEST(Solver, SparseNormalCholeskyNoEigenSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoEigenSparse) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ options.linear_solver_type = SPARSE_SCHUR;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+TEST(Solver, SparseNormalCholeskyNoSparseLibrary) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = NO_SPARSE;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoSparseLibrary) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = NO_SPARSE;
+ options.linear_solver_type = SPARSE_SCHUR;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeSchurWithClusterJacobiPerconditionerNoSparseLibrary) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = NO_SPARSE;
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ // Requires SuiteSparse.
+ options.preconditioner_type = CLUSTER_JACOBI;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeSchurWithClusterTridiagonalPerconditionerNoSparseLibrary) {
+ Solver::Options options;
+ options.sparse_linear_algebra_library_type = NO_SPARSE;
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ // Requires SuiteSparse.
+ options.preconditioner_type = CLUSTER_TRIDIAGONAL;
+ string message;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeLinearSolverForDogleg) {
+ Solver::Options options;
+ options.trust_region_strategy_type = DOGLEG;
+ string message;
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ EXPECT_FALSE(options.IsValid(&message));
+
+ options.linear_solver_type = CGNR;
+ EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, LinearSolverTypeNormalOperation) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+
+ string message;
+ EXPECT_TRUE(options.IsValid(&message));
+
+ options.linear_solver_type = DENSE_NORMAL_CHOLESKY;
+ EXPECT_TRUE(options.IsValid(&message));
+
+ options.linear_solver_type = DENSE_SCHUR;
+ EXPECT_TRUE(options.IsValid(&message));
+
+ options.linear_solver_type = SPARSE_SCHUR;
+#if defined(CERES_NO_SUITESPARSE) && \
+ defined(CERES_NO_CXSPARSE) && \
+ !defined(CERES_USE_EIGEN_SPARSE)
+ EXPECT_FALSE(options.IsValid(&message));
+#else
+ EXPECT_TRUE(options.IsValid(&message));
+#endif
+
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ EXPECT_TRUE(options.IsValid(&message));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < kNumResiduals; ++i) {
+ residuals[i] = kNumResiduals * kNumResiduals + i;
+ }
+
+ return true;
+ }
+};
+
+TEST(Solver, FixedCostForConstantProblem) {
+ double x = 1.0;
+ Problem problem;
+ problem.AddResidualBlock(new DummyCostFunction<2, 1>(), NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+ const double expected_cost = 41.0 / 2.0; // 1/2 * ((4 + 0)^2 + (4 + 1)^2)
+ Solver::Options options;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_TRUE(summary.IsSolutionUsable());
+ EXPECT_EQ(summary.fixed_cost, expected_cost);
+ EXPECT_EQ(summary.initial_cost, expected_cost);
+ EXPECT_EQ(summary.final_cost, expected_cost);
+ EXPECT_EQ(summary.iterations.size(), 0);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 <string>
+
+#include "Eigen/Core"
+#include "ceres/internal/port.h"
+#include "ceres/solver_utils.h"
+#include "ceres/version.h"
+
+namespace ceres {
+namespace internal {
+
+#define CERES_EIGEN_VERSION \
+ CERES_TO_STRING(EIGEN_WORLD_VERSION) "." \
+ CERES_TO_STRING(EIGEN_MAJOR_VERSION) "." \
+ CERES_TO_STRING(EIGEN_MINOR_VERSION)
+
+std::string VersionString() {
+ std::string value = std::string(CERES_VERSION_STRING);
+ value += "-eigen-(" + std::string(CERES_EIGEN_VERSION) + ")";
+
+#ifdef CERES_NO_LAPACK
+ value += "-no_lapack";
+#else
+ value += "-lapack";
+#endif
+
+#ifndef CERES_NO_SUITESPARSE
+ value += "-suitesparse-(" + std::string(CERES_SUITESPARSE_VERSION) + ")";
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+ value += "-cxsparse-(" + std::string(CERES_CXSPARSE_VERSION) + ")";
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+ value += "-eigensparse";
+#endif
+
+#ifdef CERES_RESTRUCT_SCHUR_SPECIALIZATIONS
+ value += "-no_schur_specializations";
+#endif
+
+#ifdef CERES_USE_OPENMP
+ value += "-openmp";
+#else
+ value += "-no_openmp";
+#endif
+
+#ifdef CERES_NO_CUSTOM_BLAS
+ value += "-no_custom_blas";
+#endif
+
+ return value;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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 <algorithm>
+#include <string>
+
+#include "ceres/iteration_callback.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename SummaryType>
+bool IsSolutionUsable(const SummaryType& summary) {
+ return (summary.termination_type == CONVERGENCE ||
+ summary.termination_type == NO_CONVERGENCE ||
+ summary.termination_type == USER_SUCCESS);
+}
+
+template <typename SummaryType>
+void SetSummaryFinalCost(SummaryType* summary) {
+ summary->final_cost = summary->initial_cost;
+ // We need the loop here, instead of just looking at the last
+ // iteration because the minimizer maybe making non-monotonic steps.
+ for (int i = 0; i < summary->iterations.size(); ++i) {
+ const IterationSummary& iteration_summary = summary->iterations[i];
+ summary->final_cost = std::min(iteration_summary.cost, summary->final_cost);
+ }
+}
+
+std::string VersionString();
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/sparse_cholesky.h"
+
+#include "ceres/cxsparse.h"
+#include "ceres/eigensparse.h"
+#include "ceres/suitesparse.h"
+
+namespace ceres {
+namespace internal {
+
+SparseCholesky* SparseCholesky::Create(
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ OrderingType ordering_type) {
+ switch (sparse_linear_algebra_library_type) {
+ case SUITE_SPARSE:
+#ifndef CERES_NO_SUITESPARSE
+ return SuiteSparseCholesky::Create(ordering_type);
+#else
+ LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
+ return NULL;
+#endif
+
+ case EIGEN_SPARSE:
+#ifdef CERES_USE_EIGEN_SPARSE
+ return EigenSparseCholesky::Create(ordering_type);
+#else
+ LOG(FATAL) << "Ceres was compiled without support for "
+ << "Eigen's sparse Cholesky factorization routines.";
+ return NULL;
+#endif
+
+ case CX_SPARSE:
+#ifndef CERES_NO_CXSPARSE
+ return CXSparseCholesky::Create(ordering_type);
+#else
+ LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
+ return NULL;
+#endif
+
+ default:
+ LOG(FATAL) << "Unknown sparse linear algebra library type : "
+ << SparseLinearAlgebraLibraryTypeToString(
+ sparse_linear_algebra_library_type);
+ }
+ return NULL;
+}
+
+SparseCholesky::~SparseCholesky() {}
+
+LinearSolverTerminationType SparseCholesky::FactorAndSolve(
+ CompressedRowSparseMatrix* lhs,
+ const double* rhs,
+ double* solution,
+ std::string* message) {
+ LinearSolverTerminationType termination_type = Factorize(lhs, message);
+ if (termination_type == LINEAR_SOLVER_SUCCESS) {
+ termination_type = Solve(rhs, solution, message);
+ }
+ return termination_type;
+}
+
+CompressedRowSparseMatrix::StorageType StorageTypeForSparseLinearAlgebraLibrary(
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
+ if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+ return CompressedRowSparseMatrix::UPPER_TRIANGULAR;
+ }
+ return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+
+#ifndef CERES_INTERNAL_SPARSE_CHOLESKY_H_
+#define CERES_INTERNAL_SPARSE_CHOLESKY_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include "ceres/linear_solver.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// An interface that abstracts away the internal details of various
+// sparse linear algebra libraries and offers a simple API for solving
+// symmetric positive definite linear systems using a sparse Cholesky
+// factorization.
+//
+// Instances of SparseCholesky are expected to cache the symbolic
+// factorization of the linear system. They do this on the first call
+// to Factorize or FactorAndSolve. Subsequent calls to Factorize and
+// FactorAndSolve are expected to have the same sparsity structure.
+//
+// Example usage:
+//
+// scoped_ptr<SparseCholesky>
+// sparse_cholesky(SparseCholesky::Create(SUITE_SPARSE, AMD));
+//
+// CompressedRowSparseMatrix lhs = ...;
+// std::string message;
+// CHECK_EQ(sparse_cholesky->Factorize(&lhs, &message), LINEAR_SOLVER_SUCCESS);
+// Vector rhs = ...;
+// Vector solution = ...;
+// CHECK_EQ(sparse_cholesky->Solve(rhs.data(), solution.data(), &message),
+// LINEAR_SOLVER_SUCCESS);
+
+class SparseCholesky {
+ public:
+ // Factory which returns an instance of SparseCholesky for the given
+ // sparse linear algebra library and fill reducing ordering
+ // strategy.
+ //
+ // Caller owns the result.
+ static SparseCholesky* Create(
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ OrderingType ordering_type);
+
+ virtual ~SparseCholesky();
+
+ // Due to the symmetry of the linear system, sparse linear algebra
+ // libraries only use one half of the input matrix. Whether it is
+ // the upper or the lower triangular part of the matrix depends on
+ // the library and the re-ordering strategy being used. This
+ // function tells the user the storage type expected of the input
+ // matrix for the sparse linear algebra library and reordering
+ // strategy used.
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0;
+
+ // Computes the numeric factorization of the given matrix. If this
+ // is the first call to Factorize, first the symbolic factorization
+ // will be computed and cached and the numeric factorization will be
+ // computed based on that.
+ //
+ // Subsequent calls to Factorize will use that symbolic
+ // factorization assuming that the sparsity of the matrix has
+ // remained constant.
+ virtual LinearSolverTerminationType Factorize(
+ CompressedRowSparseMatrix* lhs, std::string* message) = 0;
+
+ // Computes the solution to the equation
+ //
+ // lhs * solution = rhs
+ //
+ // rhs and solution can point to the same memory location.
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message) = 0;
+
+ // Convenience method which combines a call to Factorize and
+ // Solve. Solve is only called if Factorize returns
+ // LINEAR_SOLVER_SUCCESS.
+ virtual LinearSolverTerminationType FactorAndSolve(
+ CompressedRowSparseMatrix* lhs,
+ const double* rhs,
+ double* solution,
+ std::string* message);
+
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPARSE_CHOLESKY_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/sparse_cholesky.h"
+
+#include <numeric>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "Eigen/SparseCore"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/inner_product_computer.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+BlockSparseMatrix* CreateRandomFullRankMatrix(const int num_col_blocks,
+ const int min_col_block_size,
+ const int max_col_block_size,
+ const double block_density) {
+ // Create a random matrix
+ BlockSparseMatrix::RandomMatrixOptions options;
+ options.num_col_blocks = num_col_blocks;
+ options.min_col_block_size = min_col_block_size;
+ options.max_col_block_size = max_col_block_size;
+
+ options.num_row_blocks = 2 * num_col_blocks;
+ options.min_row_block_size = 1;
+ options.max_row_block_size = max_col_block_size;
+ options.block_density = block_density;
+ scoped_ptr<BlockSparseMatrix> random_matrix(
+ BlockSparseMatrix::CreateRandomMatrix(options));
+
+ // Add a diagonal block sparse matrix to make it full rank.
+ Vector diagonal = Vector::Ones(random_matrix->num_cols());
+ scoped_ptr<BlockSparseMatrix> block_diagonal(
+ BlockSparseMatrix::CreateDiagonalMatrix(
+ diagonal.data(), random_matrix->block_structure()->cols));
+ random_matrix->AppendRows(*block_diagonal);
+ return random_matrix.release();
+}
+
+bool ComputeExpectedSolution(const CompressedRowSparseMatrix& lhs,
+ const Vector& rhs,
+ Vector* solution) {
+ Matrix eigen_lhs;
+ lhs.ToDenseMatrix(&eigen_lhs);
+ if (lhs.storage_type() == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+ Matrix full_lhs = eigen_lhs.selfadjointView<Eigen::Upper>();
+ Eigen::LLT<Matrix, Eigen::Upper> llt =
+ eigen_lhs.selfadjointView<Eigen::Upper>().llt();
+ if (llt.info() != Eigen::Success) {
+ return false;
+ }
+ *solution = llt.solve(rhs);
+ return (llt.info() == Eigen::Success);
+ }
+
+ Matrix full_lhs = eigen_lhs.selfadjointView<Eigen::Lower>();
+ Eigen::LLT<Matrix, Eigen::Lower> llt =
+ eigen_lhs.selfadjointView<Eigen::Lower>().llt();
+ if (llt.info() != Eigen::Success) {
+ return false;
+ }
+ *solution = llt.solve(rhs);
+ return (llt.info() == Eigen::Success);
+}
+
+void SparseCholeskySolverUnitTest(
+ const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ const OrderingType ordering_type,
+ const bool use_block_structure,
+ const int num_blocks,
+ const int min_block_size,
+ const int max_block_size,
+ const double block_density) {
+ scoped_ptr<SparseCholesky> sparse_cholesky(SparseCholesky::Create(
+ sparse_linear_algebra_library_type, ordering_type));
+ const CompressedRowSparseMatrix::StorageType storage_type =
+ sparse_cholesky->StorageType();
+
+ scoped_ptr<BlockSparseMatrix> m(CreateRandomFullRankMatrix(
+ num_blocks, min_block_size, max_block_size, block_density));
+ scoped_ptr<InnerProductComputer> inner_product_computer(
+ InnerProductComputer::Create(*m, storage_type));
+ inner_product_computer->Compute();
+ CompressedRowSparseMatrix* lhs = inner_product_computer->mutable_result();
+
+ if (!use_block_structure) {
+ lhs->mutable_row_blocks()->clear();
+ lhs->mutable_col_blocks()->clear();
+ }
+
+ Vector rhs = Vector::Random(lhs->num_rows());
+ Vector expected(lhs->num_rows());
+ Vector actual(lhs->num_rows());
+
+ EXPECT_TRUE(ComputeExpectedSolution(*lhs, rhs, &expected));
+ std::string message;
+ EXPECT_EQ(sparse_cholesky->FactorAndSolve(
+ lhs, rhs.data(), actual.data(), &message),
+ LINEAR_SOLVER_SUCCESS);
+ Matrix eigen_lhs;
+ lhs->ToDenseMatrix(&eigen_lhs);
+ EXPECT_NEAR((actual - expected).norm() / actual.norm(),
+ 0.0,
+ std::numeric_limits<double>::epsilon() * 10)
+ << "\n"
+ << eigen_lhs;
+}
+
+typedef ::testing::tuple<SparseLinearAlgebraLibraryType, OrderingType, bool>
+ Param;
+
+std::string ParamInfoToString(testing::TestParamInfo<Param> info) {
+ Param param = info.param;
+ std::stringstream ss;
+ ss << SparseLinearAlgebraLibraryTypeToString(::testing::get<0>(param)) << "_"
+ << (::testing::get<1>(param) == AMD ? "AMD" : "NATURAL") << "_"
+ << (::testing::get<2>(param) ? "UseBlockStructure" : "NoBlockStructure");
+ return ss.str();
+}
+
+class SparseCholeskyTest : public ::testing::TestWithParam<Param> {};
+
+TEST_P(SparseCholeskyTest, FactorAndSolve) {
+ SetRandomState(2982);
+ const int kMinNumBlocks = 1;
+ const int kMaxNumBlocks = 10;
+ const int kNumTrials = 10;
+ const int kMinBlockSize = 1;
+ const int kMaxBlockSize = 5;
+
+ for (int num_blocks = kMinNumBlocks; num_blocks < kMaxNumBlocks;
+ ++num_blocks) {
+ for (int trial = 0; trial < kNumTrials; ++trial) {
+ const double block_density = std::max(0.1, RandDouble());
+ Param param = GetParam();
+ SparseCholeskySolverUnitTest(::testing::get<0>(param),
+ ::testing::get<1>(param),
+ ::testing::get<2>(param),
+ num_blocks,
+ kMinBlockSize,
+ kMaxBlockSize,
+ block_density);
+ }
+ }
+}
+
+#ifndef CERES_NO_SUITESPARSE
+INSTANTIATE_TEST_CASE_P(SuiteSparseCholesky,
+ SparseCholeskyTest,
+ ::testing::Combine(::testing::Values(SUITE_SPARSE),
+ ::testing::Values(AMD, NATURAL),
+ ::testing::Values(true, false)),
+ ParamInfoToString);
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+INSTANTIATE_TEST_CASE_P(CXSparseCholesky,
+ SparseCholeskyTest,
+ ::testing::Combine(::testing::Values(CX_SPARSE),
+ ::testing::Values(AMD, NATURAL),
+ ::testing::Values(true, false)),
+ ParamInfoToString);
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+INSTANTIATE_TEST_CASE_P(EigenSparseCholesky,
+ SparseCholeskyTest,
+ ::testing::Combine(::testing::Values(EIGEN_SPARSE),
+ ::testing::Values(AMD, NATURAL),
+ ::testing::Values(true, false)),
+ ParamInfoToString);
+#endif
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+SparseMatrix::~SparseMatrix() {
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+//
+// Interface definition for sparse matrices.
+
+#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_SPARSE_MATRIX_H_
+
+#include <cstdio>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// This class defines the interface for storing and manipulating
+// sparse matrices. The key property that differentiates different
+// sparse matrices is how they are organized in memory and how the
+// information about the sparsity structure of the matrix is
+// stored. This has significant implications for linear solvers
+// operating on these matrices.
+//
+// To deal with the different kinds of layouts, we will assume that a
+// sparse matrix will have a two part representation. A values array
+// that will be used to store the entries of the sparse matrix and
+// some sort of a layout object that tells the user the sparsity
+// structure and layout of the values array. For example in case of
+// the TripletSparseMatrix, this information is carried in the rows
+// and cols arrays and for the BlockSparseMatrix, this information is
+// carried in the CompressedRowBlockStructure object.
+//
+// This interface deliberately does not contain any information about
+// the structure of the sparse matrix as that seems to be highly
+// matrix type dependent and we are at this stage unable to come up
+// with an efficient high level interface that spans multiple sparse
+// matrix types.
+class SparseMatrix : public LinearOperator {
+ public:
+ virtual ~SparseMatrix();
+
+ // y += Ax;
+ virtual void RightMultiply(const double* x, double* y) const = 0;
+ // y += A'x;
+ virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+ // In MATLAB notation sum(A.*A, 1)
+ virtual void SquaredColumnNorm(double* x) const = 0;
+ // A = A * diag(scale)
+ virtual void ScaleColumns(const double* scale) = 0;
+
+ // A = 0. A->num_nonzeros() == 0 is true after this call. The
+ // sparsity pattern is preserved.
+ virtual void SetZero() = 0;
+
+ // Resize and populate dense_matrix with a dense version of the
+ // sparse matrix.
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
+
+ // Write out the matrix as a sequence of (i,j,s) triplets. This
+ // format is useful for loading the matrix into MATLAB/octave as a
+ // sparse matrix.
+ virtual void ToTextFile(FILE* file) const = 0;
+
+ // Accessors for the values array that stores the entries of the
+ // sparse matrix. The exact interpreptation of the values of this
+ // array depends on the particular kind of SparseMatrix being
+ // accessed.
+ virtual double* mutable_values() = 0;
+ virtual const double* values() const = 0;
+
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+ virtual int num_nonzeros() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPARSE_MATRIX_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/sparse_normal_cholesky_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/inner_product_computer.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+SparseNormalCholeskySolver::SparseNormalCholeskySolver(
+ const LinearSolver::Options& options)
+ : options_(options) {
+ sparse_cholesky_.reset(
+ SparseCholesky::Create(options_.sparse_linear_algebra_library_type,
+ options_.use_postordering ? AMD : NATURAL));
+}
+
+SparseNormalCholeskySolver::~SparseNormalCholeskySolver() {}
+
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ EventLogger event_logger("SparseNormalCholeskySolver::Solve");
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ summary.message = "Success.";
+
+ const int num_cols = A->num_cols();
+ VectorRef(x, num_cols).setZero();
+ A->LeftMultiply(b, x);
+ event_logger.AddEvent("Compute RHS");
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ scoped_ptr<BlockSparseMatrix> regularizer;
+ regularizer.reset(BlockSparseMatrix::CreateDiagonalMatrix(
+ per_solve_options.D, A->block_structure()->cols));
+ event_logger.AddEvent("Diagonal");
+ A->AppendRows(*regularizer);
+ event_logger.AddEvent("Append");
+ }
+ event_logger.AddEvent("Append Rows");
+
+ if (inner_product_computer_.get() == NULL) {
+ inner_product_computer_.reset(
+ InnerProductComputer::Create(*A, sparse_cholesky_->StorageType()));
+
+ event_logger.AddEvent("InnerProductComputer::Create");
+ }
+
+ inner_product_computer_->Compute();
+ event_logger.AddEvent("InnerProductComputer::Compute");
+
+ // TODO(sameeragarwal):
+
+ if (per_solve_options.D != NULL) {
+ A->DeleteRowBlocks(A->block_structure()->cols.size());
+ }
+ summary.termination_type = sparse_cholesky_->FactorAndSolve(
+ inner_product_computer_->mutable_result(), x, x, &summary.message);
+ event_logger.AddEvent("Factor & Solve");
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class InnerProductComputer;
+class SparseCholesky;
+
+// Solves the normal equations (A'A + D'D) x = A'b, using the sparse
+// linear algebra library of the user's choice.
+class SparseNormalCholeskySolver : public BlockSparseMatrixSolver {
+ public:
+ explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
+ virtual ~SparseNormalCholeskySolver();
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ BlockSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ scoped_ptr<SparseCholesky> sparse_cholesky_;
+ scoped_ptr<InnerProductComputer> inner_product_computer_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): These tests needs to be re-written, since
+// SparseNormalCholeskySolver is a composition of two classes now,
+// InnerProductComputer and SparseCholesky.
+//
+// So the test should exercise the composition, rather than the
+// numerics of the solver, which are well covered by tests for those
+// classes.
+class SparseNormalCholeskySolverTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+ }
+
+ void TestSolver(const LinearSolver::Options& options, double* D) {
+ Matrix dense_A;
+ A_->ToDenseMatrix(&dense_A);
+ Matrix lhs = dense_A.transpose() * dense_A;
+ if (D != NULL) {
+ lhs += (ConstVectorRef(D, A_->num_cols()).array() *
+ ConstVectorRef(D, A_->num_cols()).array())
+ .matrix()
+ .asDiagonal();
+ }
+
+ Vector rhs(A_->num_cols());
+ rhs.setZero();
+ A_->LeftMultiply(b_.get(), rhs.data());
+ Vector expected_solution = lhs.llt().solve(rhs);
+
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D;
+ Vector actual_solution(A_->num_cols());
+ LinearSolver::Summary summary;
+ summary = solver->Solve(
+ A_.get(), b_.get(), per_solve_options, actual_solution.data());
+
+ EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(expected_solution(i), actual_solution(i), 1e-8)
+ << "\nExpected: " << expected_solution.transpose()
+ << "\nActual: " << actual_solution.transpose();
+ }
+ }
+
+ void TestSolver(const LinearSolver::Options& options) {
+ TestSolver(options, NULL);
+ TestSolver(options, D_.get());
+ }
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingSuiteSparsePreOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = false;
+ TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingSuiteSparsePostOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = true;
+ TestSolver(options);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingCXSparsePreOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = CX_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = false;
+ TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingCXSparsePostOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = CX_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = true;
+ TestSolver(options);
+}
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingEigenPreOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = false;
+ TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+ SparseNormalCholeskyUsingEigenPostOrdering) {
+ LinearSolver::Options options;
+ options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+ options.type = SPARSE_NORMAL_CHOLESKY;
+ options.use_postordering = true;
+ TestSolver(options);
+}
+#endif // CERES_USE_EIGEN_SPARSE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/split.h"
+
+#include <iterator>
+#include <string>
+#include <vector>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// If we know how much to allocate for a vector of strings, we can allocate the
+// vector<string> only once and directly to the right size. This saves in
+// between 33-66 % of memory space needed for the result, and runs faster in the
+// microbenchmarks.
+//
+// The reserve is only implemented for the single character delim.
+//
+// The implementation for counting is cut-and-pasted from
+// SplitStringToIteratorUsing. I could have written my own counting iterator,
+// and use the existing template function, but probably this is more clear and
+// more sure to get optimized to reasonable code.
+static int CalculateReserveForVector(const string& full, const char* delim) {
+ int count = 0;
+ if (delim[0] != '\0' && delim[1] == '\0') {
+ // Optimize the common case where delim is a single character.
+ char c = delim[0];
+ const char* p = full.data();
+ const char* end = p + full.size();
+ while (p != end) {
+ if (*p == c) { // This could be optimized with hasless(v,1) trick.
+ ++p;
+ } else {
+ while (++p != end && *p != c) {
+ // Skip to the next occurence of the delimiter.
+ }
+ ++count;
+ }
+ }
+ }
+ return count;
+}
+
+template <typename StringType, typename ITR>
+static inline
+void SplitStringToIteratorUsing(const StringType& full,
+ const char* delim,
+ ITR& result) {
+ // Optimize the common case where delim is a single character.
+ if (delim[0] != '\0' && delim[1] == '\0') {
+ char c = delim[0];
+ const char* p = full.data();
+ const char* end = p + full.size();
+ while (p != end) {
+ if (*p == c) {
+ ++p;
+ } else {
+ const char* start = p;
+ while (++p != end && *p != c) {
+ // Skip to the next occurence of the delimiter.
+ }
+ *result++ = StringType(start, p - start);
+ }
+ }
+ return;
+ }
+
+ string::size_type begin_index, end_index;
+ begin_index = full.find_first_not_of(delim);
+ while (begin_index != string::npos) {
+ end_index = full.find_first_of(delim, begin_index);
+ if (end_index == string::npos) {
+ *result++ = full.substr(begin_index);
+ return;
+ }
+ *result++ = full.substr(begin_index, (end_index - begin_index));
+ begin_index = full.find_first_not_of(delim, end_index);
+ }
+}
+
+void SplitStringUsing(const string& full,
+ const char* delim,
+ vector<string>* result) {
+ result->reserve(result->size() + CalculateReserveForVector(full, delim));
+ std::back_insert_iterator<vector<string> > it(*result);
+ SplitStringToIteratorUsing(full, delim, it);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_SPLIT_H_
+#define CERES_INTERNAL_SPLIT_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Split a string using one or more character delimiters, presented as a
+// nul-terminated c string. Append the components to 'result'. If there are
+// consecutive delimiters, this function skips over all of them.
+void SplitStringUsing(const std::string& full, const char* delim,
+ std::vector<std::string>* res);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPLIT_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_STL_UTIL_H_
+#define CERES_INTERNAL_STL_UTIL_H_
+
+#include <algorithm>
+
+namespace ceres {
+
+// STLDeleteContainerPointers()
+// For a range within a container of pointers, calls delete
+// (non-array version) on these pointers.
+// NOTE: for these three functions, we could just implement a DeleteObject
+// functor and then call for_each() on the range and functor, but this
+// requires us to pull in all of algorithm.h, which seems expensive.
+// For hash_[multi]set, it is important that this deletes behind the iterator
+// because the hash_set may call the hash function on the iterator when it is
+// advanced, which could result in the hash function trying to deference a
+// stale pointer.
+template <class ForwardIterator>
+void STLDeleteContainerPointers(ForwardIterator begin,
+ ForwardIterator end) {
+ while (begin != end) {
+ ForwardIterator temp = begin;
+ ++begin;
+ delete *temp;
+ }
+}
+
+// Variant of STLDeleteContainerPointers which allows the container to
+// contain duplicates.
+template <class ForwardIterator>
+void STLDeleteUniqueContainerPointers(ForwardIterator begin,
+ ForwardIterator end) {
+ sort(begin, end);
+ ForwardIterator new_end = unique(begin, end);
+ while (begin != new_end) {
+ ForwardIterator temp = begin;
+ ++begin;
+ delete *temp;
+ }
+}
+
+// STLDeleteElements() deletes all the elements in an STL container and clears
+// the container. This function is suitable for use with a vector, set,
+// hash_set, or any other STL container which defines sensible begin(), end(),
+// and clear() methods.
+//
+// If container is NULL, this function is a no-op.
+//
+// As an alternative to calling STLDeleteElements() directly, consider
+// ElementDeleter (defined below), which ensures that your container's elements
+// are deleted when the ElementDeleter goes out of scope.
+template <class T>
+void STLDeleteElements(T *container) {
+ if (!container) return;
+ STLDeleteContainerPointers(container->begin(), container->end());
+ container->clear();
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_STL_UTIL_H_
--- /dev/null
+// 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: Sanjay Ghemawat
+
+#include "ceres/stringprintf.h"
+
+#include <cerrno>
+#include <cstdarg> // For va_list and related operations
+#include <cstdio> // MSVC requires this for _vsnprintf
+#include <string>
+#include <vector>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+// va_copy() was defined in the C99 standard. However, it did not appear in the
+// C++ standard until C++11. This means that if Ceres is being compiled with a
+// strict pre-C++11 standard (e.g. -std=c++03), va_copy() will NOT be defined,
+// as we are using the C++ compiler (it would however be defined if we were
+// using the C compiler). Note however that both GCC & Clang will in fact
+// define va_copy() when compiling for C++ if the C++ standard is not explicitly
+// specified (i.e. no -std=c++<XX> arg), even though it should not strictly be
+// defined unless -std=c++11 (or greater) was passed.
+#if !defined(va_copy)
+#if defined (__GNUC__)
+// On GCC/Clang, if va_copy() is not defined (C++ standard < C++11 explicitly
+// specified), use the internal __va_copy() version, which should be present
+// in even very old GCC versions.
+#define va_copy(d, s) __va_copy(d, s)
+#else
+// Some older versions of MSVC do not have va_copy(), in which case define it.
+// Although this is required for older MSVC versions, it should also work for
+// other non-GCC/Clang compilers which also do not defined va_copy().
+#define va_copy(d, s) ((d) = (s))
+#endif // defined (__GNUC__)
+#endif // !defined(va_copy)
+
+void StringAppendV(string* dst, const char* format, va_list ap) {
+ // First try with a small fixed size buffer
+ char space[1024];
+
+ // It's possible for methods that use a va_list to invalidate
+ // the data in it upon use. The fix is to make a copy
+ // of the structure before using it and use that copy instead.
+ va_list backup_ap;
+ va_copy(backup_ap, ap);
+ int result = vsnprintf(space, sizeof(space), format, backup_ap);
+ va_end(backup_ap);
+
+ if (result < sizeof(space)) {
+ if (result >= 0) {
+ // Normal case -- everything fit.
+ dst->append(space, result);
+ return;
+ }
+
+#if defined (_MSC_VER)
+ // Error or MSVC running out of space. MSVC 8.0 and higher
+ // can be asked about space needed with the special idiom below:
+ va_copy(backup_ap, ap);
+ result = vsnprintf(NULL, 0, format, backup_ap);
+ va_end(backup_ap);
+#endif
+
+ if (result < 0) {
+ // Just an error.
+ return;
+ }
+ }
+
+ // Increase the buffer size to the size requested by vsnprintf,
+ // plus one for the closing \0.
+ int length = result+1;
+ char* buf = new char[length];
+
+ // Restore the va_list before we use it again
+ va_copy(backup_ap, ap);
+ result = vsnprintf(buf, length, format, backup_ap);
+ va_end(backup_ap);
+
+ if (result >= 0 && result < length) {
+ // It fit
+ dst->append(buf, result);
+ }
+ delete[] buf;
+}
+
+
+string StringPrintf(const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ string result;
+ StringAppendV(&result, format, ap);
+ va_end(ap);
+ return result;
+}
+
+const string& SStringPrintf(string* dst, const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ dst->clear();
+ StringAppendV(dst, format, ap);
+ va_end(ap);
+ return *dst;
+}
+
+void StringAppendF(string* dst, const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ StringAppendV(dst, format, ap);
+ va_end(ap);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: Sanjay Ghemawat
+//
+// Printf variants that place their output in a C++ string.
+//
+// Usage:
+// string result = StringPrintf("%d %s\n", 10, "hello");
+// SStringPrintf(&result, "%d %s\n", 10, "hello");
+// StringAppendF(&result, "%d %s\n", 20, "there");
+
+#ifndef CERES_INTERNAL_STRINGPRINTF_H_
+#define CERES_INTERNAL_STRINGPRINTF_H_
+
+#include <cstdarg>
+#include <string>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+#if (defined(__GNUC__) || defined(__clang__))
+// Tell the compiler to do printf format string checking if the compiler
+// supports it; see the 'format' attribute in
+// <http://gcc.gnu.org/onlinedocs/gcc-4.3.0/gcc/Function-Attributes.html>.
+//
+// N.B.: As the GCC manual states, "[s]ince non-static C++ methods
+// have an implicit 'this' argument, the arguments of such methods
+// should be counted from two, not one."
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check) \
+ __attribute__((__format__ (__printf__, string_index, first_to_check)))
+#define CERES_SCANF_ATTRIBUTE(string_index, first_to_check) \
+ __attribute__((__format__ (__scanf__, string_index, first_to_check)))
+#else
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check)
+#endif
+
+// Return a C++ string.
+extern std::string StringPrintf(const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(1, 2);
+
+// Store result into a supplied string and return it.
+extern const std::string& SStringPrintf(std::string* dst, const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(2, 3);
+
+// Append result to a supplied string.
+extern void StringAppendF(std::string* dst, const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(2, 3);
+
+// Lower-level routine that takes a va_list and appends to a specified string.
+// All other routines are just convenience wrappers around it.
+extern void StringAppendV(std::string* dst, const char* format, va_list ap);
+
+#undef CERES_PRINTF_ATTRIBUTE
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_STRINGPRINTF_H_
--- /dev/null
+// 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)
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_SUITESPARSE
+#include "ceres/suitesparse.h"
+
+#include <vector>
+
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "cholmod.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+SuiteSparse::SuiteSparse() { cholmod_start(&cc_); }
+
+SuiteSparse::~SuiteSparse() { cholmod_finish(&cc_); }
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrix(TripletSparseMatrix* A) {
+ cholmod_triplet triplet;
+
+ triplet.nrow = A->num_rows();
+ triplet.ncol = A->num_cols();
+ triplet.nzmax = A->max_num_nonzeros();
+ triplet.nnz = A->num_nonzeros();
+ triplet.i = reinterpret_cast<void*>(A->mutable_rows());
+ triplet.j = reinterpret_cast<void*>(A->mutable_cols());
+ triplet.x = reinterpret_cast<void*>(A->mutable_values());
+ triplet.stype = 0; // Matrix is not symmetric.
+ triplet.itype = CHOLMOD_INT;
+ triplet.xtype = CHOLMOD_REAL;
+ triplet.dtype = CHOLMOD_DOUBLE;
+
+ return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrixTranspose(
+ TripletSparseMatrix* A) {
+ cholmod_triplet triplet;
+
+ triplet.ncol = A->num_rows(); // swap row and columns
+ triplet.nrow = A->num_cols();
+ triplet.nzmax = A->max_num_nonzeros();
+ triplet.nnz = A->num_nonzeros();
+
+ // swap rows and columns
+ triplet.j = reinterpret_cast<void*>(A->mutable_rows());
+ triplet.i = reinterpret_cast<void*>(A->mutable_cols());
+ triplet.x = reinterpret_cast<void*>(A->mutable_values());
+ triplet.stype = 0; // Matrix is not symmetric.
+ triplet.itype = CHOLMOD_INT;
+ triplet.xtype = CHOLMOD_REAL;
+ triplet.dtype = CHOLMOD_DOUBLE;
+
+ return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+cholmod_sparse SuiteSparse::CreateSparseMatrixTransposeView(
+ CompressedRowSparseMatrix* A) {
+ cholmod_sparse m;
+ m.nrow = A->num_cols();
+ m.ncol = A->num_rows();
+ m.nzmax = A->num_nonzeros();
+ m.nz = NULL;
+ m.p = reinterpret_cast<void*>(A->mutable_rows());
+ m.i = reinterpret_cast<void*>(A->mutable_cols());
+ m.x = reinterpret_cast<void*>(A->mutable_values());
+ m.z = NULL;
+
+ if (A->storage_type() == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+ m.stype = 1;
+ } else if (A->storage_type() == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+ m.stype = -1;
+ } else {
+ m.stype = 0;
+ }
+
+ m.itype = CHOLMOD_INT;
+ m.xtype = CHOLMOD_REAL;
+ m.dtype = CHOLMOD_DOUBLE;
+ m.sorted = 1;
+ m.packed = 1;
+
+ return m;
+}
+
+cholmod_dense* SuiteSparse::CreateDenseVector(const double* x,
+ int in_size,
+ int out_size) {
+ CHECK_LE(in_size, out_size);
+ cholmod_dense* v = cholmod_zeros(out_size, 1, CHOLMOD_REAL, &cc_);
+ if (x != NULL) {
+ memcpy(v->x, x, in_size * sizeof(*x));
+ }
+ return v;
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholesky(cholmod_sparse* A,
+ string* message) {
+ // Cholmod can try multiple re-ordering strategies to find a fill
+ // reducing ordering. Here we just tell it use AMD with automatic
+ // matrix dependence choice of supernodal versus simplicial
+ // factorization.
+ cc_.nmethods = 1;
+ cc_.method[0].ordering = CHOLMOD_AMD;
+ cc_.supernodal = CHOLMOD_AUTO;
+
+ cholmod_factor* factor = cholmod_analyze(A, &cc_);
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+ }
+
+ if (cc_.status != CHOLMOD_OK) {
+ *message =
+ StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+ return NULL;
+ }
+
+ return CHECK_NOTNULL(factor);
+}
+
+cholmod_factor* SuiteSparse::BlockAnalyzeCholesky(cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ string* message) {
+ vector<int> ordering;
+ if (!BlockAMDOrdering(A, row_blocks, col_blocks, &ordering)) {
+ return NULL;
+ }
+ return AnalyzeCholeskyWithUserOrdering(A, ordering, message);
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholeskyWithUserOrdering(
+ cholmod_sparse* A, const vector<int>& ordering, string* message) {
+ CHECK_EQ(ordering.size(), A->nrow);
+
+ cc_.nmethods = 1;
+ cc_.method[0].ordering = CHOLMOD_GIVEN;
+
+ cholmod_factor* factor =
+ cholmod_analyze_p(A, const_cast<int*>(&ordering[0]), NULL, 0, &cc_);
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+ }
+ if (cc_.status != CHOLMOD_OK) {
+ *message =
+ StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+ return NULL;
+ }
+
+ return CHECK_NOTNULL(factor);
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholeskyWithNaturalOrdering(
+ cholmod_sparse* A, string* message) {
+ cc_.nmethods = 1;
+ cc_.method[0].ordering = CHOLMOD_NATURAL;
+ cc_.postorder = 0;
+
+ cholmod_factor* factor = cholmod_analyze(A, &cc_);
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+ }
+ if (cc_.status != CHOLMOD_OK) {
+ *message =
+ StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+ return NULL;
+ }
+
+ return CHECK_NOTNULL(factor);
+}
+
+bool SuiteSparse::BlockAMDOrdering(const cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* ordering) {
+ const int num_row_blocks = row_blocks.size();
+ const int num_col_blocks = col_blocks.size();
+
+ // Arrays storing the compressed column structure of the matrix
+ // incoding the block sparsity of A.
+ vector<int> block_cols;
+ vector<int> block_rows;
+
+ CompressedColumnScalarMatrixToBlockMatrix(reinterpret_cast<const int*>(A->i),
+ reinterpret_cast<const int*>(A->p),
+ row_blocks,
+ col_blocks,
+ &block_rows,
+ &block_cols);
+ cholmod_sparse_struct block_matrix;
+ block_matrix.nrow = num_row_blocks;
+ block_matrix.ncol = num_col_blocks;
+ block_matrix.nzmax = block_rows.size();
+ block_matrix.p = reinterpret_cast<void*>(&block_cols[0]);
+ block_matrix.i = reinterpret_cast<void*>(&block_rows[0]);
+ block_matrix.x = NULL;
+ block_matrix.stype = A->stype;
+ block_matrix.itype = CHOLMOD_INT;
+ block_matrix.xtype = CHOLMOD_PATTERN;
+ block_matrix.dtype = CHOLMOD_DOUBLE;
+ block_matrix.sorted = 1;
+ block_matrix.packed = 1;
+
+ vector<int> block_ordering(num_row_blocks);
+ if (!cholmod_amd(&block_matrix, NULL, 0, &block_ordering[0], &cc_)) {
+ return false;
+ }
+
+ BlockOrderingToScalarOrdering(row_blocks, block_ordering, ordering);
+ return true;
+}
+
+LinearSolverTerminationType SuiteSparse::Cholesky(cholmod_sparse* A,
+ cholmod_factor* L,
+ string* message) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(L);
+
+ // Save the current print level and silence CHOLMOD, otherwise
+ // CHOLMOD is prone to dumping stuff to stderr, which can be
+ // distracting when the error (matrix is indefinite) is not a fatal
+ // failure.
+ const int old_print_level = cc_.print;
+ cc_.print = 0;
+
+ cc_.quick_return_if_not_posdef = 1;
+ int cholmod_status = cholmod_factorize(A, L, &cc_);
+ cc_.print = old_print_level;
+
+ switch (cc_.status) {
+ case CHOLMOD_NOT_INSTALLED:
+ *message = "CHOLMOD failure: Method not installed.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ case CHOLMOD_OUT_OF_MEMORY:
+ *message = "CHOLMOD failure: Out of memory.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ case CHOLMOD_TOO_LARGE:
+ *message = "CHOLMOD failure: Integer overflow occurred.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ case CHOLMOD_INVALID:
+ *message = "CHOLMOD failure: Invalid input.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ case CHOLMOD_NOT_POSDEF:
+ *message = "CHOLMOD warning: Matrix not positive definite.";
+ return LINEAR_SOLVER_FAILURE;
+ case CHOLMOD_DSMALL:
+ *message =
+ "CHOLMOD warning: D for LDL' or diag(L) or "
+ "LL' has tiny absolute value.";
+ return LINEAR_SOLVER_FAILURE;
+ case CHOLMOD_OK:
+ if (cholmod_status != 0) {
+ return LINEAR_SOLVER_SUCCESS;
+ }
+
+ *message =
+ "CHOLMOD failure: cholmod_factorize returned false "
+ "but cholmod_common::status is CHOLMOD_OK."
+ "Please report this to ceres-solver@googlegroups.com.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ default:
+ *message = StringPrintf(
+ "Unknown cholmod return code: %d. "
+ "Please report this to ceres-solver@googlegroups.com.",
+ cc_.status);
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ return LINEAR_SOLVER_FATAL_ERROR;
+}
+
+cholmod_dense* SuiteSparse::Solve(cholmod_factor* L,
+ cholmod_dense* b,
+ string* message) {
+ if (cc_.status != CHOLMOD_OK) {
+ *message = "cholmod_solve failed. CHOLMOD status is not CHOLMOD_OK";
+ return NULL;
+ }
+
+ return cholmod_solve(CHOLMOD_A, L, b, &cc_);
+}
+
+bool SuiteSparse::ApproximateMinimumDegreeOrdering(cholmod_sparse* matrix,
+ int* ordering) {
+ return cholmod_amd(matrix, NULL, 0, ordering, &cc_);
+}
+
+bool SuiteSparse::ConstrainedApproximateMinimumDegreeOrdering(
+ cholmod_sparse* matrix, int* constraints, int* ordering) {
+#ifndef CERES_NO_CAMD
+ return cholmod_camd(matrix, NULL, 0, constraints, ordering, &cc_);
+#else
+ LOG(FATAL) << "Congratulations you have found a bug in Ceres."
+ << "Ceres Solver was compiled with SuiteSparse "
+ << "version 4.1.0 or less. Calling this function "
+ << "in that case is a bug. Please contact the"
+ << "the Ceres Solver developers.";
+ return false;
+#endif
+}
+
+SuiteSparseCholesky* SuiteSparseCholesky::Create(
+ const OrderingType ordering_type) {
+ return new SuiteSparseCholesky(ordering_type);
+}
+
+SuiteSparseCholesky::SuiteSparseCholesky(const OrderingType ordering_type)
+ : ordering_type_(ordering_type), factor_(NULL) {}
+
+SuiteSparseCholesky::~SuiteSparseCholesky() {
+ if (factor_ != NULL) {
+ ss_.Free(factor_);
+ }
+}
+
+LinearSolverTerminationType SuiteSparseCholesky::Factorize(
+ CompressedRowSparseMatrix* lhs, string* message) {
+ if (lhs == NULL) {
+ *message = "Failure: Input lhs is NULL.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ cholmod_sparse cholmod_lhs = ss_.CreateSparseMatrixTransposeView(lhs);
+
+ if (factor_ == NULL) {
+ if (ordering_type_ == NATURAL) {
+ factor_ = ss_.AnalyzeCholeskyWithNaturalOrdering(&cholmod_lhs, message);
+ } else {
+ if (!lhs->col_blocks().empty() && !(lhs->row_blocks().empty())) {
+ factor_ = ss_.BlockAnalyzeCholesky(
+ &cholmod_lhs, lhs->col_blocks(), lhs->row_blocks(), message);
+ } else {
+ factor_ = ss_.AnalyzeCholesky(&cholmod_lhs, message);
+ }
+ }
+
+ if (factor_ == NULL) {
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+ }
+
+ return ss_.Cholesky(&cholmod_lhs, factor_, message);
+}
+
+CompressedRowSparseMatrix::StorageType SuiteSparseCholesky::StorageType()
+ const {
+ return ((ordering_type_ == NATURAL)
+ ? CompressedRowSparseMatrix::UPPER_TRIANGULAR
+ : CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+}
+
+LinearSolverTerminationType SuiteSparseCholesky::Solve(const double* rhs,
+ double* solution,
+ string* message) {
+ // Error checking
+ if (factor_ == NULL) {
+ *message = "Solve called without a call to Factorize first.";
+ return LINEAR_SOLVER_FATAL_ERROR;
+ }
+
+ const int num_cols = factor_->n;
+ cholmod_dense* cholmod_dense_rhs =
+ ss_.CreateDenseVector(rhs, num_cols, num_cols);
+ cholmod_dense* cholmod_dense_solution =
+ ss_.Solve(factor_, cholmod_dense_rhs, message);
+ ss_.Free(cholmod_dense_rhs);
+ if (cholmod_dense_solution == NULL) {
+ return LINEAR_SOLVER_FAILURE;
+ }
+
+ memcpy(solution, cholmod_dense_solution->x, num_cols * sizeof(*solution));
+ ss_.Free(cholmod_dense_solution);
+ return LINEAR_SOLVER_SUCCESS;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// A simple C++ interface to the SuiteSparse and CHOLMOD libraries.
+
+#ifndef CERES_INTERNAL_SUITESPARSE_H_
+#define CERES_INTERNAL_SUITESPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_SUITESPARSE
+
+#include <cstring>
+#include <string>
+#include <vector>
+#include "SuiteSparseQR.hpp"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "cholmod.h"
+#include "glog/logging.h"
+
+// Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
+// if SuiteSparse was compiled with Metis support. This makes
+// calling and linking into cholmod_camd problematic even though it
+// has nothing to do with Metis. This has been fixed reliably in
+// 4.2.0.
+//
+// The fix was actually committed in 4.1.0, but there is
+// some confusion about a silent update to the tar ball, so we are
+// being conservative and choosing the next minor version where
+// things are stable.
+#if (SUITESPARSE_VERSION < 4002)
+#define CERES_NO_CAMD
+#endif
+
+// UF_long is deprecated but SuiteSparse_long is only available in
+// newer versions of SuiteSparse. So for older versions of
+// SuiteSparse, we define SuiteSparse_long to be the same as UF_long,
+// which is what recent versions of SuiteSparse do anyways.
+#ifndef SuiteSparse_long
+#define SuiteSparse_long UF_long
+#endif
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// The raw CHOLMOD and SuiteSparseQR libraries have a slightly
+// cumbersome c like calling format. This object abstracts it away and
+// provides the user with a simpler interface. The methods here cannot
+// be static as a cholmod_common object serves as a global variable
+// for all cholmod function calls.
+class SuiteSparse {
+ public:
+ SuiteSparse();
+ ~SuiteSparse();
+
+ // Functions for building cholmod_sparse objects from sparse
+ // matrices stored in triplet form. The matrix A is not
+ // modifed. Called owns the result.
+ cholmod_sparse* CreateSparseMatrix(TripletSparseMatrix* A);
+
+ // This function works like CreateSparseMatrix, except that the
+ // return value corresponds to A' rather than A.
+ cholmod_sparse* CreateSparseMatrixTranspose(TripletSparseMatrix* A);
+
+ // Create a cholmod_sparse wrapper around the contents of A. This is
+ // a shallow object, which refers to the contents of A and does not
+ // use the SuiteSparse machinery to allocate memory.
+ cholmod_sparse CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+ // Given a vector x, build a cholmod_dense vector of size out_size
+ // with the first in_size entries copied from x. If x is NULL, then
+ // an all zeros vector is returned. Caller owns the result.
+ cholmod_dense* CreateDenseVector(const double* x, int in_size, int out_size);
+
+ // The matrix A is scaled using the matrix whose diagonal is the
+ // vector scale. mode describes how scaling is applied. Possible
+ // values are CHOLMOD_ROW for row scaling - diag(scale) * A,
+ // CHOLMOD_COL for column scaling - A * diag(scale) and CHOLMOD_SYM
+ // for symmetric scaling which scales both the rows and the columns
+ // - diag(scale) * A * diag(scale).
+ void Scale(cholmod_dense* scale, int mode, cholmod_sparse* A) {
+ cholmod_scale(scale, mode, A, &cc_);
+ }
+
+ // Create and return a matrix m = A * A'. Caller owns the
+ // result. The matrix A is not modified.
+ cholmod_sparse* AATranspose(cholmod_sparse* A) {
+ cholmod_sparse*m = cholmod_aat(A, NULL, A->nrow, 1, &cc_);
+ m->stype = 1; // Pay attention to the upper triangular part.
+ return m;
+ }
+
+ // y = alpha * A * x + beta * y. Only y is modified.
+ void SparseDenseMultiply(cholmod_sparse* A, double alpha, double beta,
+ cholmod_dense* x, cholmod_dense* y) {
+ double alpha_[2] = {alpha, 0};
+ double beta_[2] = {beta, 0};
+ cholmod_sdmult(A, 0, alpha_, beta_, x, y, &cc_);
+ }
+
+ // Find an ordering of A or AA' (if A is unsymmetric) that minimizes
+ // the fill-in in the Cholesky factorization of the corresponding
+ // matrix. This is done by using the AMD algorithm.
+ //
+ // Using this ordering, the symbolic Cholesky factorization of A (or
+ // AA') is computed and returned.
+ //
+ // A is not modified, only the pattern of non-zeros of A is used,
+ // the actual numerical values in A are of no consequence.
+ //
+ // message contains an explanation of the failures if any.
+ //
+ // Caller owns the result.
+ cholmod_factor* AnalyzeCholesky(cholmod_sparse* A, std::string* message);
+
+ cholmod_factor* BlockAnalyzeCholesky(cholmod_sparse* A,
+ const std::vector<int>& row_blocks,
+ const std::vector<int>& col_blocks,
+ std::string* message);
+
+ // If A is symmetric, then compute the symbolic Cholesky
+ // factorization of A(ordering, ordering). If A is unsymmetric, then
+ // compute the symbolic factorization of
+ // A(ordering,:) A(ordering,:)'.
+ //
+ // A is not modified, only the pattern of non-zeros of A is used,
+ // the actual numerical values in A are of no consequence.
+ //
+ // message contains an explanation of the failures if any.
+ //
+ // Caller owns the result.
+ cholmod_factor* AnalyzeCholeskyWithUserOrdering(
+ cholmod_sparse* A,
+ const std::vector<int>& ordering,
+ std::string* message);
+
+ // Perform a symbolic factorization of A without re-ordering A. No
+ // postordering of the elimination tree is performed. This ensures
+ // that the symbolic factor does not introduce an extra permutation
+ // on the matrix. See the documentation for CHOLMOD for more details.
+ //
+ // message contains an explanation of the failures if any.
+ cholmod_factor* AnalyzeCholeskyWithNaturalOrdering(cholmod_sparse* A,
+ std::string* message);
+
+ // Use the symbolic factorization in L, to find the numerical
+ // factorization for the matrix A or AA^T. Return true if
+ // successful, false otherwise. L contains the numeric factorization
+ // on return.
+ //
+ // message contains an explanation of the failures if any.
+ LinearSolverTerminationType Cholesky(cholmod_sparse* A,
+ cholmod_factor* L,
+ std::string* message);
+
+ // Given a Cholesky factorization of a matrix A = LL^T, solve the
+ // linear system Ax = b, and return the result. If the Solve fails
+ // NULL is returned. Caller owns the result.
+ //
+ // message contains an explanation of the failures if any.
+ cholmod_dense* Solve(cholmod_factor* L, cholmod_dense* b, std::string* message);
+
+ // By virtue of the modeling layer in Ceres being block oriented,
+ // all the matrices used by Ceres are also block oriented. When
+ // doing sparse direct factorization of these matrices the
+ // fill-reducing ordering algorithms (in particular AMD) can either
+ // be run on the block or the scalar form of these matrices. The two
+ // SuiteSparse::AnalyzeCholesky methods allows the the client to
+ // compute the symbolic factorization of a matrix by either using
+ // AMD on the matrix or a user provided ordering of the rows.
+ //
+ // But since the underlying matrices are block oriented, it is worth
+ // running AMD on just the block structre of these matrices and then
+ // lifting these block orderings to a full scalar ordering. This
+ // preserves the block structure of the permuted matrix, and exposes
+ // more of the super-nodal structure of the matrix to the numerical
+ // factorization routines.
+ //
+ // Find the block oriented AMD ordering of a matrix A, whose row and
+ // column blocks are given by row_blocks, and col_blocks
+ // respectively. The matrix may or may not be symmetric. The entries
+ // of col_blocks do not need to sum to the number of columns in
+ // A. If this is the case, only the first sum(col_blocks) are used
+ // to compute the ordering.
+ bool BlockAMDOrdering(const cholmod_sparse* A,
+ const std::vector<int>& row_blocks,
+ const std::vector<int>& col_blocks,
+ std::vector<int>* ordering);
+
+ // Find a fill reducing approximate minimum degree
+ // ordering. ordering is expected to be large enough to hold the
+ // ordering.
+ bool ApproximateMinimumDegreeOrdering(cholmod_sparse* matrix, int* ordering);
+
+
+ // Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
+ // if SuiteSparse was compiled with Metis support. This makes
+ // calling and linking into cholmod_camd problematic even though it
+ // has nothing to do with Metis. This has been fixed reliably in
+ // 4.2.0.
+ //
+ // The fix was actually committed in 4.1.0, but there is
+ // some confusion about a silent update to the tar ball, so we are
+ // being conservative and choosing the next minor version where
+ // things are stable.
+ static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
+ return (SUITESPARSE_VERSION > 4001);
+ }
+
+ // Find a fill reducing approximate minimum degree
+ // ordering. constraints is an array which associates with each
+ // column of the matrix an elimination group. i.e., all columns in
+ // group 0 are eliminated first, all columns in group 1 are
+ // eliminated next etc. This function finds a fill reducing ordering
+ // that obeys these constraints.
+ //
+ // Calling ApproximateMinimumDegreeOrdering is equivalent to calling
+ // ConstrainedApproximateMinimumDegreeOrdering with a constraint
+ // array that puts all columns in the same elimination group.
+ //
+ // If CERES_NO_CAMD is defined then calling this function will
+ // result in a crash.
+ bool ConstrainedApproximateMinimumDegreeOrdering(cholmod_sparse* matrix,
+ int* constraints,
+ int* ordering);
+
+ void Free(cholmod_sparse* m) { cholmod_free_sparse(&m, &cc_); }
+ void Free(cholmod_dense* m) { cholmod_free_dense(&m, &cc_); }
+ void Free(cholmod_factor* m) { cholmod_free_factor(&m, &cc_); }
+
+ void Print(cholmod_sparse* m, const std::string& name) {
+ cholmod_print_sparse(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ void Print(cholmod_dense* m, const std::string& name) {
+ cholmod_print_dense(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ void Print(cholmod_triplet* m, const std::string& name) {
+ cholmod_print_triplet(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ cholmod_common* mutable_cc() { return &cc_; }
+
+ private:
+ cholmod_common cc_;
+};
+
+class SuiteSparseCholesky : public SparseCholesky {
+ public:
+ static SuiteSparseCholesky* Create(const OrderingType ordering_type);
+
+ // SparseCholesky interface.
+ virtual ~SuiteSparseCholesky();
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const;
+ virtual LinearSolverTerminationType Factorize(
+ CompressedRowSparseMatrix* lhs, std::string* message);
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message);
+ private:
+ SuiteSparseCholesky(const OrderingType ordering_type);
+
+ const OrderingType ordering_type_;
+ SuiteSparse ss_;
+ cholmod_factor* factor_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#else // CERES_NO_SUITESPARSE
+
+typedef void cholmod_factor;
+
+namespace ceres {
+namespace internal {
+
+class SuiteSparse {
+ public:
+ // Defining this static function even when SuiteSparse is not
+ // available, allows client code to check for the presence of CAMD
+ // without checking for the absence of the CERES_NO_CAMD symbol.
+ //
+ // This is safer because the symbol maybe missing due to a user
+ // accidently not including suitesparse.h in their code when
+ // checking for the symbol.
+ static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
+ return false;
+ }
+
+ void Free(void* arg) {}
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
+
+#endif // CERES_INTERNAL_SUITESPARSE_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// End-to-end tests for Ceres using Powell's function.
+
+#include <cmath>
+#include <cstdlib>
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// This class implements the SystemTestProblem interface and provides
+// access to an implementation of Powell's singular function.
+//
+// F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+// f1 = x1 + 10*x2;
+// f2 = sqrt(5) * (x3 - x4)
+// f3 = (x2 - 2*x3)^2
+// f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+class PowellsFunction {
+ public:
+ PowellsFunction() {
+ x_[0] = 3.0;
+ x_[1] = -1.0;
+ x_[2] = 0.0;
+ x_[3] = 1.0;
+
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x_[0], &x_[1]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x_[2], &x_[3]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x_[1], &x_[2]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x_[0], &x_[3]);
+
+ // Settings for the reference solution.
+ options_.linear_solver_type = ceres::DENSE_QR;
+ options_.max_num_iterations = 10;
+ options_.num_threads = 1;
+ }
+
+ Problem* mutable_problem() { return &problem_; }
+ Solver::Options* mutable_solver_options() { return &options_; }
+
+ static double kResidualTolerance;
+
+ private:
+ // Templated functions used for automatically differentiated cost
+ // functions.
+ class F1 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x2,
+ T* residual) const {
+ // f1 = x1 + 10 * x2;
+ *residual = *x1 + 10.0 * *x2;
+ return true;
+ }
+ };
+
+ class F2 {
+ public:
+ template <typename T> bool operator()(const T* const x3,
+ const T* const x4,
+ T* residual) const {
+ // f2 = sqrt(5) (x3 - x4)
+ *residual = sqrt(5.0) * (*x3 - *x4);
+ return true;
+ }
+ };
+
+ class F3 {
+ public:
+ template <typename T> bool operator()(const T* const x2,
+ const T* const x4,
+ T* residual) const {
+ // f3 = (x2 - 2 x3)^2
+ residual[0] = (x2[0] - 2.0 * x4[0]) * (x2[0] - 2.0 * x4[0]);
+ return true;
+ }
+ };
+
+ class F4 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x4,
+ T* residual) const {
+ // f4 = sqrt(10) (x1 - x4)^2
+ residual[0] = sqrt(10.0) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+ };
+
+ double x_[4];
+ Problem problem_;
+ Solver::Options options_;
+};
+
+double PowellsFunction::kResidualTolerance = 1e-8;
+
+typedef SystemTest<PowellsFunction> PowellTest;
+const bool kAutomaticOrdering = true;
+
+TEST_F(PowellTest, DenseQR) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(DENSE_QR, NO_SPARSE));
+}
+
+TEST_F(PowellTest, DenseNormalCholesky) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(DENSE_NORMAL_CHOLESKY));
+}
+
+TEST_F(PowellTest, DenseSchur) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(DENSE_SCHUR));
+}
+
+TEST_F(PowellTest, IterativeSchurWithJacobi) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kAutomaticOrdering, JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingSuiteSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering));
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingCXSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering));
+}
+#endif // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingEigenSparse) {
+ RunSolverForConfigAndExpectResidualsMatch(
+ SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering));
+}
+#endif // CERES_USE_EIGEN_SPARSE
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+//
+// Utility functions useful for testing.
+
+#include "ceres/test_util.h"
+
+#include <algorithm>
+#include <cmath>
+#include "ceres/file.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+DECLARE_string(test_srcdir);
+
+// This macro is used to inject additional path information specific
+// to the build system.
+
+#ifndef CERES_TEST_SRCDIR_SUFFIX
+#define CERES_TEST_SRCDIR_SUFFIX ""
+#endif
+
+namespace ceres {
+namespace internal {
+
+bool ExpectClose(double x, double y, double max_abs_relative_difference) {
+ double absolute_difference = fabs(x - y);
+ double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
+ if (x == 0 || y == 0) {
+ // If x or y is exactly zero, then relative difference doesn't have any
+ // meaning. Take the absolute difference instead.
+ relative_difference = absolute_difference;
+ }
+ if (relative_difference > max_abs_relative_difference) {
+ VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
+ x, y, absolute_difference, relative_difference);
+ }
+
+ EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
+ return relative_difference <= max_abs_relative_difference;
+}
+
+void ExpectArraysCloseUptoScale(int n,
+ const double* p,
+ const double* q,
+ double tol) {
+ CHECK_GT(n, 0);
+ CHECK(p);
+ CHECK(q);
+
+ double p_max = 0;
+ double q_max = 0;
+ int p_i = 0;
+ int q_i = 0;
+
+ for (int i = 0; i < n; ++i) {
+ if (std::abs(p[i]) > p_max) {
+ p_max = std::abs(p[i]);
+ p_i = i;
+ }
+ if (std::abs(q[i]) > q_max) {
+ q_max = std::abs(q[i]);
+ q_i = i;
+ }
+ }
+
+ // If both arrays are all zeros, they are equal up to scale, but
+ // for testing purposes, that's more likely to be an error than
+ // a desired result.
+ CHECK_NE(p_max, 0.0);
+ CHECK_NE(q_max, 0.0);
+
+ for (int i = 0; i < n; ++i) {
+ double p_norm = p[i] / p[p_i];
+ double q_norm = q[i] / q[q_i];
+
+ EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
+ }
+}
+
+void ExpectArraysClose(int n,
+ const double* p,
+ const double* q,
+ double tol) {
+ CHECK_GT(n, 0);
+ CHECK(p);
+ CHECK(q);
+
+ for (int i = 0; i < n; ++i) {
+ EXPECT_TRUE(ExpectClose(p[i], q[i], tol))
+ << "p[" << i << "]" << p[i] << " "
+ << "q[" << i << "]" << q[i] << " "
+ << "tol: " << tol;
+ }
+}
+
+std::string TestFileAbsolutePath(const std::string& filename) {
+ return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
+ filename);
+}
+
+SolverConfig ThreadedSolverConfig(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+ bool use_automatic_ordering,
+ PreconditionerType preconditioner_type) {
+ const int kNumThreads = 4;
+ return SolverConfig(linear_solver_type,
+ sparse_linear_algebra_library_type,
+ use_automatic_ordering,
+ preconditioner_type,
+ kNumThreads);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/stringprintf.h"
+#include "gtest/gtest.h"
+
+
+#ifndef CERES_INTERNAL_TEST_UTIL_H_
+#define CERES_INTERNAL_TEST_UTIL_H_
+
+namespace ceres {
+namespace internal {
+
+// Expects that x and y have a relative difference of no more than
+// max_abs_relative_difference. If either x or y is zero, then the relative
+// difference is interpreted as an absolute difference.
+bool ExpectClose(double x, double y, double max_abs_relative_difference);
+
+// Expects that for all i = 1,.., n - 1
+//
+// |p[i] - q[i]| / max(|p[i]|, |q[i]|) < tolerance
+void ExpectArraysClose(int n,
+ const double* p,
+ const double* q,
+ double tolerance);
+
+// Expects that for all i = 1,.., n - 1
+//
+// |p[i] / max_norm_p - q[i] / max_norm_q| < tolerance
+//
+// where max_norm_p and max_norm_q are the max norms of the arrays p
+// and q respectively.
+void ExpectArraysCloseUptoScale(int n,
+ const double* p,
+ const double* q,
+ double tolerance);
+
+// Construct a fully qualified path for the test file depending on the
+// local build/testing environment.
+std::string TestFileAbsolutePath(const std::string& filename);
+
+// Struct used for configuring the solver. Used by end-to-end tests.
+struct SolverConfig {
+ SolverConfig(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType
+ sparse_linear_algebra_library_type = NO_SPARSE,
+ bool use_automatic_ordering = true,
+ PreconditionerType preconditioner_type = IDENTITY,
+ int num_threads = 1)
+ : linear_solver_type(linear_solver_type),
+ sparse_linear_algebra_library_type(sparse_linear_algebra_library_type),
+ use_automatic_ordering(use_automatic_ordering),
+ preconditioner_type(preconditioner_type),
+ num_threads(num_threads) {
+ }
+
+ std::string ToString() const {
+ return StringPrintf(
+ "(%s, %s, %s, %s, %d)",
+ LinearSolverTypeToString(linear_solver_type),
+ SparseLinearAlgebraLibraryTypeToString(
+ sparse_linear_algebra_library_type),
+ use_automatic_ordering ? "AUTOMATIC" : "USER",
+ PreconditionerTypeToString(preconditioner_type),
+ num_threads);
+ }
+
+ void UpdateOptions(Solver::Options* options) const {
+ options->linear_solver_type = linear_solver_type;
+ options->sparse_linear_algebra_library_type =
+ sparse_linear_algebra_library_type;
+ options->preconditioner_type = preconditioner_type;
+ options->num_threads = num_threads;
+ options->num_linear_solver_threads = num_threads;
+
+ if (use_automatic_ordering) {
+ options->linear_solver_ordering.reset();
+ }
+ }
+
+ LinearSolverType linear_solver_type;
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+ bool use_automatic_ordering;
+ PreconditionerType preconditioner_type;
+ int num_threads;
+};
+
+SolverConfig ThreadedSolverConfig(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType
+ sparse_linear_algebra_library_type = NO_SPARSE,
+ bool use_automatic_ordering = true,
+ PreconditionerType preconditioner_type = IDENTITY);
+
+// A templated test fixture, that is used for testing Ceres end to end
+// by computing a solution to the problem for a given solver
+// configuration and comparing it to a reference solver configuration.
+//
+// It is assumed that the SystemTestProblem has an Solver::Options
+// struct that contains the reference Solver configuration.
+template <class SystemTestProblem>
+class SystemTest : public::testing::Test {
+ protected:
+ virtual void SetUp() {
+ SystemTestProblem system_test_problem;
+ SolveAndEvaluateFinalResiduals(
+ *system_test_problem.mutable_solver_options(),
+ system_test_problem.mutable_problem(),
+ &expected_final_residuals_);
+ }
+
+ void RunSolverForConfigAndExpectResidualsMatch(const SolverConfig& config) {
+ LOG(INFO) << "Running solver configuration: "
+ << config.ToString();
+
+ SystemTestProblem system_test_problem;
+ config.UpdateOptions(system_test_problem.mutable_solver_options());
+ std::vector<double> final_residuals;
+ SolveAndEvaluateFinalResiduals(
+ *system_test_problem.mutable_solver_options(),
+ system_test_problem.mutable_problem(),
+ &final_residuals);
+
+ // We compare solutions by comparing their residual vectors. We do
+ // not compare parameter vectors because it is much more brittle
+ // and error prone to do so, since the same problem can have
+ // nearly the same residuals at two completely different positions
+ // in parameter space.
+ CHECK_EQ(expected_final_residuals_.size(), final_residuals.size());
+ for (int i = 0; i < final_residuals.size(); ++i) {
+ EXPECT_NEAR(final_residuals[i],
+ expected_final_residuals_[i],
+ SystemTestProblem::kResidualTolerance)
+ << "Not close enough residual:" << i;
+ }
+ }
+
+ void SolveAndEvaluateFinalResiduals(const Solver::Options& options,
+ Problem* problem,
+ std::vector<double>* final_residuals) {
+ Solver::Summary summary;
+ Solve(options, problem, &summary);
+ CHECK_NE(summary.termination_type, ceres::FAILURE);
+ problem->Evaluate(Problem::EvaluateOptions(),
+ NULL,
+ final_residuals,
+ NULL,
+ NULL);
+ }
+
+ std::vector<double> expected_final_residuals_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TEST_UTIL_H_
--- /dev/null
+// 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/triplet_sparse_matrix.h"
+
+#include <algorithm>
+#include <cstddef>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+TripletSparseMatrix::TripletSparseMatrix()
+ : num_rows_(0),
+ num_cols_(0),
+ max_num_nonzeros_(0),
+ num_nonzeros_(0),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {}
+
+TripletSparseMatrix::~TripletSparseMatrix() {}
+
+TripletSparseMatrix::TripletSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros)
+ : num_rows_(num_rows),
+ num_cols_(num_cols),
+ max_num_nonzeros_(max_num_nonzeros),
+ num_nonzeros_(0),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {
+ // All the sizes should at least be zero
+ CHECK_GE(num_rows, 0);
+ CHECK_GE(num_cols, 0);
+ CHECK_GE(max_num_nonzeros, 0);
+ AllocateMemory();
+}
+
+TripletSparseMatrix::TripletSparseMatrix(const int num_rows,
+ const int num_cols,
+ const std::vector<int>& rows,
+ const std::vector<int>& cols,
+ const std::vector<double>& values)
+ : num_rows_(num_rows),
+ num_cols_(num_cols),
+ max_num_nonzeros_(values.size()),
+ num_nonzeros_(values.size()),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {
+ // All the sizes should at least be zero
+ CHECK_GE(num_rows, 0);
+ CHECK_GE(num_cols, 0);
+ CHECK_EQ(rows.size(), cols.size());
+ CHECK_EQ(rows.size(), values.size());
+ AllocateMemory();
+ std::copy(rows.begin(), rows.end(), rows_.get());
+ std::copy(cols.begin(), cols.end(), cols_.get());
+ std::copy(values.begin(), values.end(), values_.get());
+}
+
+TripletSparseMatrix::TripletSparseMatrix(const TripletSparseMatrix& orig)
+ : SparseMatrix(),
+ num_rows_(orig.num_rows_),
+ num_cols_(orig.num_cols_),
+ max_num_nonzeros_(orig.max_num_nonzeros_),
+ num_nonzeros_(orig.num_nonzeros_),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {
+ AllocateMemory();
+ CopyData(orig);
+}
+
+TripletSparseMatrix& TripletSparseMatrix::operator=(
+ const TripletSparseMatrix& rhs) {
+ num_rows_ = rhs.num_rows_;
+ num_cols_ = rhs.num_cols_;
+ num_nonzeros_ = rhs.num_nonzeros_;
+ max_num_nonzeros_ = rhs.max_num_nonzeros_;
+ AllocateMemory();
+ CopyData(rhs);
+ return *this;
+}
+
+bool TripletSparseMatrix::AllTripletsWithinBounds() const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
+ (cols_[i] < 0) || (cols_[i] >= num_cols_))
+ return false;
+ }
+ return true;
+}
+
+void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
+ CHECK_LE(num_nonzeros_, new_max_num_nonzeros)
+ << "Reallocation will cause data loss";
+
+ // Nothing to do if we have enough space already.
+ if (new_max_num_nonzeros <= max_num_nonzeros_)
+ return;
+
+ int* new_rows = new int[new_max_num_nonzeros];
+ int* new_cols = new int[new_max_num_nonzeros];
+ double* new_values = new double[new_max_num_nonzeros];
+
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ new_rows[i] = rows_[i];
+ new_cols[i] = cols_[i];
+ new_values[i] = values_[i];
+ }
+
+ rows_.reset(new_rows);
+ cols_.reset(new_cols);
+ values_.reset(new_values);
+
+ max_num_nonzeros_ = new_max_num_nonzeros;
+}
+
+void TripletSparseMatrix::SetZero() {
+ std::fill(values_.get(), values_.get() + max_num_nonzeros_, 0.0);
+ num_nonzeros_ = 0;
+}
+
+void TripletSparseMatrix::set_num_nonzeros(int num_nonzeros) {
+ CHECK_GE(num_nonzeros, 0);
+ CHECK_LE(num_nonzeros, max_num_nonzeros_);
+ num_nonzeros_ = num_nonzeros;
+}
+
+void TripletSparseMatrix::AllocateMemory() {
+ rows_.reset(new int[max_num_nonzeros_]);
+ cols_.reset(new int[max_num_nonzeros_]);
+ values_.reset(new double[max_num_nonzeros_]);
+}
+
+void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ rows_[i] = orig.rows_[i];
+ cols_[i] = orig.cols_[i];
+ values_[i] = orig.values_[i];
+ }
+}
+
+void TripletSparseMatrix::RightMultiply(const double* x, double* y) const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ y[rows_[i]] += values_[i]*x[cols_[i]];
+ }
+}
+
+void TripletSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ y[cols_[i]] += values_[i]*x[rows_[i]];
+ }
+}
+
+void TripletSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+ VectorRef(x, num_cols_).setZero();
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ x[cols_[i]] += values_[i] * values_[i];
+ }
+}
+
+void TripletSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ values_[i] = values_[i] * scale[cols_[i]];
+ }
+}
+
+void TripletSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+ Matrix& m = *dense_matrix;
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ m(rows_[i], cols_[i]) += values_[i];
+ }
+}
+
+void TripletSparseMatrix::AppendRows(const TripletSparseMatrix& B) {
+ CHECK_EQ(B.num_cols(), num_cols_);
+ Reserve(num_nonzeros_ + B.num_nonzeros_);
+ for (int i = 0; i < B.num_nonzeros_; ++i) {
+ rows_.get()[num_nonzeros_] = B.rows()[i] + num_rows_;
+ cols_.get()[num_nonzeros_] = B.cols()[i];
+ values_.get()[num_nonzeros_++] = B.values()[i];
+ }
+ num_rows_ = num_rows_ + B.num_rows();
+}
+
+void TripletSparseMatrix::AppendCols(const TripletSparseMatrix& B) {
+ CHECK_EQ(B.num_rows(), num_rows_);
+ Reserve(num_nonzeros_ + B.num_nonzeros_);
+ for (int i = 0; i < B.num_nonzeros_; ++i, ++num_nonzeros_) {
+ rows_.get()[num_nonzeros_] = B.rows()[i];
+ cols_.get()[num_nonzeros_] = B.cols()[i] + num_cols_;
+ values_.get()[num_nonzeros_] = B.values()[i];
+ }
+ num_cols_ = num_cols_ + B.num_cols();
+}
+
+
+void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
+ if ((new_num_rows >= num_rows_) && (new_num_cols >= num_cols_)) {
+ num_rows_ = new_num_rows;
+ num_cols_ = new_num_cols;
+ return;
+ }
+
+ num_rows_ = new_num_rows;
+ num_cols_ = new_num_cols;
+
+ int* r_ptr = rows_.get();
+ int* c_ptr = cols_.get();
+ double* v_ptr = values_.get();
+
+ int dropped_terms = 0;
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ if ((r_ptr[i] < num_rows_) && (c_ptr[i] < num_cols_)) {
+ if (dropped_terms) {
+ r_ptr[i-dropped_terms] = r_ptr[i];
+ c_ptr[i-dropped_terms] = c_ptr[i];
+ v_ptr[i-dropped_terms] = v_ptr[i];
+ }
+ } else {
+ ++dropped_terms;
+ }
+ }
+ num_nonzeros_ -= dropped_terms;
+}
+
+TripletSparseMatrix* TripletSparseMatrix::CreateSparseDiagonalMatrix(
+ const double* values, int num_rows) {
+ TripletSparseMatrix* m =
+ new TripletSparseMatrix(num_rows, num_rows, num_rows);
+ for (int i = 0; i < num_rows; ++i) {
+ m->mutable_rows()[i] = i;
+ m->mutable_cols()[i] = i;
+ m->mutable_values()[i] = values[i];
+ }
+ m->set_num_nonzeros(num_rows);
+ return m;
+}
+
+void TripletSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ fprintf(file, "% 10d % 10d %17f\n", rows_[i], cols_[i], values_[i]);
+ }
+}
+
+TripletSparseMatrix* TripletSparseMatrix::CreateRandomMatrix(
+ const TripletSparseMatrix::RandomMatrixOptions& options) {
+ CHECK_GT(options.num_rows, 0);
+ CHECK_GT(options.num_cols, 0);
+ CHECK_GT(options.density, 0.0);
+ CHECK_LE(options.density, 1.0);
+
+ std::vector<int> rows;
+ std::vector<int> cols;
+ std::vector<double> values;
+ while (rows.empty()) {
+ rows.clear();
+ cols.clear();
+ values.clear();
+ for (int r = 0; r < options.num_rows; ++r) {
+ for (int c = 0; c < options.num_cols; ++c) {
+ if (RandDouble() <= options.density) {
+ rows.push_back(r);
+ cols.push_back(c);
+ values.push_back(RandNormal());
+ }
+ }
+ }
+ }
+
+ return new TripletSparseMatrix(
+ options.num_rows, options.num_cols, rows, cols, values);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+
+#include <vector>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// An implementation of the SparseMatrix interface to store and
+// manipulate sparse matrices in triplet (i,j,s) form. This object is
+// inspired by the design of the cholmod_triplet struct used in the
+// SuiteSparse package and is memory layout compatible with it.
+class TripletSparseMatrix : public SparseMatrix {
+ public:
+ TripletSparseMatrix();
+ TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
+ TripletSparseMatrix(int num_rows,
+ int num_cols,
+ const std::vector<int>& rows,
+ const std::vector<int>& cols,
+ const std::vector<double>& values);
+
+ explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
+
+ TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
+
+ ~TripletSparseMatrix();
+
+ // Implementation of the SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+ virtual void set_num_nonzeros(int num_nonzeros);
+
+ // Increase max_num_nonzeros and correspondingly increase the size
+ // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
+ // than max_num_nonzeros_, then num_non_zeros should be less than or
+ // equal to new_max_num_nonzeros, otherwise data loss is possible
+ // and the method crashes.
+ void Reserve(int new_max_num_nonzeros);
+
+ // Append the matrix B at the bottom of this matrix. B should have
+ // the same number of columns as num_cols_.
+ void AppendRows(const TripletSparseMatrix& B);
+
+ // Append the matrix B at the right of this matrix. B should have
+ // the same number of rows as num_rows_;
+ void AppendCols(const TripletSparseMatrix& B);
+
+ // Resize the matrix. Entries which fall outside the new matrix
+ // bounds are dropped and the num_non_zeros changed accordingly.
+ void Resize(int new_num_rows, int new_num_cols);
+
+ int max_num_nonzeros() const { return max_num_nonzeros_; }
+ const int* rows() const { return rows_.get(); }
+ const int* cols() const { return cols_.get(); }
+ int* mutable_rows() { return rows_.get(); }
+ int* mutable_cols() { return cols_.get(); }
+
+ // Returns true if the entries of the matrix obey the row, column,
+ // and column size bounds and false otherwise.
+ bool AllTripletsWithinBounds() const;
+
+ bool IsValid() const { return AllTripletsWithinBounds(); }
+
+ // Build a sparse diagonal matrix of size num_rows x num_rows from
+ // the array values. Entries of the values array are copied into the
+ // sparse matrix.
+ static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
+ int num_rows);
+
+ // Options struct to control the generation of random
+ // TripletSparseMatrix objects.
+ struct RandomMatrixOptions {
+ int num_rows;
+ int num_cols;
+ // 0 < density <= 1 is the probability of an entry being
+ // structurally non-zero. A given random matrix will not have
+ // precisely this density.
+ double density;
+ };
+
+ // Create a random CompressedRowSparseMatrix whose entries are
+ // normally distributed and whose structure is determined by
+ // RandomMatrixOptions.
+ //
+ // Caller owns the result.
+ static TripletSparseMatrix* CreateRandomMatrix(
+ const TripletSparseMatrix::RandomMatrixOptions& options);
+
+ private:
+ void AllocateMemory();
+ void CopyData(const TripletSparseMatrix& orig);
+
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+ int num_nonzeros_;
+
+ // The data is stored as three arrays. For each i, values_[i] is
+ // stored at the location (rows_[i], cols_[i]). If the there are
+ // multiple entries with the same (rows_[i], cols_[i]), the values_
+ // entries corresponding to them are summed up.
+ scoped_array<int> rows_;
+ scoped_array<int> cols_;
+ scoped_array<double> values_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
--- /dev/null
+// 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/triplet_sparse_matrix.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) {
+ TripletSparseMatrix m;
+ EXPECT_EQ(m.num_rows(), 0);
+ EXPECT_EQ(m.num_cols(), 0);
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ EXPECT_EQ(m.max_num_nonzeros(), 0);
+}
+
+TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) {
+ // Build a matrix
+ TripletSparseMatrix m(2, 5, 4);
+ EXPECT_EQ(m.num_rows(), 2);
+ EXPECT_EQ(m.num_cols(), 5);
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ EXPECT_EQ(m.max_num_nonzeros(), 4);
+
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ EXPECT_EQ(m.num_nonzeros(), 2);
+
+ ASSERT_TRUE(m.AllTripletsWithinBounds());
+
+ // We should never be able resize and lose data
+ EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss");
+
+ // We should be able to resize while preserving data
+ m.Reserve(50);
+ EXPECT_EQ(m.max_num_nonzeros(), 50);
+
+ m.Reserve(3);
+ EXPECT_EQ(m.max_num_nonzeros(), 50); // The space is already reserved.
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(m.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(m.values()[1], 5.2);
+
+ // Bounds check should fail
+ m.mutable_rows()[0] = 10;
+ EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+ m.mutable_rows()[0] = 1;
+ m.mutable_cols()[0] = 100;
+ EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+ // Remove all data and then resize the data store
+ m.SetZero();
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ m.Reserve(1);
+}
+
+TEST(TripletSparseMatrix, CopyConstructor) {
+ TripletSparseMatrix orig(2, 5, 4);
+ orig.mutable_rows()[0] = 0;
+ orig.mutable_cols()[0] = 1;
+ orig.mutable_values()[0] = 2.5;
+
+ orig.mutable_rows()[1] = 1;
+ orig.mutable_cols()[1] = 4;
+ orig.mutable_values()[1] = 5.2;
+ orig.set_num_nonzeros(2);
+
+ TripletSparseMatrix cpy(orig);
+
+ EXPECT_EQ(cpy.num_rows(), 2);
+ EXPECT_EQ(cpy.num_cols(), 5);
+ ASSERT_EQ(cpy.num_nonzeros(), 2);
+ EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+ EXPECT_EQ(cpy.rows()[0], 0);
+ EXPECT_EQ(cpy.rows()[1], 1);
+
+ EXPECT_EQ(cpy.cols()[0], 1);
+ EXPECT_EQ(cpy.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AssignmentOperator) {
+ TripletSparseMatrix orig(2, 5, 4);
+ orig.mutable_rows()[0] = 0;
+ orig.mutable_cols()[0] = 1;
+ orig.mutable_values()[0] = 2.5;
+
+ orig.mutable_rows()[1] = 1;
+ orig.mutable_cols()[1] = 4;
+ orig.mutable_values()[1] = 5.2;
+ orig.set_num_nonzeros(2);
+
+ TripletSparseMatrix cpy(3, 50, 40);
+ cpy.mutable_rows()[0] = 0;
+ cpy.mutable_cols()[0] = 10;
+ cpy.mutable_values()[0] = 10.22;
+
+ cpy.mutable_rows()[1] = 2;
+ cpy.mutable_cols()[1] = 23;
+ cpy.mutable_values()[1] = 34.45;
+
+ cpy.mutable_rows()[0] = 0;
+ cpy.mutable_cols()[0] = 10;
+ cpy.mutable_values()[0] = 10.22;
+
+ cpy.mutable_rows()[1] = 0;
+ cpy.mutable_cols()[1] = 3;
+ cpy.mutable_values()[1] = 4.4;
+ cpy.set_num_nonzeros(3);
+
+ cpy = orig;
+
+ EXPECT_EQ(cpy.num_rows(), 2);
+ EXPECT_EQ(cpy.num_cols(), 5);
+ ASSERT_EQ(cpy.num_nonzeros(), 2);
+ EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+ EXPECT_EQ(cpy.rows()[0], 0);
+ EXPECT_EQ(cpy.rows()[1], 1);
+
+ EXPECT_EQ(cpy.cols()[0], 1);
+ EXPECT_EQ(cpy.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AppendRows) {
+ // Build one matrix.
+ TripletSparseMatrix m(2, 5, 4);
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ // Build another matrix.
+ TripletSparseMatrix a(10, 5, 4);
+ a.mutable_rows()[0] = 0;
+ a.mutable_cols()[0] = 1;
+ a.mutable_values()[0] = 3.5;
+
+ a.mutable_rows()[1] = 1;
+ a.mutable_cols()[1] = 4;
+ a.mutable_values()[1] = 6.2;
+
+ a.mutable_rows()[2] = 9;
+ a.mutable_cols()[2] = 5;
+ a.mutable_values()[2] = 1;
+ a.set_num_nonzeros(3);
+
+ // Glue the second matrix to the bottom of the first.
+ m.AppendRows(a);
+
+ EXPECT_EQ(m.num_rows(), 12);
+ EXPECT_EQ(m.num_cols(), 5);
+ ASSERT_EQ(m.num_nonzeros(), 5);
+
+ EXPECT_EQ(m.values()[0], 2.5);
+ EXPECT_EQ(m.values()[1], 5.2);
+ EXPECT_EQ(m.values()[2], 3.5);
+ EXPECT_EQ(m.values()[3], 6.2);
+ EXPECT_EQ(m.values()[4], 1);
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+ EXPECT_EQ(m.rows()[2], 2);
+ EXPECT_EQ(m.rows()[3], 3);
+ EXPECT_EQ(m.rows()[4], 11);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+ EXPECT_EQ(m.cols()[2], 1);
+ EXPECT_EQ(m.cols()[3], 4);
+ EXPECT_EQ(m.cols()[4], 5);
+}
+
+TEST(TripletSparseMatrix, AppendCols) {
+ // Build one matrix.
+ TripletSparseMatrix m(2, 5, 4);
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ // Build another matrix.
+ TripletSparseMatrix a(2, 15, 4);
+ a.mutable_rows()[0] = 0;
+ a.mutable_cols()[0] = 1;
+ a.mutable_values()[0] = 3.5;
+
+ a.mutable_rows()[1] = 1;
+ a.mutable_cols()[1] = 4;
+ a.mutable_values()[1] = 6.2;
+
+ a.mutable_rows()[2] = 0;
+ a.mutable_cols()[2] = 10;
+ a.mutable_values()[2] = 1;
+ a.set_num_nonzeros(3);
+
+ // Glue the second matrix to the left of the first.
+ m.AppendCols(a);
+
+ EXPECT_EQ(m.num_rows(), 2);
+ EXPECT_EQ(m.num_cols(), 20);
+ ASSERT_EQ(m.num_nonzeros(), 5);
+
+ EXPECT_EQ(m.values()[0], 2.5);
+ EXPECT_EQ(m.values()[1], 5.2);
+ EXPECT_EQ(m.values()[2], 3.5);
+ EXPECT_EQ(m.values()[3], 6.2);
+ EXPECT_EQ(m.values()[4], 1);
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+ EXPECT_EQ(m.rows()[2], 0);
+ EXPECT_EQ(m.rows()[3], 1);
+ EXPECT_EQ(m.rows()[4], 0);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+ EXPECT_EQ(m.cols()[2], 6);
+ EXPECT_EQ(m.cols()[3], 9);
+ EXPECT_EQ(m.cols()[4], 15);
+}
+
+TEST(TripletSparseMatrix, CreateDiagonalMatrix) {
+ scoped_array<double> values(new double[10]);
+ for (int i = 0; i < 10; ++i)
+ values[i] = i;
+
+ scoped_ptr<TripletSparseMatrix> m(
+ TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10));
+ EXPECT_EQ(m->num_rows(), 10);
+ EXPECT_EQ(m->num_cols(), 10);
+ ASSERT_EQ(m->num_nonzeros(), 10);
+ for (int i = 0; i < 10 ; ++i) {
+ EXPECT_EQ(m->rows()[i], i);
+ EXPECT_EQ(m->cols()[i], i);
+ EXPECT_EQ(m->values()[i], i);
+ }
+}
+
+TEST(TripletSparseMatrix, Resize) {
+ TripletSparseMatrix m(10, 20, 200);
+ int nnz = 0;
+ for (int i = 0; i < 10; ++i) {
+ for (int j = 0; j < 20; ++j) {
+ m.mutable_rows()[nnz] = i;
+ m.mutable_cols()[nnz] = j;
+ m.mutable_values()[nnz++] = i+j;
+ }
+ }
+ m.set_num_nonzeros(nnz);
+ m.Resize(5, 6);
+ EXPECT_EQ(m.num_rows(), 5);
+ EXPECT_EQ(m.num_cols(), 6);
+ ASSERT_EQ(m.num_nonzeros(), 30);
+ for (int i = 0; i < 30; ++i) {
+ EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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/trust_region_minimizer.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/coordinate_descent_minimizer.h"
+#include "ceres/evaluator.h"
+#include "ceres/file.h"
+#include "ceres/line_search.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+// Helper macro to simplify some of the control flow.
+#define RETURN_IF_ERROR_AND_LOG(expr) \
+ do { \
+ if (!(expr)) { \
+ LOG(ERROR) << "Terminating: " << solver_summary_->message; \
+ return; \
+ } \
+ } while (0)
+
+namespace ceres {
+namespace internal {
+
+TrustRegionMinimizer::~TrustRegionMinimizer() {}
+
+void TrustRegionMinimizer::Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* solver_summary) {
+ start_time_in_secs_ = WallTimeInSeconds();
+ iteration_start_time_in_secs_ = start_time_in_secs_;
+ Init(options, parameters, solver_summary);
+ RETURN_IF_ERROR_AND_LOG(IterationZero());
+
+ // Create the TrustRegionStepEvaluator. The construction needs to be
+ // delayed to this point because we need the cost for the starting
+ // point to initialize the step evaluator.
+ step_evaluator_.reset(new TrustRegionStepEvaluator(
+ x_cost_,
+ options_.use_nonmonotonic_steps
+ ? options_.max_consecutive_nonmonotonic_steps
+ : 0));
+
+ while (FinalizeIterationAndCheckIfMinimizerCanContinue()) {
+ iteration_start_time_in_secs_ = WallTimeInSeconds();
+ iteration_summary_ = IterationSummary();
+ iteration_summary_.iteration =
+ solver_summary->iterations.back().iteration + 1;
+
+ RETURN_IF_ERROR_AND_LOG(ComputeTrustRegionStep());
+ if (!iteration_summary_.step_is_valid) {
+ RETURN_IF_ERROR_AND_LOG(HandleInvalidStep());
+ continue;
+ }
+
+ if (options_.is_constrained) {
+ // Use a projected line search to enforce the bounds constraints
+ // and improve the quality of the step.
+ DoLineSearch(x_, gradient_, x_cost_, &delta_);
+ }
+
+ ComputeCandidatePointAndEvaluateCost();
+ DoInnerIterationsIfNeeded();
+
+ if (ParameterToleranceReached()) {
+ return;
+ }
+
+ if (FunctionToleranceReached()) {
+ return;
+ }
+
+ if (IsStepSuccessful()) {
+ RETURN_IF_ERROR_AND_LOG(HandleSuccessfulStep());
+ continue;
+ }
+
+ HandleUnsuccessfulStep();
+ }
+}
+
+// Initialize the minimizer, allocate working space and set some of
+// the fields in the solver_summary.
+void TrustRegionMinimizer::Init(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* solver_summary) {
+ options_ = options;
+ sort(options_.trust_region_minimizer_iterations_to_dump.begin(),
+ options_.trust_region_minimizer_iterations_to_dump.end());
+
+ parameters_ = parameters;
+
+ solver_summary_ = solver_summary;
+ solver_summary_->termination_type = NO_CONVERGENCE;
+ solver_summary_->num_successful_steps = 0;
+ solver_summary_->num_unsuccessful_steps = 0;
+ solver_summary_->is_constrained = options.is_constrained;
+
+ evaluator_ = CHECK_NOTNULL(options_.evaluator.get());
+ jacobian_ = CHECK_NOTNULL(options_.jacobian.get());
+ strategy_ = CHECK_NOTNULL(options_.trust_region_strategy.get());
+
+ is_not_silent_ = !options.is_silent;
+ inner_iterations_are_enabled_ =
+ options.inner_iteration_minimizer.get() != NULL;
+ inner_iterations_were_useful_ = false;
+
+ num_parameters_ = evaluator_->NumParameters();
+ num_effective_parameters_ = evaluator_->NumEffectiveParameters();
+ num_residuals_ = evaluator_->NumResiduals();
+ num_consecutive_invalid_steps_ = 0;
+
+ x_ = ConstVectorRef(parameters_, num_parameters_);
+ x_norm_ = x_.norm();
+ residuals_.resize(num_residuals_);
+ trust_region_step_.resize(num_effective_parameters_);
+ delta_.resize(num_effective_parameters_);
+ candidate_x_.resize(num_parameters_);
+ gradient_.resize(num_effective_parameters_);
+ model_residuals_.resize(num_residuals_);
+ negative_gradient_.resize(num_effective_parameters_);
+ projected_gradient_step_.resize(num_parameters_);
+
+ // By default scaling is one, if the user requests Jacobi scaling of
+ // the Jacobian, we will compute and overwrite this vector.
+ jacobian_scaling_ = Vector::Ones(num_effective_parameters_);
+
+ x_norm_ = -1; // Invalid value
+ x_cost_ = std::numeric_limits<double>::max();
+ minimum_cost_ = x_cost_;
+ model_cost_change_ = 0.0;
+}
+
+// 1. Project the initial solution onto the feasible set if needed.
+// 2. Compute the initial cost, jacobian & gradient.
+//
+// Return true if all computations can be performed successfully.
+bool TrustRegionMinimizer::IterationZero() {
+ iteration_summary_ = IterationSummary();
+ iteration_summary_.iteration = 0;
+ iteration_summary_.step_is_valid = false;
+ iteration_summary_.step_is_successful = false;
+ iteration_summary_.cost_change = 0.0;
+ iteration_summary_.gradient_max_norm = 0.0;
+ iteration_summary_.gradient_norm = 0.0;
+ iteration_summary_.step_norm = 0.0;
+ iteration_summary_.relative_decrease = 0.0;
+ iteration_summary_.eta = options_.eta;
+ iteration_summary_.linear_solver_iterations = 0;
+ iteration_summary_.step_solver_time_in_seconds = 0;
+
+ if (options_.is_constrained) {
+ delta_.setZero();
+ if (!evaluator_->Plus(x_.data(), delta_.data(), candidate_x_.data())) {
+ solver_summary_->message =
+ "Unable to project initial point onto the feasible set.";
+ solver_summary_->termination_type = FAILURE;
+ return false;
+ }
+
+ x_ = candidate_x_;
+ x_norm_ = x_.norm();
+ }
+
+ if (!EvaluateGradientAndJacobian()) {
+ return false;
+ }
+
+ solver_summary_->initial_cost = x_cost_ + solver_summary_->fixed_cost;
+ iteration_summary_.step_is_valid = true;
+ iteration_summary_.step_is_successful = true;
+ return true;
+}
+
+// For the current x_, compute
+//
+// 1. Cost
+// 2. Jacobian
+// 3. Gradient
+// 4. Scale the Jacobian if needed (and compute the scaling if we are
+// in iteration zero).
+// 5. Compute the 2 and max norm of the gradient.
+//
+// Returns true if all computations could be performed
+// successfully. Any failures are considered fatal and the
+// Solver::Summary is updated to indicate this.
+bool TrustRegionMinimizer::EvaluateGradientAndJacobian() {
+ if (!evaluator_->Evaluate(x_.data(),
+ &x_cost_,
+ residuals_.data(),
+ gradient_.data(),
+ jacobian_)) {
+ solver_summary_->message = "Residual and Jacobian evaluation failed.";
+ solver_summary_->termination_type = FAILURE;
+ return false;
+ }
+
+ iteration_summary_.cost = x_cost_ + solver_summary_->fixed_cost;
+
+ if (options_.jacobi_scaling) {
+ if (iteration_summary_.iteration == 0) {
+ // Compute a scaling vector that is used to improve the
+ // conditioning of the Jacobian.
+ //
+ // jacobian_scaling_ = diag(J'J)^{-1}
+ jacobian_->SquaredColumnNorm(jacobian_scaling_.data());
+ for (int i = 0; i < jacobian_->num_cols(); ++i) {
+ // Add one to the denominator to prevent division by zero.
+ jacobian_scaling_[i] = 1.0 / (1.0 + sqrt(jacobian_scaling_[i]));
+ }
+ }
+
+ // jacobian = jacobian * diag(J'J) ^{-1}
+ jacobian_->ScaleColumns(jacobian_scaling_.data());
+ }
+
+ // The gradient exists in the local tangent space. To account for
+ // the bounds constraints correctly, instead of just computing the
+ // norm of the gradient vector, we compute
+ //
+ // |Plus(x, -gradient) - x|
+ //
+ // Where the Plus operator lifts the negative gradient to the
+ // ambient space, adds it to x and projects it on the hypercube
+ // defined by the bounds.
+ negative_gradient_ = -gradient_;
+ if (!evaluator_->Plus(x_.data(),
+ negative_gradient_.data(),
+ projected_gradient_step_.data())) {
+ solver_summary_->message =
+ "projected_gradient_step = Plus(x, -gradient) failed.";
+ solver_summary_->termination_type = FAILURE;
+ return false;
+ }
+
+ iteration_summary_.gradient_max_norm =
+ (x_ - projected_gradient_step_).lpNorm<Eigen::Infinity>();
+ iteration_summary_.gradient_norm = (x_ - projected_gradient_step_).norm();
+ return true;
+}
+
+// 1. Add the final timing information to the iteration summary.
+// 2. Run the callbacks
+// 3. Check for termination based on
+// a. Run time
+// b. Iteration count
+// c. Max norm of the gradient
+// d. Size of the trust region radius.
+//
+// Returns true if user did not terminate the solver and none of these
+// termination criterion are met.
+bool TrustRegionMinimizer::FinalizeIterationAndCheckIfMinimizerCanContinue() {
+ if (iteration_summary_.step_is_successful) {
+ ++solver_summary_->num_successful_steps;
+ if (x_cost_ < minimum_cost_) {
+ minimum_cost_ = x_cost_;
+ VectorRef(parameters_, num_parameters_) = x_;
+ iteration_summary_.step_is_nonmonotonic = false;
+ } else {
+ iteration_summary_.step_is_nonmonotonic = true;
+ }
+ } else {
+ ++solver_summary_->num_unsuccessful_steps;
+ }
+
+ iteration_summary_.trust_region_radius = strategy_->Radius();
+ iteration_summary_.iteration_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time_in_secs_;
+ iteration_summary_.cumulative_time_in_seconds =
+ WallTimeInSeconds() - start_time_in_secs_ +
+ solver_summary_->preprocessor_time_in_seconds;
+
+ solver_summary_->iterations.push_back(iteration_summary_);
+
+ if (!RunCallbacks(options_, iteration_summary_, solver_summary_)) {
+ return false;
+ }
+
+ if (MaxSolverTimeReached()) {
+ return false;
+ }
+
+ if (MaxSolverIterationsReached()) {
+ return false;
+ }
+
+ if (GradientToleranceReached()) {
+ return false;
+ }
+
+ if (MinTrustRegionRadiusReached()) {
+ return false;
+ }
+
+ return true;
+}
+
+// Compute the trust region step using the TrustRegionStrategy chosen
+// by the user.
+//
+// If the strategy returns with LINEAR_SOLVER_FATAL_ERROR, which
+// indicates an unrecoverable error, return false. This is the only
+// condition that returns false.
+//
+// If the strategy returns with LINEAR_SOLVER_FAILURE, which indicates
+// a numerical failure that could be recovered from by retrying
+// (e.g. by increasing the strength of the regularization), we set
+// iteration_summary_.step_is_valid to false and return true.
+//
+// In all other cases, we compute the decrease in the trust region
+// model problem. In exact arithmetic, this should always be
+// positive, but due to numerical problems in the TrustRegionStrategy
+// or round off error when computing the decrease it may be
+// negative. In which case again, we set
+// iteration_summary_.step_is_valid to false.
+bool TrustRegionMinimizer::ComputeTrustRegionStep() {
+ const double strategy_start_time = WallTimeInSeconds();
+ iteration_summary_.step_is_valid = false;
+ TrustRegionStrategy::PerSolveOptions per_solve_options;
+ per_solve_options.eta = options_.eta;
+ if (find(options_.trust_region_minimizer_iterations_to_dump.begin(),
+ options_.trust_region_minimizer_iterations_to_dump.end(),
+ iteration_summary_.iteration) !=
+ options_.trust_region_minimizer_iterations_to_dump.end()) {
+ per_solve_options.dump_format_type =
+ options_.trust_region_problem_dump_format_type;
+ per_solve_options.dump_filename_base =
+ JoinPath(options_.trust_region_problem_dump_directory,
+ StringPrintf("ceres_solver_iteration_%03d",
+ iteration_summary_.iteration));
+ }
+
+ TrustRegionStrategy::Summary strategy_summary =
+ strategy_->ComputeStep(per_solve_options,
+ jacobian_,
+ residuals_.data(),
+ trust_region_step_.data());
+
+ if (strategy_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+ solver_summary_->message =
+ "Linear solver failed due to unrecoverable "
+ "non-numeric causes. Please see the error log for clues. ";
+ solver_summary_->termination_type = FAILURE;
+ return false;
+ }
+
+ iteration_summary_.step_solver_time_in_seconds =
+ WallTimeInSeconds() - strategy_start_time;
+ iteration_summary_.linear_solver_iterations = strategy_summary.num_iterations;
+
+ if (strategy_summary.termination_type == LINEAR_SOLVER_FAILURE) {
+ return true;
+ }
+
+ // new_model_cost
+ // = 1/2 [f + J * step]^2
+ // = 1/2 [ f'f + 2f'J * step + step' * J' * J * step ]
+ // model_cost_change
+ // = cost - new_model_cost
+ // = f'f/2 - 1/2 [ f'f + 2f'J * step + step' * J' * J * step]
+ // = -f'J * step - step' * J' * J * step / 2
+ // = -(J * step)'(f + J * step / 2)
+ model_residuals_.setZero();
+ jacobian_->RightMultiply(trust_region_step_.data(), model_residuals_.data());
+ model_cost_change_ =
+ -model_residuals_.dot(residuals_ + model_residuals_ / 2.0);
+
+ // TODO(sameeragarwal)
+ //
+ // 1. What happens if model_cost_change_ = 0
+ // 2. What happens if -epsilon <= model_cost_change_ < 0 for some
+ // small epsilon due to round off error.
+ iteration_summary_.step_is_valid = (model_cost_change_ > 0.0);
+ if (iteration_summary_.step_is_valid) {
+ // Undo the Jacobian column scaling.
+ delta_ = (trust_region_step_.array() * jacobian_scaling_.array()).matrix();
+ num_consecutive_invalid_steps_ = 0;
+ }
+
+ VLOG_IF(1, is_not_silent_ && !iteration_summary_.step_is_valid)
+ << "Invalid step: current_cost: " << x_cost_
+ << " absolute model cost change: " << model_cost_change_
+ << " relative model cost change: " << (model_cost_change_ / x_cost_);
+ return true;
+}
+
+// Invalid steps can happen due to a number of reasons, and we allow a
+// limited number of consecutive failures, and return false if this
+// limit is exceeded.
+bool TrustRegionMinimizer::HandleInvalidStep() {
+ // TODO(sameeragarwal): Should we be returning FAILURE or
+ // NO_CONVERGENCE? The solution value is still usable in many cases,
+ // it is not clear if we should declare the solver a failure
+ // entirely. For example the case where model_cost_change ~ 0.0, but
+ // just slightly negative.
+ if (++num_consecutive_invalid_steps_ >=
+ options_.max_num_consecutive_invalid_steps) {
+ solver_summary_->message = StringPrintf(
+ "Number of consecutive invalid steps more "
+ "than Solver::Options::max_num_consecutive_invalid_steps: %d",
+ options_.max_num_consecutive_invalid_steps);
+ solver_summary_->termination_type = FAILURE;
+ return false;
+ }
+
+ strategy_->StepIsInvalid();
+
+ // We are going to try and reduce the trust region radius and
+ // solve again. To do this, we are going to treat this iteration
+ // as an unsuccessful iteration. Since the various callbacks are
+ // still executed, we are going to fill the iteration summary
+ // with data that assumes a step of length zero and no progress.
+ iteration_summary_.cost = x_cost_ + solver_summary_->fixed_cost;
+ iteration_summary_.cost_change = 0.0;
+ iteration_summary_.gradient_max_norm =
+ solver_summary_->iterations.back().gradient_max_norm;
+ iteration_summary_.gradient_norm =
+ solver_summary_->iterations.back().gradient_norm;
+ iteration_summary_.step_norm = 0.0;
+ iteration_summary_.relative_decrease = 0.0;
+ iteration_summary_.eta = options_.eta;
+ return true;
+}
+
+// Use the supplied coordinate descent minimizer to perform inner
+// iterations and compute the improvement due to it. Returns the cost
+// after performing the inner iterations.
+//
+// The optimization is performed with candidate_x_ as the starting
+// point, and if the optimization is successful, candidate_x_ will be
+// updated with the optimized parameters.
+void TrustRegionMinimizer::DoInnerIterationsIfNeeded() {
+ inner_iterations_were_useful_ = false;
+ if (!inner_iterations_are_enabled_ ||
+ candidate_cost_ >= std::numeric_limits<double>::max()) {
+ return;
+ }
+
+ double inner_iteration_start_time = WallTimeInSeconds();
+ ++solver_summary_->num_inner_iteration_steps;
+ inner_iteration_x_ = candidate_x_;
+ Solver::Summary inner_iteration_summary;
+ options_.inner_iteration_minimizer->Minimize(
+ options_, inner_iteration_x_.data(), &inner_iteration_summary);
+ double inner_iteration_cost;
+ if (!evaluator_->Evaluate(
+ inner_iteration_x_.data(), &inner_iteration_cost, NULL, NULL, NULL)) {
+ VLOG_IF(2, is_not_silent_) << "Inner iteration failed.";
+ return;
+ }
+
+ VLOG_IF(2, is_not_silent_)
+ << "Inner iteration succeeded; Current cost: " << x_cost_
+ << " Trust region step cost: " << candidate_cost_
+ << " Inner iteration cost: " << inner_iteration_cost;
+
+ candidate_x_ = inner_iteration_x_;
+
+ // Normally, the quality of a trust region step is measured by
+ // the ratio
+ //
+ // cost_change
+ // r = -----------------
+ // model_cost_change
+ //
+ // All the change in the nonlinear objective is due to the trust
+ // region step so this ratio is a good measure of the quality of
+ // the trust region radius. However, when inner iterations are
+ // being used, cost_change includes the contribution of the
+ // inner iterations and its not fair to credit it all to the
+ // trust region algorithm. So we change the ratio to be
+ //
+ // cost_change
+ // r = ------------------------------------------------
+ // (model_cost_change + inner_iteration_cost_change)
+ //
+ // Practically we do this by increasing model_cost_change by
+ // inner_iteration_cost_change.
+
+ const double inner_iteration_cost_change =
+ candidate_cost_ - inner_iteration_cost;
+ model_cost_change_ += inner_iteration_cost_change;
+ inner_iterations_were_useful_ = inner_iteration_cost < x_cost_;
+ const double inner_iteration_relative_progress =
+ 1.0 - inner_iteration_cost / candidate_cost_;
+
+ // Disable inner iterations once the relative improvement
+ // drops below tolerance.
+ inner_iterations_are_enabled_ =
+ (inner_iteration_relative_progress > options_.inner_iteration_tolerance);
+ VLOG_IF(2, is_not_silent_ && !inner_iterations_are_enabled_)
+ << "Disabling inner iterations. Progress : "
+ << inner_iteration_relative_progress;
+ candidate_cost_ = inner_iteration_cost;
+
+ solver_summary_->inner_iteration_time_in_seconds +=
+ WallTimeInSeconds() - inner_iteration_start_time;
+}
+
+// Perform a projected line search to improve the objective function
+// value along delta.
+//
+// TODO(sameeragarwal): The current implementation does not do
+// anything illegal but is incorrect and not terribly effective.
+//
+// https://github.com/ceres-solver/ceres-solver/issues/187
+void TrustRegionMinimizer::DoLineSearch(const Vector& x,
+ const Vector& gradient,
+ const double cost,
+ Vector* delta) {
+ LineSearchFunction line_search_function(evaluator_);
+
+ LineSearch::Options line_search_options;
+ line_search_options.is_silent = true;
+ line_search_options.interpolation_type =
+ options_.line_search_interpolation_type;
+ line_search_options.min_step_size = options_.min_line_search_step_size;
+ line_search_options.sufficient_decrease =
+ options_.line_search_sufficient_function_decrease;
+ line_search_options.max_step_contraction =
+ options_.max_line_search_step_contraction;
+ line_search_options.min_step_contraction =
+ options_.min_line_search_step_contraction;
+ line_search_options.max_num_iterations =
+ options_.max_num_line_search_step_size_iterations;
+ line_search_options.sufficient_curvature_decrease =
+ options_.line_search_sufficient_curvature_decrease;
+ line_search_options.max_step_expansion =
+ options_.max_line_search_step_expansion;
+ line_search_options.function = &line_search_function;
+
+ std::string message;
+ scoped_ptr<LineSearch> line_search(CHECK_NOTNULL(
+ LineSearch::Create(ceres::ARMIJO, line_search_options, &message)));
+ LineSearch::Summary line_search_summary;
+ line_search_function.Init(x, *delta);
+ line_search->Search(1.0, cost, gradient.dot(*delta), &line_search_summary);
+
+ solver_summary_->num_line_search_steps += line_search_summary.num_iterations;
+ solver_summary_->line_search_cost_evaluation_time_in_seconds +=
+ line_search_summary.cost_evaluation_time_in_seconds;
+ solver_summary_->line_search_gradient_evaluation_time_in_seconds +=
+ line_search_summary.gradient_evaluation_time_in_seconds;
+ solver_summary_->line_search_polynomial_minimization_time_in_seconds +=
+ line_search_summary.polynomial_minimization_time_in_seconds;
+ solver_summary_->line_search_total_time_in_seconds +=
+ line_search_summary.total_time_in_seconds;
+
+ if (line_search_summary.success) {
+ *delta *= line_search_summary.optimal_point.x;
+ }
+}
+
+// Check if the maximum amount of time allowed by the user for the
+// solver has been exceeded, and if so return false after updating
+// Solver::Summary::message.
+bool TrustRegionMinimizer::MaxSolverTimeReached() {
+ const double total_solver_time =
+ WallTimeInSeconds() - start_time_in_secs_ +
+ solver_summary_->preprocessor_time_in_seconds;
+ if (total_solver_time < options_.max_solver_time_in_seconds) {
+ return false;
+ }
+
+ solver_summary_->message = StringPrintf("Maximum solver time reached. "
+ "Total solver time: %e >= %e.",
+ total_solver_time,
+ options_.max_solver_time_in_seconds);
+ solver_summary_->termination_type = NO_CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Check if the maximum number of iterations allowed by the user for
+// the solver has been exceeded, and if so return false after updating
+// Solver::Summary::message.
+bool TrustRegionMinimizer::MaxSolverIterationsReached() {
+ if (iteration_summary_.iteration < options_.max_num_iterations) {
+ return false;
+ }
+
+ solver_summary_->message =
+ StringPrintf("Maximum number of iterations reached. "
+ "Number of iterations: %d.",
+ iteration_summary_.iteration);
+
+ solver_summary_->termination_type = NO_CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Check convergence based on the max norm of the gradient (only for
+// iterations where the step was declared successful).
+bool TrustRegionMinimizer::GradientToleranceReached() {
+ if (!iteration_summary_.step_is_successful ||
+ iteration_summary_.gradient_max_norm > options_.gradient_tolerance) {
+ return false;
+ }
+
+ solver_summary_->message = StringPrintf(
+ "Gradient tolerance reached. "
+ "Gradient max norm: %e <= %e",
+ iteration_summary_.gradient_max_norm,
+ options_.gradient_tolerance);
+ solver_summary_->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Check convergence based the size of the trust region radius.
+bool TrustRegionMinimizer::MinTrustRegionRadiusReached() {
+ if (iteration_summary_.trust_region_radius >
+ options_.min_trust_region_radius) {
+ return false;
+ }
+
+ solver_summary_->message =
+ StringPrintf("Minimum trust region radius reached. "
+ "Trust region radius: %e <= %e",
+ iteration_summary_.trust_region_radius,
+ options_.min_trust_region_radius);
+ solver_summary_->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Solver::Options::parameter_tolerance based convergence check.
+bool TrustRegionMinimizer::ParameterToleranceReached() {
+ // Compute the norm of the step in the ambient space.
+ iteration_summary_.step_norm = (x_ - candidate_x_).norm();
+ const double step_size_tolerance =
+ options_.parameter_tolerance * (x_norm_ + options_.parameter_tolerance);
+
+ if (iteration_summary_.step_norm > step_size_tolerance) {
+ return false;
+ }
+
+ solver_summary_->message = StringPrintf(
+ "Parameter tolerance reached. "
+ "Relative step_norm: %e <= %e.",
+ (iteration_summary_.step_norm / (x_norm_ + options_.parameter_tolerance)),
+ options_.parameter_tolerance);
+ solver_summary_->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Solver::Options::function_tolerance based convergence check.
+bool TrustRegionMinimizer::FunctionToleranceReached() {
+ iteration_summary_.cost_change = x_cost_ - candidate_cost_;
+ const double absolute_function_tolerance =
+ options_.function_tolerance * x_cost_;
+
+ if (fabs(iteration_summary_.cost_change) > absolute_function_tolerance) {
+ return false;
+ }
+
+ solver_summary_->message = StringPrintf(
+ "Function tolerance reached. "
+ "|cost_change|/cost: %e <= %e",
+ fabs(iteration_summary_.cost_change) / x_cost_,
+ options_.function_tolerance);
+ solver_summary_->termination_type = CONVERGENCE;
+ VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+ return true;
+}
+
+// Compute candidate_x_ = Plus(x_, delta_)
+// Evaluate the cost of candidate_x_ as candidate_cost_.
+//
+// Failure to compute the step or the cost mean that candidate_cost_
+// is set to std::numeric_limits<double>::max(). Unlike
+// EvaluateGradientAndJacobian, failure in this function is not fatal
+// as we are only computing and evaluating a candidate point, and if
+// for some reason we are unable to evaluate it, we consider it to be
+// a point with very high cost. This allows the user to deal with edge
+// cases/constraints as part of the LocalParameterization and
+// CostFunction objects.
+void TrustRegionMinimizer::ComputeCandidatePointAndEvaluateCost() {
+ if (!evaluator_->Plus(x_.data(), delta_.data(), candidate_x_.data())) {
+ LOG_IF(WARNING, is_not_silent_)
+ << "x_plus_delta = Plus(x, delta) failed. "
+ << "Treating it as a step with infinite cost";
+ candidate_cost_ = std::numeric_limits<double>::max();
+ return;
+ }
+
+ if (!evaluator_->Evaluate(
+ candidate_x_.data(), &candidate_cost_, NULL, NULL, NULL)) {
+ LOG_IF(WARNING, is_not_silent_)
+ << "Step failed to evaluate. "
+ << "Treating it as a step with infinite cost";
+ candidate_cost_ = std::numeric_limits<double>::max();
+ }
+}
+
+bool TrustRegionMinimizer::IsStepSuccessful() {
+ iteration_summary_.relative_decrease =
+ step_evaluator_->StepQuality(candidate_cost_, model_cost_change_);
+
+ // In most cases, boosting the model_cost_change by the
+ // improvement caused by the inner iterations is fine, but it can
+ // be the case that the original trust region step was so bad that
+ // the resulting improvement in the cost was negative, and the
+ // change caused by the inner iterations was large enough to
+ // improve the step, but also to make relative decrease quite
+ // small.
+ //
+ // This can cause the trust region loop to reject this step. To
+ // get around this, we expicitly check if the inner iterations
+ // led to a net decrease in the objective function value. If
+ // they did, we accept the step even if the trust region ratio
+ // is small.
+ //
+ // Notice that we do not just check that cost_change is positive
+ // which is a weaker condition and would render the
+ // min_relative_decrease threshold useless. Instead, we keep
+ // track of inner_iterations_were_useful, which is true only
+ // when inner iterations lead to a net decrease in the cost.
+ return (inner_iterations_were_useful_ ||
+ iteration_summary_.relative_decrease >
+ options_.min_relative_decrease);
+}
+
+// Declare the step successful, move to candidate_x, update the
+// derivatives and let the trust region strategy and the step
+// evaluator know that the step has been accepted.
+bool TrustRegionMinimizer::HandleSuccessfulStep() {
+ x_ = candidate_x_;
+ x_norm_ = x_.norm();
+
+ if (!EvaluateGradientAndJacobian()) {
+ return false;
+ }
+
+ iteration_summary_.step_is_successful = true;
+ strategy_->StepAccepted(iteration_summary_.relative_decrease);
+ step_evaluator_->StepAccepted(candidate_cost_, model_cost_change_);
+ return true;
+}
+
+// Declare the step unsuccessful and inform the trust region strategy.
+void TrustRegionMinimizer::HandleUnsuccessfulStep() {
+ iteration_summary_.step_is_successful = false;
+ strategy_->StepRejected(iteration_summary_.relative_decrease);
+ iteration_summary_.cost = candidate_cost_ + solver_summary_->fixed_cost;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+#define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_step_evaluator.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// Generic trust region minimization algorithm.
+//
+// For example usage, see SolverImpl::Minimize.
+class TrustRegionMinimizer : public Minimizer {
+ public:
+ ~TrustRegionMinimizer();
+
+ // This method is not thread safe.
+ virtual void Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* solver_summary);
+
+ private:
+ void Init(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* solver_summary);
+ bool IterationZero();
+ bool FinalizeIterationAndCheckIfMinimizerCanContinue();
+ bool ComputeTrustRegionStep();
+
+ bool EvaluateGradientAndJacobian();
+ void ComputeCandidatePointAndEvaluateCost();
+
+ void DoLineSearch(const Vector& x,
+ const Vector& gradient,
+ const double cost,
+ Vector* delta);
+ void DoInnerIterationsIfNeeded();
+
+ bool ParameterToleranceReached();
+ bool FunctionToleranceReached();
+ bool GradientToleranceReached();
+ bool MaxSolverTimeReached();
+ bool MaxSolverIterationsReached();
+ bool MinTrustRegionRadiusReached();
+
+ bool IsStepSuccessful();
+ void HandleUnsuccessfulStep();
+ bool HandleSuccessfulStep();
+ bool HandleInvalidStep();
+
+ Minimizer::Options options_;
+
+ // These pointers are shortcuts to objects passed to the
+ // TrustRegionMinimizer. The TrustRegionMinimizer does not own them.
+ double* parameters_;
+ Solver::Summary* solver_summary_;
+ Evaluator* evaluator_;
+ SparseMatrix* jacobian_;
+ TrustRegionStrategy* strategy_;
+
+ scoped_ptr<TrustRegionStepEvaluator> step_evaluator_;
+
+ bool is_not_silent_;
+ bool inner_iterations_are_enabled_;
+ bool inner_iterations_were_useful_;
+
+ // Summary of the current iteration.
+ IterationSummary iteration_summary_;
+
+ // Dimensionality of the problem in the ambient space.
+ int num_parameters_;
+ // Dimensionality of the problem in the tangent space. This is the
+ // number of columns in the Jacobian.
+ int num_effective_parameters_;
+ // Length of the residual vector, also the number of rows in the Jacobian.
+ int num_residuals_;
+
+ // Current point.
+ Vector x_;
+ // Residuals at x_;
+ Vector residuals_;
+ // Gradient at x_.
+ Vector gradient_;
+ // Solution computed by the inner iterations.
+ Vector inner_iteration_x_;
+ // model_residuals = J * trust_region_step
+ Vector model_residuals_;
+ Vector negative_gradient_;
+ // projected_gradient_step = Plus(x, -gradient), an intermediate
+ // quantity used to compute the projected gradient norm.
+ Vector projected_gradient_step_;
+ // The step computed by the trust region strategy. If Jacobi scaling
+ // is enabled, this is a vector in the scaled space.
+ Vector trust_region_step_;
+ // The current proposal for how far the trust region algorithm
+ // thinks we should move. In the most basic case, it is just the
+ // trust_region_step_ with the Jacobi scaling undone. If bounds
+ // constraints are present, then it is the result of the projected
+ // line search.
+ Vector delta_;
+ // candidate_x = Plus(x, delta)
+ Vector candidate_x_;
+ // Scaling vector to scale the columns of the Jacobian.
+ Vector jacobian_scaling_;
+
+ // Euclidean norm of x_.
+ double x_norm_;
+ // Cost at x_.
+ double x_cost_;
+ // Minimum cost encountered up till now.
+ double minimum_cost_;
+ // How much did the trust region strategy reduce the cost of the
+ // linearized Gauss-Newton model.
+ double model_cost_change_;
+ // Cost at candidate_x_.
+ double candidate_cost_;
+
+ // Time at which the minimizer was started.
+ double start_time_in_secs_;
+ // Time at which the current iteration was started.
+ double iteration_start_time_in_secs_;
+ // Number of consecutive steps where the minimizer loop computed a
+ // numerically invalid step.
+ int num_consecutive_invalid_steps_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
--- /dev/null
+// 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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// This tests the TrustRegionMinimizer loop using a direct Evaluator
+// implementation, rather than having a test that goes through all the
+// Program and Problem machinery.
+
+#include <cmath>
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Templated Evaluator for Powell's function. The template parameters
+// indicate which of the four variables/columns of the jacobian are
+// active. This is equivalent to constructing a problem and using the
+// SubsetLocalParameterization. This allows us to test the support for
+// the Evaluator::Plus operation besides checking for the basic
+// performance of the trust region algorithm.
+template <bool col1, bool col2, bool col3, bool col4>
+class PowellEvaluator2 : public Evaluator {
+ public:
+ PowellEvaluator2()
+ : num_active_cols_(
+ (col1 ? 1 : 0) +
+ (col2 ? 1 : 0) +
+ (col3 ? 1 : 0) +
+ (col4 ? 1 : 0)) {
+ VLOG(1) << "Columns: "
+ << col1 << " "
+ << col2 << " "
+ << col3 << " "
+ << col4;
+ }
+
+ virtual ~PowellEvaluator2() {}
+
+ // Implementation of Evaluator interface.
+ virtual SparseMatrix* CreateJacobian() const {
+ CHECK(col1 || col2 || col3 || col4);
+ DenseSparseMatrix* dense_jacobian =
+ new DenseSparseMatrix(NumResiduals(), NumEffectiveParameters());
+ dense_jacobian->SetZero();
+ return dense_jacobian;
+ }
+
+ virtual bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+ const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) {
+ const double x1 = state[0];
+ const double x2 = state[1];
+ const double x3 = state[2];
+ const double x4 = state[3];
+
+ VLOG(1) << "State: "
+ << "x1=" << x1 << ", "
+ << "x2=" << x2 << ", "
+ << "x3=" << x3 << ", "
+ << "x4=" << x4 << ".";
+
+ const double f1 = x1 + 10.0 * x2;
+ const double f2 = sqrt(5.0) * (x3 - x4);
+ const double f3 = pow(x2 - 2.0 * x3, 2.0);
+ const double f4 = sqrt(10.0) * pow(x1 - x4, 2.0);
+
+ VLOG(1) << "Function: "
+ << "f1=" << f1 << ", "
+ << "f2=" << f2 << ", "
+ << "f3=" << f3 << ", "
+ << "f4=" << f4 << ".";
+
+ *cost = (f1*f1 + f2*f2 + f3*f3 + f4*f4) / 2.0;
+
+ VLOG(1) << "Cost: " << *cost;
+
+ if (residuals != NULL) {
+ residuals[0] = f1;
+ residuals[1] = f2;
+ residuals[2] = f3;
+ residuals[3] = f4;
+ }
+
+ if (jacobian != NULL) {
+ DenseSparseMatrix* dense_jacobian;
+ dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+ dense_jacobian->SetZero();
+
+ ColMajorMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+ CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
+
+ int column_index = 0;
+ if (col1) {
+ jacobian_matrix.col(column_index++) <<
+ 1.0,
+ 0.0,
+ 0.0,
+ sqrt(10.0) * 2.0 * (x1 - x4) * (1.0 - x4);
+ }
+ if (col2) {
+ jacobian_matrix.col(column_index++) <<
+ 10.0,
+ 0.0,
+ 2.0*(x2 - 2.0*x3)*(1.0 - 2.0*x3),
+ 0.0;
+ }
+
+ if (col3) {
+ jacobian_matrix.col(column_index++) <<
+ 0.0,
+ sqrt(5.0),
+ 2.0*(x2 - 2.0*x3)*(x2 - 2.0),
+ 0.0;
+ }
+
+ if (col4) {
+ jacobian_matrix.col(column_index++) <<
+ 0.0,
+ -sqrt(5.0),
+ 0.0,
+ sqrt(10.0) * 2.0 * (x1 - x4) * (x1 - 1.0);
+ }
+ VLOG(1) << "\n" << jacobian_matrix;
+ }
+
+ if (gradient != NULL) {
+ int column_index = 0;
+ if (col1) {
+ gradient[column_index++] = f1 + f4 * sqrt(10.0) * 2.0 * (x1 - x4);
+ }
+
+ if (col2) {
+ gradient[column_index++] = f1 * 10.0 + f3 * 2.0 * (x2 - 2.0 * x3);
+ }
+
+ if (col3) {
+ gradient[column_index++] =
+ f2 * sqrt(5.0) + f3 * (2.0 * 2.0 * (2.0 * x3 - x2));
+ }
+
+ if (col4) {
+ gradient[column_index++] =
+ -f2 * sqrt(5.0) + f4 * sqrt(10.0) * 2.0 * (x4 - x1);
+ }
+ }
+
+ return true;
+ }
+
+ virtual bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ int delta_index = 0;
+ state_plus_delta[0] = (col1 ? state[0] + delta[delta_index++] : state[0]);
+ state_plus_delta[1] = (col2 ? state[1] + delta[delta_index++] : state[1]);
+ state_plus_delta[2] = (col3 ? state[2] + delta[delta_index++] : state[2]);
+ state_plus_delta[3] = (col4 ? state[3] + delta[delta_index++] : state[3]);
+ return true;
+ }
+
+ virtual int NumEffectiveParameters() const { return num_active_cols_; }
+ virtual int NumParameters() const { return 4; }
+ virtual int NumResiduals() const { return 4; }
+
+ private:
+ const int num_active_cols_;
+};
+
+// Templated function to hold a subset of the columns fixed and check
+// if the solver converges to the optimal values or not.
+template<bool col1, bool col2, bool col3, bool col4>
+void IsTrustRegionSolveSuccessful(TrustRegionStrategyType strategy_type) {
+ Solver::Options solver_options;
+ LinearSolver::Options linear_solver_options;
+ DenseQRSolver linear_solver(linear_solver_options);
+
+ double parameters[4] = { 3, -1, 0, 1.0 };
+
+ // If the column is inactive, then set its value to the optimal
+ // value.
+ parameters[0] = (col1 ? parameters[0] : 0.0);
+ parameters[1] = (col2 ? parameters[1] : 0.0);
+ parameters[2] = (col3 ? parameters[2] : 0.0);
+ parameters[3] = (col4 ? parameters[3] : 0.0);
+
+ Minimizer::Options minimizer_options(solver_options);
+ minimizer_options.gradient_tolerance = 1e-26;
+ minimizer_options.function_tolerance = 1e-26;
+ minimizer_options.parameter_tolerance = 1e-26;
+ minimizer_options.evaluator.reset(
+ new PowellEvaluator2<col1, col2, col3, col4>);
+ minimizer_options.jacobian.reset(
+ minimizer_options.evaluator->CreateJacobian());
+
+ TrustRegionStrategy::Options trust_region_strategy_options;
+ trust_region_strategy_options.trust_region_strategy_type = strategy_type;
+ trust_region_strategy_options.linear_solver = &linear_solver;
+ trust_region_strategy_options.initial_radius = 1e4;
+ trust_region_strategy_options.max_radius = 1e20;
+ trust_region_strategy_options.min_lm_diagonal = 1e-6;
+ trust_region_strategy_options.max_lm_diagonal = 1e32;
+ minimizer_options.trust_region_strategy.reset(
+ TrustRegionStrategy::Create(trust_region_strategy_options));
+
+ TrustRegionMinimizer minimizer;
+ Solver::Summary summary;
+ minimizer.Minimize(minimizer_options, parameters, &summary);
+
+ // The minimum is at x1 = x2 = x3 = x4 = 0.
+ EXPECT_NEAR(0.0, parameters[0], 0.001);
+ EXPECT_NEAR(0.0, parameters[1], 0.001);
+ EXPECT_NEAR(0.0, parameters[2], 0.001);
+ EXPECT_NEAR(0.0, parameters[3], 0.001);
+}
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingLevenbergMarquardt) {
+ // This case is excluded because this has a local minimum and does
+ // not find the optimum. This should not affect the correctness of
+ // this test since we are testing all the other 14 combinations of
+ // column activations.
+ //
+ // IsSolveSuccessful<true, true, false, true>();
+
+ const TrustRegionStrategyType kStrategy = LEVENBERG_MARQUARDT;
+ IsTrustRegionSolveSuccessful<true, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingDogleg) {
+ // The following two cases are excluded because they encounter a
+ // local minimum.
+ //
+ // IsTrustRegionSolveSuccessful<true, true, false, true >(kStrategy);
+ // IsTrustRegionSolveSuccessful<true, true, true, true >(kStrategy);
+
+ const TrustRegionStrategyType kStrategy = DOGLEG;
+ IsTrustRegionSolveSuccessful<true, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+
+class CurveCostFunction : public CostFunction {
+ public:
+ CurveCostFunction(int num_vertices, double target_length)
+ : num_vertices_(num_vertices), target_length_(target_length) {
+ set_num_residuals(1);
+ for (int i = 0; i < num_vertices_; ++i) {
+ mutable_parameter_block_sizes()->push_back(2);
+ }
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = target_length_;
+
+ for (int i = 0; i < num_vertices_; ++i) {
+ int prev = (num_vertices_ + i - 1) % num_vertices_;
+ double length = 0.0;
+ for (int dim = 0; dim < 2; dim++) {
+ const double diff = parameters[prev][dim] - parameters[i][dim];
+ length += diff * diff;
+ }
+ residuals[0] -= sqrt(length);
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ for (int i = 0; i < num_vertices_; ++i) {
+ if (jacobians[i] != NULL) {
+ int prev = (num_vertices_ + i - 1) % num_vertices_;
+ int next = (i + 1) % num_vertices_;
+
+ double u[2], v[2];
+ double norm_u = 0., norm_v = 0.;
+ for (int dim = 0; dim < 2; dim++) {
+ u[dim] = parameters[i][dim] - parameters[prev][dim];
+ norm_u += u[dim] * u[dim];
+ v[dim] = parameters[next][dim] - parameters[i][dim];
+ norm_v += v[dim] * v[dim];
+ }
+
+ norm_u = sqrt(norm_u);
+ norm_v = sqrt(norm_v);
+
+ for (int dim = 0; dim < 2; dim++) {
+ jacobians[i][dim] = 0.;
+
+ if (norm_u > std::numeric_limits< double >::min()) {
+ jacobians[i][dim] -= u[dim] / norm_u;
+ }
+
+ if (norm_v > std::numeric_limits< double >::min()) {
+ jacobians[i][dim] += v[dim] / norm_v;
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int num_vertices_;
+ double target_length_;
+};
+
+TEST(TrustRegionMinimizer, JacobiScalingTest) {
+ int N = 6;
+ std::vector<double*> y(N);
+ const double pi = 3.1415926535897932384626433;
+ for (int i = 0; i < N; i++) {
+ double theta = i * 2. * pi/ static_cast< double >(N);
+ y[i] = new double[2];
+ y[i][0] = cos(theta);
+ y[i][1] = sin(theta);
+ }
+
+ Problem problem;
+ problem.AddResidualBlock(new CurveCostFunction(N, 10.), NULL, y);
+ Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_QR;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_LE(summary.final_cost, 1e-10);
+
+ for (int i = 0; i < N; i++) {
+ delete []y[i];
+ }
+}
+
+struct ExpCostFunctor {
+ template <typename T>
+ bool operator()(const T* const x, T* residual) const {
+ residual[0] = T(10.0) - exp(x[0]);
+ return true;
+ }
+
+ static CostFunction* Create() {
+ return new AutoDiffCostFunction<ExpCostFunctor, 1, 1>(
+ new ExpCostFunctor);
+ }
+};
+
+TEST(TrustRegionMinimizer, GradientToleranceConvergenceUpdatesStep) {
+ double x = 5;
+ Problem problem;
+ problem.AddResidualBlock(ExpCostFunctor::Create(), NULL, &x);
+ problem.SetParameterLowerBound(&x, 0, 3.0);
+ Solver::Options options;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_NEAR(3.0, x, 1e-12);
+ const double expected_final_cost = 0.5 * pow(10.0 - exp(3.0), 2);
+ EXPECT_NEAR(expected_final_cost, summary.final_cost, 1e-12);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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/trust_region_preprocessor.h"
+
+#include <numeric>
+#include <string>
+#include "ceres/callbacks.h"
+#include "ceres/evaluator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/parameter_block.h"
+#include "ceres/preconditioner.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/reorder_program.h"
+#include "ceres/suitesparse.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+ParameterBlockOrdering* CreateDefaultLinearSolverOrdering(
+ const Program& program) {
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ const vector<ParameterBlock*>& parameter_blocks =
+ program.parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ordering->AddElementToGroup(
+ const_cast<double*>(parameter_blocks[i]->user_state()), 0);
+ }
+ return ordering;
+}
+
+// Check if all the user supplied values in the parameter blocks are
+// sane or not, and if the program is feasible or not.
+bool IsProgramValid(const Program& program, std::string* error) {
+ return (program.ParameterBlocksAreFinite(error) &&
+ program.IsFeasible(error));
+}
+
+void AlternateLinearSolverAndPreconditionerForSchurTypeLinearSolver(
+ Solver::Options* options) {
+ if (!IsSchurType(options->linear_solver_type)) {
+ return;
+ }
+
+ const LinearSolverType linear_solver_type_given = options->linear_solver_type;
+ const PreconditionerType preconditioner_type_given =
+ options->preconditioner_type;
+ options->linear_solver_type = LinearSolver::LinearSolverForZeroEBlocks(
+ linear_solver_type_given);
+
+ std::string message;
+ if (linear_solver_type_given == ITERATIVE_SCHUR) {
+ options->preconditioner_type = Preconditioner::PreconditionerForZeroEBlocks(
+ preconditioner_type_given);
+
+ message =
+ StringPrintf(
+ "No E blocks. Switching from %s(%s) to %s(%s).",
+ LinearSolverTypeToString(linear_solver_type_given),
+ PreconditionerTypeToString(preconditioner_type_given),
+ LinearSolverTypeToString(options->linear_solver_type),
+ PreconditionerTypeToString(options->preconditioner_type));
+ } else {
+ message =
+ StringPrintf(
+ "No E blocks. Switching from %s to %s.",
+ LinearSolverTypeToString(linear_solver_type_given),
+ LinearSolverTypeToString(options->linear_solver_type));
+ }
+
+ VLOG_IF(1, options->logging_type != SILENT) << message;
+}
+
+// For Schur type and SPARSE_NORMAL_CHOLESKY linear solvers, reorder
+// the program to reduce fill-in and increase cache coherency.
+bool ReorderProgram(PreprocessedProblem* pp) {
+ Solver::Options& options = pp->options;
+ if (IsSchurType(options.linear_solver_type)) {
+ return ReorderProgramForSchurTypeLinearSolver(
+ options.linear_solver_type,
+ options.sparse_linear_algebra_library_type,
+ pp->problem->parameter_map(),
+ options.linear_solver_ordering.get(),
+ pp->reduced_program.get(),
+ &pp->error);
+ }
+
+
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
+ !options.dynamic_sparsity) {
+ return ReorderProgramForSparseNormalCholesky(
+ options.sparse_linear_algebra_library_type,
+ *options.linear_solver_ordering,
+ pp->reduced_program.get(),
+ &pp->error);
+ }
+
+ return true;
+}
+
+// Configure and create a linear solver object. In doing so, if a
+// sparse direct factorization based linear solver is being used, then
+// find a fill reducing ordering and reorder the program as needed
+// too.
+bool SetupLinearSolver(PreprocessedProblem* pp) {
+ Solver::Options& options = pp->options;
+ if (options.linear_solver_ordering.get() == NULL) {
+ // If the user has not supplied a linear solver ordering, then we
+ // assume that they are giving all the freedom to us in choosing
+ // the best possible ordering. This intent can be indicated by
+ // putting all the parameter blocks in the same elimination group.
+ options.linear_solver_ordering.reset(
+ CreateDefaultLinearSolverOrdering(*pp->reduced_program));
+ } else {
+ // If the user supplied an ordering, then check if the first
+ // elimination group is still non-empty after the reduced problem
+ // has been constructed.
+ //
+ // This is important for Schur type linear solvers, where the
+ // first elimination group is special -- it needs to be an
+ // independent set.
+ //
+ // If the first elimination group is empty, then we cannot use the
+ // user's requested linear solver (and a preconditioner as the
+ // case may be) so we must use a different one.
+ ParameterBlockOrdering* ordering = options.linear_solver_ordering.get();
+ const int min_group_id = ordering->MinNonZeroGroup();
+ ordering->Remove(pp->removed_parameter_blocks);
+ if (IsSchurType(options.linear_solver_type) &&
+ min_group_id != ordering->MinNonZeroGroup()) {
+ AlternateLinearSolverAndPreconditionerForSchurTypeLinearSolver(
+ &options);
+ }
+ }
+
+ // Reorder the program to reduce fill in and improve cache coherency
+ // of the Jacobian.
+ if (!ReorderProgram(pp)) {
+ return false;
+ }
+
+ // Configure the linear solver.
+ pp->linear_solver_options = LinearSolver::Options();
+ pp->linear_solver_options.min_num_iterations =
+ options.min_linear_solver_iterations;
+ pp->linear_solver_options.max_num_iterations =
+ options.max_linear_solver_iterations;
+ pp->linear_solver_options.type = options.linear_solver_type;
+ pp->linear_solver_options.preconditioner_type = options.preconditioner_type;
+ pp->linear_solver_options.visibility_clustering_type =
+ options.visibility_clustering_type;
+ pp->linear_solver_options.sparse_linear_algebra_library_type =
+ options.sparse_linear_algebra_library_type;
+ pp->linear_solver_options.dense_linear_algebra_library_type =
+ options.dense_linear_algebra_library_type;
+ pp->linear_solver_options.use_explicit_schur_complement =
+ options.use_explicit_schur_complement;
+ pp->linear_solver_options.dynamic_sparsity = options.dynamic_sparsity;
+ pp->linear_solver_options.num_threads = options.num_linear_solver_threads;
+ pp->linear_solver_options.use_postordering = options.use_postordering;
+
+ if (IsSchurType(pp->linear_solver_options.type)) {
+ OrderingToGroupSizes(options.linear_solver_ordering.get(),
+ &pp->linear_solver_options.elimination_groups);
+
+ // Schur type solvers expect at least two elimination groups. If
+ // there is only one elimination group, then it is guaranteed that
+ // this group only contains e_blocks. Thus we add a dummy
+ // elimination group with zero blocks in it.
+ if (pp->linear_solver_options.elimination_groups.size() == 1) {
+ pp->linear_solver_options.elimination_groups.push_back(0);
+ }
+
+ if (options.linear_solver_type == SPARSE_SCHUR) {
+ // When using SPARSE_SCHUR, we ignore the user's postordering
+ // preferences in certain cases.
+ //
+ // 1. SUITE_SPARSE is the sparse linear algebra library requested
+ // but cholmod_camd is not available.
+ // 2. CX_SPARSE is the sparse linear algebra library requested.
+ //
+ // This ensures that the linear solver does not assume that a
+ // fill-reducing pre-ordering has been done.
+ //
+ // TODO(sameeragarwal): Implement the reordering of parameter
+ // blocks for CX_SPARSE.
+ if ((options.sparse_linear_algebra_library_type == SUITE_SPARSE &&
+ !SuiteSparse::
+ IsConstrainedApproximateMinimumDegreeOrderingAvailable()) ||
+ (options.sparse_linear_algebra_library_type == CX_SPARSE)) {
+ pp->linear_solver_options.use_postordering = true;
+ }
+ }
+ }
+
+ pp->linear_solver.reset(LinearSolver::Create(pp->linear_solver_options));
+ return (pp->linear_solver.get() != NULL);
+}
+
+// Configure and create the evaluator.
+bool SetupEvaluator(PreprocessedProblem* pp) {
+ const Solver::Options& options = pp->options;
+ pp->evaluator_options = Evaluator::Options();
+ pp->evaluator_options.linear_solver_type = options.linear_solver_type;
+ pp->evaluator_options.num_eliminate_blocks = 0;
+ if (IsSchurType(options.linear_solver_type)) {
+ pp->evaluator_options.num_eliminate_blocks =
+ options
+ .linear_solver_ordering
+ ->group_to_elements().begin()
+ ->second.size();
+ }
+
+ pp->evaluator_options.num_threads = options.num_threads;
+ pp->evaluator_options.dynamic_sparsity = options.dynamic_sparsity;
+ pp->evaluator.reset(Evaluator::Create(pp->evaluator_options,
+ pp->reduced_program.get(),
+ &pp->error));
+
+ return (pp->evaluator.get() != NULL);
+}
+
+// If the user requested inner iterations, then find an inner
+// iteration ordering as needed and configure and create a
+// CoordinateDescentMinimizer object to perform the inner iterations.
+bool SetupInnerIterationMinimizer(PreprocessedProblem* pp) {
+ Solver::Options& options = pp->options;
+ if (!options.use_inner_iterations) {
+ return true;
+ }
+
+ // With just one parameter block, the outer iteration of the trust
+ // region method and inner iterations are doing exactly the same
+ // thing, and thus inner iterations are not needed.
+ if (pp->reduced_program->NumParameterBlocks() == 1) {
+ LOG(WARNING) << "Reduced problem only contains one parameter block."
+ << "Disabling inner iterations.";
+ return true;
+ }
+
+ if (options.inner_iteration_ordering.get() != NULL) {
+ // If the user supplied an ordering, then remove the set of
+ // inactive parameter blocks from it
+ options.inner_iteration_ordering->Remove(pp->removed_parameter_blocks);
+ if (options.inner_iteration_ordering->NumElements() == 0) {
+ LOG(WARNING) << "No remaining elements in the inner iteration ordering.";
+ return true;
+ }
+
+ // Validate the reduced ordering.
+ if (!CoordinateDescentMinimizer::IsOrderingValid(
+ *pp->reduced_program,
+ *options.inner_iteration_ordering,
+ &pp->error)) {
+ return false;
+ }
+ } else {
+ // The user did not supply an ordering, so create one.
+ options.inner_iteration_ordering.reset(
+ CoordinateDescentMinimizer::CreateOrdering(*pp->reduced_program));
+ }
+
+ pp->inner_iteration_minimizer.reset(new CoordinateDescentMinimizer);
+ return pp->inner_iteration_minimizer->Init(*pp->reduced_program,
+ pp->problem->parameter_map(),
+ *options.inner_iteration_ordering,
+ &pp->error);
+}
+
+// Configure and create a TrustRegionMinimizer object.
+void SetupMinimizerOptions(PreprocessedProblem* pp) {
+ const Solver::Options& options = pp->options;
+
+ SetupCommonMinimizerOptions(pp);
+ pp->minimizer_options.is_constrained =
+ pp->reduced_program->IsBoundsConstrained();
+ pp->minimizer_options.jacobian.reset(pp->evaluator->CreateJacobian());
+ pp->minimizer_options.inner_iteration_minimizer =
+ pp->inner_iteration_minimizer;
+
+ TrustRegionStrategy::Options strategy_options;
+ strategy_options.linear_solver = pp->linear_solver.get();
+ strategy_options.initial_radius =
+ options.initial_trust_region_radius;
+ strategy_options.max_radius = options.max_trust_region_radius;
+ strategy_options.min_lm_diagonal = options.min_lm_diagonal;
+ strategy_options.max_lm_diagonal = options.max_lm_diagonal;
+ strategy_options.trust_region_strategy_type =
+ options.trust_region_strategy_type;
+ strategy_options.dogleg_type = options.dogleg_type;
+ pp->minimizer_options.trust_region_strategy.reset(
+ CHECK_NOTNULL(TrustRegionStrategy::Create(strategy_options)));
+}
+
+} // namespace
+
+TrustRegionPreprocessor::~TrustRegionPreprocessor() {
+}
+
+bool TrustRegionPreprocessor::Preprocess(const Solver::Options& options,
+ ProblemImpl* problem,
+ PreprocessedProblem* pp) {
+ CHECK_NOTNULL(pp);
+ pp->options = options;
+ ChangeNumThreadsIfNeeded(&pp->options);
+
+ pp->problem = problem;
+ Program* program = problem->mutable_program();
+ if (!IsProgramValid(*program, &pp->error)) {
+ return false;
+ }
+
+ pp->reduced_program.reset(
+ program->CreateReducedProgram(&pp->removed_parameter_blocks,
+ &pp->fixed_cost,
+ &pp->error));
+
+ if (pp->reduced_program.get() == NULL) {
+ return false;
+ }
+
+ if (pp->reduced_program->NumParameterBlocks() == 0) {
+ // The reduced problem has no parameter or residual blocks. There
+ // is nothing more to do.
+ return true;
+ }
+
+ if (!SetupLinearSolver(pp) ||
+ !SetupEvaluator(pp) ||
+ !SetupInnerIterationMinimizer(pp)) {
+ return false;
+ }
+
+ SetupMinimizerOptions(pp);
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
+#define CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
+
+#include "ceres/preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+class TrustRegionPreprocessor : public Preprocessor {
+ public:
+ virtual ~TrustRegionPreprocessor();
+ virtual bool Preprocess(const Solver::Options& options,
+ ProblemImpl* problem,
+ PreprocessedProblem* preprocessed_problem);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
--- /dev/null
+// 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 <map>
+
+#include "ceres/ordered_groups.h"
+#include "ceres/problem_impl.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_preprocessor.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(TrustRegionPreprocessor, ZeroProblem) {
+ ProblemImpl problem;
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ProblemWithInvalidParameterBlock) {
+ ProblemImpl problem;
+ double x = std::numeric_limits<double>::quiet_NaN();
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ParameterBlockBoundsAreInvalid) {
+ ProblemImpl problem;
+ double x = 1.0;
+ problem.AddParameterBlock(&x, 1);
+ problem.SetParameterUpperBound(&x, 0, 1.0);
+ problem.SetParameterLowerBound(&x, 0, 2.0);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ParamterBlockIsInfeasible) {
+ ProblemImpl problem;
+ double x = 3.0;
+ problem.AddParameterBlock(&x, 1);
+ problem.SetParameterUpperBound(&x, 0, 1.0);
+ problem.SetParameterLowerBound(&x, 0, 2.0);
+ problem.SetParameterBlockConstant(&x);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+class FailingCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return false;
+ }
+};
+
+TEST(TrustRegionPreprocessor, RemoveParameterBlocksFailed) {
+ ProblemImpl problem;
+ double x = 3.0;
+ problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, RemoveParameterBlocksSucceeds) {
+ ProblemImpl problem;
+ double x = 3.0;
+ problem.AddParameterBlock(&x, 1);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < kNumResiduals; ++i) {
+ residuals[i] = kNumResiduals * kNumResiduals + i;
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ if (jacobians[0] != NULL) {
+ MatrixRef j(jacobians[0], kNumResiduals, N1);
+ j.setOnes();
+ j *= kNumResiduals * N1;
+ }
+
+ if (N2 == 0) {
+ return true;
+ }
+
+ if (jacobians[1] != NULL) {
+ MatrixRef j(jacobians[1], kNumResiduals, N2);
+ j.setOnes();
+ j *= kNumResiduals * N2;
+ }
+
+ if (N3 == 0) {
+ return true;
+ }
+
+ if (jacobians[2] != NULL) {
+ MatrixRef j(jacobians[2], kNumResiduals, N3);
+ j.setOnes();
+ j *= kNumResiduals * N3;
+ }
+
+ return true;
+ }
+};
+
+class LinearSolverAndEvaluatorCreationTest : public ::testing::Test {
+ public:
+ virtual void SetUp() {
+ x_ = 1.0;
+ y_ = 1.0;
+ z_ = 1.0;
+ problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x_, &y_);
+ problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y_, &z_);
+ }
+
+ void PreprocessForGivenLinearSolverAndVerify(
+ const LinearSolverType linear_solver_type) {
+ Solver::Options options;
+ options.linear_solver_type = linear_solver_type;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_EQ(pp.options.linear_solver_type, linear_solver_type);
+ EXPECT_EQ(pp.linear_solver_options.type, linear_solver_type);
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type, linear_solver_type);
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+ }
+
+ protected:
+ ProblemImpl problem_;
+ double x_;
+ double y_;
+ double z_;
+};
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseQR) {
+ PreprocessForGivenLinearSolverAndVerify(DENSE_QR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseNormalCholesky) {
+ PreprocessForGivenLinearSolverAndVerify(DENSE_NORMAL_CHOLESKY);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseSchur) {
+ PreprocessForGivenLinearSolverAndVerify(DENSE_SCHUR);
+}
+
+#if defined(CERES_USE_EIGEN_SPARSE) || \
+ !defined(CERES_NO_SUITESPARSE) || \
+ !defined(CERES_NO_CXSPARSE)
+TEST_F(LinearSolverAndEvaluatorCreationTest, SparseNormalCholesky) {
+ PreprocessForGivenLinearSolverAndVerify(SPARSE_NORMAL_CHOLESKY);
+}
+#endif
+
+#if defined(CERES_USE_EIGEN_SPARSE) || \
+ !defined(CERES_NO_SUITESPARSE) || \
+ !defined(CERES_NO_CXSPARSE)
+TEST_F(LinearSolverAndEvaluatorCreationTest, SparseSchur) {
+ PreprocessForGivenLinearSolverAndVerify(SPARSE_SCHUR);
+}
+#endif
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, CGNR) {
+ PreprocessForGivenLinearSolverAndVerify(CGNR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, IterativeSchur) {
+ PreprocessForGivenLinearSolverAndVerify(ITERATIVE_SCHUR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, MinimizerIsAwareOfBounds) {
+ problem_.SetParameterLowerBound(&x_, 0, 0.0);
+ Solver::Options options;
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_EQ(pp.options.linear_solver_type, options.linear_solver_type);
+ EXPECT_EQ(pp.linear_solver_options.type, options.linear_solver_type);
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type,
+ options.linear_solver_type);
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+ EXPECT_TRUE(pp.minimizer_options.is_constrained);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithBadOrdering) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+ options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&z_, 1);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithGoodOrdering) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+ options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+ SchurTypeSolverWithEmptyFirstEliminationGroup) {
+ problem_.SetParameterBlockConstant(&x_);
+ problem_.SetParameterBlockConstant(&z_);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+ options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_EQ(pp.options.linear_solver_type, DENSE_QR);
+ EXPECT_EQ(pp.linear_solver_options.type, DENSE_QR);
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_QR);
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+ SchurTypeSolverWithEmptySecondEliminationGroup) {
+ problem_.SetParameterBlockConstant(&y_);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+ options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);
+ EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST(TrustRegionPreprocessorTest, InnerIterationsWithOneParameterBlock) {
+ ProblemImpl problem;
+ double x = 1.0;
+ problem.AddResidualBlock(new DummyCostFunction<1, 1>, NULL, &x);
+
+ Solver::Options options;
+ options.use_inner_iterations = true;
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+ EXPECT_TRUE(pp.inner_iteration_minimizer.get() == NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+ InnerIterationsWithTwoParameterBlocks) {
+ Solver::Options options;
+ options.use_inner_iterations = true;
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+ EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+ InvalidInnerIterationsOrdering) {
+ Solver::Options options;
+ options.use_inner_iterations = true;
+ options.inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ options.inner_iteration_ordering->AddElementToGroup(&x_, 0);
+ options.inner_iteration_ordering->AddElementToGroup(&z_, 0);
+ options.inner_iteration_ordering->AddElementToGroup(&y_, 0);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, ValidInnerIterationsOrdering) {
+ Solver::Options options;
+ options.use_inner_iterations = true;
+ options.inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ options.inner_iteration_ordering->AddElementToGroup(&x_, 0);
+ options.inner_iteration_ordering->AddElementToGroup(&z_, 0);
+ options.inner_iteration_ordering->AddElementToGroup(&y_, 1);
+
+ TrustRegionPreprocessor preprocessor;
+ PreprocessedProblem pp;
+ EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+ EXPECT_TRUE(pp.linear_solver.get() != NULL);
+ EXPECT_TRUE(pp.evaluator.get() != NULL);
+ EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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 <algorithm>
+#include "ceres/trust_region_step_evaluator.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+TrustRegionStepEvaluator::TrustRegionStepEvaluator(
+ const double initial_cost,
+ const int max_consecutive_nonmonotonic_steps)
+ : max_consecutive_nonmonotonic_steps_(max_consecutive_nonmonotonic_steps),
+ minimum_cost_(initial_cost),
+ current_cost_(initial_cost),
+ reference_cost_(initial_cost),
+ candidate_cost_(initial_cost),
+ accumulated_reference_model_cost_change_(0.0),
+ accumulated_candidate_model_cost_change_(0.0),
+ num_consecutive_nonmonotonic_steps_(0){
+}
+
+double TrustRegionStepEvaluator::StepQuality(
+ const double cost,
+ const double model_cost_change) const {
+ const double relative_decrease = (current_cost_ - cost) / model_cost_change;
+ const double historical_relative_decrease =
+ (reference_cost_ - cost) /
+ (accumulated_reference_model_cost_change_ + model_cost_change);
+ return std::max(relative_decrease, historical_relative_decrease);
+}
+
+void TrustRegionStepEvaluator::StepAccepted(
+ const double cost,
+ const double model_cost_change) {
+ // Algorithm 10.1.2 from Trust Region Methods by Conn, Gould &
+ // Toint.
+ //
+ // Step 3a
+ current_cost_ = cost;
+ accumulated_candidate_model_cost_change_ += model_cost_change;
+ accumulated_reference_model_cost_change_ += model_cost_change;
+
+ // Step 3b.
+ if (current_cost_ < minimum_cost_) {
+ minimum_cost_ = current_cost_;
+ num_consecutive_nonmonotonic_steps_ = 0;
+ candidate_cost_ = current_cost_;
+ accumulated_candidate_model_cost_change_ = 0.0;
+ } else {
+ // Step 3c.
+ ++num_consecutive_nonmonotonic_steps_;
+ if (current_cost_ > candidate_cost_) {
+ candidate_cost_ = current_cost_;
+ accumulated_candidate_model_cost_change_ = 0.0;
+ }
+ }
+
+ // Step 3d.
+ //
+ // At this point we have made too many non-monotonic steps and
+ // we are going to reset the value of the reference iterate so
+ // as to force the algorithm to descend.
+ //
+ // Note: In the original algorithm by Toint, this step was only
+ // executed if the step was non-monotonic, but that would not handle
+ // the case of max_consecutive_nonmonotonic_steps = 0. The small
+ // modification of doing this always handles that corner case
+ // correctly.
+ if (num_consecutive_nonmonotonic_steps_ ==
+ max_consecutive_nonmonotonic_steps_) {
+ reference_cost_ = candidate_cost_;
+ accumulated_reference_model_cost_change_ =
+ accumulated_candidate_model_cost_change_;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 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)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
+#define CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
+
+namespace ceres {
+namespace internal {
+
+// The job of the TrustRegionStepEvaluator is to evaluate the quality
+// of a step, i.e., how the cost of a step compares with the reduction
+// in the objective of the trust region problem.
+//
+// Classic trust region methods are descent methods, in that they only
+// accept a point if it strictly reduces the value of the objective
+// function. They do this by measuring the quality of a step as
+//
+// cost_change / model_cost_change.
+//
+// Relaxing the monotonic descent requirement allows the algorithm to
+// be more efficient in the long term at the cost of some local
+// increase in the value of the objective function.
+//
+// This is because allowing for non-decreasing objective function
+// values in a principled manner allows the algorithm to "jump over
+// boulders" as the method is not restricted to move into narrow
+// valleys while preserving its convergence properties.
+//
+// The parameter max_consecutive_nonmonotonic_steps controls the
+// window size used by the step selection algorithm to accept
+// non-monotonic steps. Setting this parameter to zero, recovers the
+// classic montonic descent algorithm.
+//
+// Based on algorithm 10.1.2 (page 357) of "Trust Region
+// Methods" by Conn Gould & Toint, or equations 33-40 of
+// "Non-monotone trust-region algorithms for nonlinear
+// optimization subject to convex constraints" by Phil Toint,
+// Mathematical Programming, 77, 1997.
+//
+// Example usage:
+//
+// TrustRegionStepEvaluator* step_evaluator = ...
+//
+// cost = ... // Compute the non-linear objective function value.
+// model_cost_change = ... // Change in the value of the trust region objective.
+// if (step_evaluator->StepQuality(cost, model_cost_change) > threshold) {
+// x = x + delta;
+// step_evaluator->StepAccepted(cost, model_cost_change);
+// }
+class TrustRegionStepEvaluator {
+ public:
+ // initial_cost is as the name implies the cost of the starting
+ // state of the trust region minimizer.
+ //
+ // max_consecutive_nonmonotonic_steps controls the window size used
+ // by the step selection algorithm to accept non-monotonic
+ // steps. Setting this parameter to zero, recovers the classic
+ // montonic descent algorithm.
+ TrustRegionStepEvaluator(double initial_cost,
+ int max_consecutive_nonmonotonic_steps);
+
+ // Return the quality of the step given its cost and the decrease in
+ // the cost of the model. model_cost_change has to be positive.
+ double StepQuality(double cost, double model_cost_change) const;
+
+ // Inform the step evaluator that a step with the given cost and
+ // model_cost_change has been accepted by the trust region
+ // minimizer.
+ void StepAccepted(double cost, double model_cost_change);
+
+ private:
+ const int max_consecutive_nonmonotonic_steps_;
+ // The minimum cost encountered up till now.
+ double minimum_cost_;
+ // The current cost of the trust region minimizer as informed by the
+ // last call to StepAccepted.
+ double current_cost_;
+ double reference_cost_;
+ double candidate_cost_;
+ // Accumulated model cost since the last time the reference model
+ // cost was updated, i.e., when a step with cost less than the
+ // current known minimum cost is accepted.
+ double accumulated_reference_model_cost_change_;
+ // Accumulated model cost since the last time the candidate model
+ // cost was updated, i.e., a non-monotonic step was taken with a
+ // cost that was greater than the current candidate cost.
+ double accumulated_candidate_model_cost_change_;
+ // Number of steps taken since the last time minimum_cost was updated.
+ int num_consecutive_nonmonotonic_steps_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
--- /dev/null
+// 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)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/trust_region_strategy.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+TrustRegionStrategy::~TrustRegionStrategy() {}
+
+TrustRegionStrategy* TrustRegionStrategy::Create(const Options& options) {
+ switch (options.trust_region_strategy_type) {
+ case LEVENBERG_MARQUARDT:
+ return new LevenbergMarquardtStrategy(options);
+ case DOGLEG:
+ return new DoglegStrategy(options);
+ default:
+ LOG(FATAL) << "Unknown trust region strategy: "
+ << options.trust_region_strategy_type;
+ }
+
+ LOG(FATAL) << "Unknown trust region strategy: "
+ << options.trust_region_strategy_type;
+ return NULL;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+#define CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearSolver;
+class SparseMatrix;
+
+// Interface for classes implementing various trust region strategies
+// for nonlinear least squares problems.
+//
+// The object is expected to maintain and update a trust region
+// radius, which it then uses to solve for the trust region step using
+// the jacobian matrix and residual vector.
+//
+// Here the term trust region radius is used loosely, as the strategy
+// is free to treat it as guidance and violate it as need be. e.g.,
+// the LevenbergMarquardtStrategy uses the inverse of the trust region
+// radius to scale the damping term, which controls the step size, but
+// does not set a hard limit on its size.
+class TrustRegionStrategy {
+ public:
+ struct Options {
+ Options()
+ : trust_region_strategy_type(LEVENBERG_MARQUARDT),
+ initial_radius(1e4),
+ max_radius(1e32),
+ min_lm_diagonal(1e-6),
+ max_lm_diagonal(1e32),
+ dogleg_type(TRADITIONAL_DOGLEG) {
+ }
+
+ TrustRegionStrategyType trust_region_strategy_type;
+ // Linear solver used for actually solving the trust region step.
+ LinearSolver* linear_solver;
+ double initial_radius;
+ double max_radius;
+
+ // Minimum and maximum values of the diagonal damping matrix used
+ // by LevenbergMarquardtStrategy. The DoglegStrategy also uses
+ // these bounds to construct a regularizing diagonal to ensure
+ // that the Gauss-Newton step computation is of full rank.
+ double min_lm_diagonal;
+ double max_lm_diagonal;
+
+ // Further specify which dogleg method to use
+ DoglegType dogleg_type;
+ };
+
+ // Per solve options.
+ struct PerSolveOptions {
+ PerSolveOptions()
+ : eta(0),
+ dump_format_type(TEXTFILE) {
+ }
+
+ // Forcing sequence for inexact solves.
+ double eta;
+
+ DumpFormatType dump_format_type;
+
+ // If non-empty and dump_format_type is not CONSOLE, the trust
+ // regions strategy will write the linear system to file(s) with
+ // name starting with dump_filename_base. If dump_format_type is
+ // CONSOLE then dump_filename_base will be ignored and the linear
+ // system will be written to the standard error.
+ std::string dump_filename_base;
+ };
+
+ struct Summary {
+ Summary()
+ : residual_norm(0.0),
+ num_iterations(-1),
+ termination_type(LINEAR_SOLVER_FAILURE) {
+ }
+
+ // If the trust region problem is,
+ //
+ // 1/2 x'Ax + b'x + c,
+ //
+ // then
+ //
+ // residual_norm = |Ax -b|
+ double residual_norm;
+
+ // Number of iterations used by the linear solver. If a linear
+ // solver was not called (e.g., DogLegStrategy after an
+ // unsuccessful step), then this would be zero.
+ int num_iterations;
+
+ // Status of the linear solver used to solve the Newton system.
+ LinearSolverTerminationType termination_type;
+ };
+
+ virtual ~TrustRegionStrategy();
+
+ // Use the current radius to solve for the trust region step.
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) = 0;
+
+ // Inform the strategy that the current step has been accepted, and
+ // that the ratio of the decrease in the non-linear objective to the
+ // decrease in the trust region model is step_quality.
+ virtual void StepAccepted(double step_quality) = 0;
+
+ // Inform the strategy that the current step has been rejected, and
+ // that the ratio of the decrease in the non-linear objective to the
+ // decrease in the trust region model is step_quality.
+ virtual void StepRejected(double step_quality) = 0;
+
+ // Inform the strategy that the current step has been rejected
+ // because it was found to be numerically invalid.
+ // StepRejected/StepAccepted will not be called for this step, and
+ // the strategy is free to do what it wants with this information.
+ virtual void StepIsInvalid() = 0;
+
+ // Current trust region radius.
+ virtual double Radius() const = 0;
+
+ // Factory.
+ static TrustRegionStrategy* Create(const Options& options);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
--- /dev/null
+// 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 <algorithm>
+#include <cctype>
+#include <string>
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+using std::string;
+
+#define CASESTR(x) case x: return #x
+#define STRENUM(x) if (value == #x) { *type = x; return true;}
+
+static void UpperCase(string* input) {
+ std::transform(input->begin(), input->end(), input->begin(), ::toupper);
+}
+
+const char* LinearSolverTypeToString(LinearSolverType type) {
+ switch (type) {
+ CASESTR(DENSE_NORMAL_CHOLESKY);
+ CASESTR(DENSE_QR);
+ CASESTR(SPARSE_NORMAL_CHOLESKY);
+ CASESTR(DENSE_SCHUR);
+ CASESTR(SPARSE_SCHUR);
+ CASESTR(ITERATIVE_SCHUR);
+ CASESTR(CGNR);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToLinearSolverType(string value, LinearSolverType* type) {
+ UpperCase(&value);
+ STRENUM(DENSE_NORMAL_CHOLESKY);
+ STRENUM(DENSE_QR);
+ STRENUM(SPARSE_NORMAL_CHOLESKY);
+ STRENUM(DENSE_SCHUR);
+ STRENUM(SPARSE_SCHUR);
+ STRENUM(ITERATIVE_SCHUR);
+ STRENUM(CGNR);
+ return false;
+}
+
+const char* PreconditionerTypeToString(PreconditionerType type) {
+ switch (type) {
+ CASESTR(IDENTITY);
+ CASESTR(JACOBI);
+ CASESTR(SCHUR_JACOBI);
+ CASESTR(CLUSTER_JACOBI);
+ CASESTR(CLUSTER_TRIDIAGONAL);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToPreconditionerType(string value, PreconditionerType* type) {
+ UpperCase(&value);
+ STRENUM(IDENTITY);
+ STRENUM(JACOBI);
+ STRENUM(SCHUR_JACOBI);
+ STRENUM(CLUSTER_JACOBI);
+ STRENUM(CLUSTER_TRIDIAGONAL);
+ return false;
+}
+
+const char* SparseLinearAlgebraLibraryTypeToString(
+ SparseLinearAlgebraLibraryType type) {
+ switch (type) {
+ CASESTR(SUITE_SPARSE);
+ CASESTR(CX_SPARSE);
+ CASESTR(EIGEN_SPARSE);
+ CASESTR(NO_SPARSE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToSparseLinearAlgebraLibraryType(
+ string value,
+ SparseLinearAlgebraLibraryType* type) {
+ UpperCase(&value);
+ STRENUM(SUITE_SPARSE);
+ STRENUM(CX_SPARSE);
+ STRENUM(EIGEN_SPARSE);
+ STRENUM(NO_SPARSE);
+ return false;
+}
+
+const char* DenseLinearAlgebraLibraryTypeToString(
+ DenseLinearAlgebraLibraryType type) {
+ switch (type) {
+ CASESTR(EIGEN);
+ CASESTR(LAPACK);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToDenseLinearAlgebraLibraryType(
+ string value,
+ DenseLinearAlgebraLibraryType* type) {
+ UpperCase(&value);
+ STRENUM(EIGEN);
+ STRENUM(LAPACK);
+ return false;
+}
+
+const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type) {
+ switch (type) {
+ CASESTR(LEVENBERG_MARQUARDT);
+ CASESTR(DOGLEG);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToTrustRegionStrategyType(string value,
+ TrustRegionStrategyType* type) {
+ UpperCase(&value);
+ STRENUM(LEVENBERG_MARQUARDT);
+ STRENUM(DOGLEG);
+ return false;
+}
+
+const char* DoglegTypeToString(DoglegType type) {
+ switch (type) {
+ CASESTR(TRADITIONAL_DOGLEG);
+ CASESTR(SUBSPACE_DOGLEG);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToDoglegType(string value, DoglegType* type) {
+ UpperCase(&value);
+ STRENUM(TRADITIONAL_DOGLEG);
+ STRENUM(SUBSPACE_DOGLEG);
+ return false;
+}
+
+const char* MinimizerTypeToString(MinimizerType type) {
+ switch (type) {
+ CASESTR(TRUST_REGION);
+ CASESTR(LINE_SEARCH);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToMinimizerType(string value, MinimizerType* type) {
+ UpperCase(&value);
+ STRENUM(TRUST_REGION);
+ STRENUM(LINE_SEARCH);
+ return false;
+}
+
+const char* LineSearchDirectionTypeToString(LineSearchDirectionType type) {
+ switch (type) {
+ CASESTR(STEEPEST_DESCENT);
+ CASESTR(NONLINEAR_CONJUGATE_GRADIENT);
+ CASESTR(LBFGS);
+ CASESTR(BFGS);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToLineSearchDirectionType(string value,
+ LineSearchDirectionType* type) {
+ UpperCase(&value);
+ STRENUM(STEEPEST_DESCENT);
+ STRENUM(NONLINEAR_CONJUGATE_GRADIENT);
+ STRENUM(LBFGS);
+ STRENUM(BFGS);
+ return false;
+}
+
+const char* LineSearchTypeToString(LineSearchType type) {
+ switch (type) {
+ CASESTR(ARMIJO);
+ CASESTR(WOLFE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToLineSearchType(string value, LineSearchType* type) {
+ UpperCase(&value);
+ STRENUM(ARMIJO);
+ STRENUM(WOLFE);
+ return false;
+}
+
+const char* LineSearchInterpolationTypeToString(
+ LineSearchInterpolationType type) {
+ switch (type) {
+ CASESTR(BISECTION);
+ CASESTR(QUADRATIC);
+ CASESTR(CUBIC);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToLineSearchInterpolationType(
+ string value,
+ LineSearchInterpolationType* type) {
+ UpperCase(&value);
+ STRENUM(BISECTION);
+ STRENUM(QUADRATIC);
+ STRENUM(CUBIC);
+ return false;
+}
+
+const char* NonlinearConjugateGradientTypeToString(
+ NonlinearConjugateGradientType type) {
+ switch (type) {
+ CASESTR(FLETCHER_REEVES);
+ CASESTR(POLAK_RIBIERE);
+ CASESTR(HESTENES_STIEFEL);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToNonlinearConjugateGradientType(
+ string value,
+ NonlinearConjugateGradientType* type) {
+ UpperCase(&value);
+ STRENUM(FLETCHER_REEVES);
+ STRENUM(POLAK_RIBIERE);
+ STRENUM(HESTENES_STIEFEL);
+ return false;
+}
+
+const char* CovarianceAlgorithmTypeToString(
+ CovarianceAlgorithmType type) {
+ switch (type) {
+ CASESTR(DENSE_SVD);
+ CASESTR(SPARSE_QR);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToCovarianceAlgorithmType(
+ string value,
+ CovarianceAlgorithmType* type) {
+ UpperCase(&value);
+ STRENUM(DENSE_SVD);
+ STRENUM(SPARSE_QR);
+ return false;
+}
+
+const char* NumericDiffMethodTypeToString(
+ NumericDiffMethodType type) {
+ switch (type) {
+ CASESTR(CENTRAL);
+ CASESTR(FORWARD);
+ CASESTR(RIDDERS);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToNumericDiffMethodType(
+ string value,
+ NumericDiffMethodType* type) {
+ UpperCase(&value);
+ STRENUM(CENTRAL);
+ STRENUM(FORWARD);
+ STRENUM(RIDDERS);
+ return false;
+}
+
+const char* VisibilityClusteringTypeToString(
+ VisibilityClusteringType type) {
+ switch (type) {
+ CASESTR(CANONICAL_VIEWS);
+ CASESTR(SINGLE_LINKAGE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToVisibilityClusteringType(
+ string value,
+ VisibilityClusteringType* type) {
+ UpperCase(&value);
+ STRENUM(CANONICAL_VIEWS);
+ STRENUM(SINGLE_LINKAGE);
+ return false;
+}
+
+const char* TerminationTypeToString(TerminationType type) {
+ switch (type) {
+ CASESTR(CONVERGENCE);
+ CASESTR(NO_CONVERGENCE);
+ CASESTR(FAILURE);
+ CASESTR(USER_SUCCESS);
+ CASESTR(USER_FAILURE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+#undef CASESTR
+#undef STRENUM
+
+bool IsSchurType(LinearSolverType type) {
+ return ((type == SPARSE_SCHUR) ||
+ (type == DENSE_SCHUR) ||
+ (type == ITERATIVE_SCHUR));
+}
+
+bool IsSparseLinearAlgebraLibraryTypeAvailable(
+ SparseLinearAlgebraLibraryType type) {
+ if (type == SUITE_SPARSE) {
+#ifdef CERES_NO_SUITESPARSE
+ return false;
+#else
+ return true;
+#endif
+ }
+
+ if (type == CX_SPARSE) {
+#ifdef CERES_NO_CXSPARSE
+ return false;
+#else
+ return true;
+#endif
+ }
+
+ if (type == EIGEN_SPARSE) {
+#ifdef CERES_USE_EIGEN_SPARSE
+ return true;
+#else
+ return false;
+#endif
+ }
+
+ LOG(WARNING) << "Unknown sparse linear algebra library " << type;
+ return false;
+}
+
+bool IsDenseLinearAlgebraLibraryTypeAvailable(
+ DenseLinearAlgebraLibraryType type) {
+ if (type == EIGEN) {
+ return true;
+ }
+ if (type == LAPACK) {
+#ifdef CERES_NO_LAPACK
+ return false;
+#else
+ return true;
+#endif
+ }
+
+ LOG(WARNING) << "Unknown dense linear algebra library " << type;
+ return false;
+}
+
+} // namespace ceres
--- /dev/null
+// 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: kushalav@google.com (Avanish Kushal)
+
+#include "ceres/visibility.h"
+
+#include <cmath>
+#include <ctime>
+#include <algorithm>
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/block_structure.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::max;
+using std::pair;
+using std::set;
+using std::vector;
+
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+ const int num_eliminate_blocks,
+ vector< set<int> >* visibility) {
+ CHECK_NOTNULL(visibility);
+
+ // Clear the visibility vector and resize it to hold a
+ // vector for each camera.
+ visibility->resize(0);
+ visibility->resize(block_structure.cols.size() - num_eliminate_blocks);
+
+ for (int i = 0; i < block_structure.rows.size(); ++i) {
+ const vector<Cell>& cells = block_structure.rows[i].cells;
+ int block_id = cells[0].block_id;
+ // If the first block is not an e_block, then skip this row block.
+ if (block_id >= num_eliminate_blocks) {
+ continue;
+ }
+
+ for (int j = 1; j < cells.size(); ++j) {
+ int camera_block_id = cells[j].block_id - num_eliminate_blocks;
+ DCHECK_GE(camera_block_id, 0);
+ DCHECK_LT(camera_block_id, visibility->size());
+ (*visibility)[camera_block_id].insert(block_id);
+ }
+ }
+}
+
+WeightedGraph<int>* CreateSchurComplementGraph(
+ const vector<set<int> >& visibility) {
+ const time_t start_time = time(NULL);
+ // Compute the number of e_blocks/point blocks. Since the visibility
+ // set for each e_block/camera contains the set of e_blocks/points
+ // visible to it, we find the maximum across all visibility sets.
+ int num_points = 0;
+ for (int i = 0; i < visibility.size(); i++) {
+ if (visibility[i].size() > 0) {
+ num_points = max(num_points, (*visibility[i].rbegin()) + 1);
+ }
+ }
+
+ // Invert the visibility. The input is a camera->point mapping,
+ // which tells us which points are visible in which
+ // cameras. However, to compute the sparsity structure of the Schur
+ // Complement efficiently, its better to have the point->camera
+ // mapping.
+ vector<set<int> > inverse_visibility(num_points);
+ for (int i = 0; i < visibility.size(); i++) {
+ const set<int>& visibility_set = visibility[i];
+ for (set<int>::const_iterator it = visibility_set.begin();
+ it != visibility_set.end();
+ ++it) {
+ inverse_visibility[*it].insert(i);
+ }
+ }
+
+ // Map from camera pairs to number of points visible to both cameras
+ // in the pair.
+ HashMap<pair<int, int>, int > camera_pairs;
+
+ // Count the number of points visible to each camera/f_block pair.
+ for (vector<set<int> >::const_iterator it = inverse_visibility.begin();
+ it != inverse_visibility.end();
+ ++it) {
+ const set<int>& inverse_visibility_set = *it;
+ for (set<int>::const_iterator camera1 = inverse_visibility_set.begin();
+ camera1 != inverse_visibility_set.end();
+ ++camera1) {
+ set<int>::const_iterator camera2 = camera1;
+ for (++camera2; camera2 != inverse_visibility_set.end(); ++camera2) {
+ ++(camera_pairs[make_pair(*camera1, *camera2)]);
+ }
+ }
+ }
+
+ WeightedGraph<int>* graph = new WeightedGraph<int>;
+
+ // Add vertices and initialize the pairs for self edges so that self
+ // edges are guaranteed. This is needed for the Canonical views
+ // algorithm to work correctly.
+ static const double kSelfEdgeWeight = 1.0;
+ for (int i = 0; i < visibility.size(); ++i) {
+ graph->AddVertex(i);
+ graph->AddEdge(i, i, kSelfEdgeWeight);
+ }
+
+ // Add an edge for each camera pair.
+ for (HashMap<pair<int, int>, int>::const_iterator it = camera_pairs.begin();
+ it != camera_pairs.end();
+ ++it) {
+ const int camera1 = it->first.first;
+ const int camera2 = it->first.second;
+ CHECK_NE(camera1, camera2);
+
+ const int count = it->second;
+ // Static cast necessary for Windows.
+ const double weight = static_cast<double>(count) /
+ (sqrt(static_cast<double>(
+ visibility[camera1].size() * visibility[camera2].size())));
+ graph->AddEdge(camera1, camera2, weight);
+ }
+
+ VLOG(2) << "Schur complement graph time: " << (time(NULL) - start_time);
+ return graph;
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: kushalav@google.com (Avanish Kushal)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Functions to manipulate visibility information from the block
+// structure of sparse matrices.
+
+#ifndef CERES_INTERNAL_VISIBILITY_H_
+#define CERES_INTERNAL_VISIBILITY_H_
+
+#include <set>
+#include <vector>
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct CompressedRowBlockStructure;
+
+// Given a compressed row block structure, computes the set of
+// e_blocks "visible" to each f_block. If an e_block co-occurs with an
+// f_block in a residual block, it is visible to the f_block. The
+// first num_eliminate_blocks columns blocks are e_blocks and the rest
+// f_blocks.
+//
+// In a structure from motion problem, e_blocks correspond to 3D
+// points and f_blocks correspond to cameras.
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+ int num_eliminate_blocks,
+ std::vector<std::set<int> >* visibility);
+
+// Given f_block visibility as computed by the ComputeVisibility
+// function above, construct and return a graph whose vertices are
+// f_blocks and an edge connects two vertices if they have atleast one
+// e_block in common. The weight of this edge is normalized dot
+// product between the visibility vectors of the two
+// vertices/f_blocks.
+//
+// This graph reflects the sparsity structure of reduced camera
+// matrix/Schur complement matrix obtained by eliminating the e_blocks
+// from the normal equations.
+//
+// Caller acquires ownership of the returned WeightedGraph pointer
+// (heap-allocated).
+WeightedGraph<int>* CreateSchurComplementGraph(
+ const std::vector<std::set<int> >& visibility);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_VISIBILITY_H_
--- /dev/null
+// 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/visibility_based_preconditioner.h"
+
+#include <algorithm>
+#include <functional>
+#include <iterator>
+#include <set>
+#include <utility>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/canonical_views_clustering.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/single_linkage_clustering.h"
+#include "ceres/visibility.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::swap;
+using std::vector;
+
+// TODO(sameeragarwal): Currently these are magic weights for the
+// preconditioner construction. Move these higher up into the Options
+// struct and provide some guidelines for choosing them.
+//
+// This will require some more work on the clustering algorithm and
+// possibly some more refactoring of the code.
+static const double kCanonicalViewsSizePenaltyWeight = 3.0;
+static const double kCanonicalViewsSimilarityPenaltyWeight = 0.0;
+static const double kSingleLinkageMinSimilarity = 0.9;
+
+VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
+ const CompressedRowBlockStructure& bs,
+ const Preconditioner::Options& options)
+ : options_(options), num_blocks_(0), num_clusters_(0) {
+ CHECK_GT(options_.elimination_groups.size(), 1);
+ CHECK_GT(options_.elimination_groups[0], 0);
+ CHECK(options_.type == CLUSTER_JACOBI || options_.type == CLUSTER_TRIDIAGONAL)
+ << "Unknown preconditioner type: " << options_.type;
+ num_blocks_ = bs.cols.size() - options_.elimination_groups[0];
+ CHECK_GT(num_blocks_, 0) << "Jacobian should have atleast 1 f_block for "
+ << "visibility based preconditioning.";
+
+ // Vector of camera block sizes
+ block_size_.resize(num_blocks_);
+ for (int i = 0; i < num_blocks_; ++i) {
+ block_size_[i] = bs.cols[i + options_.elimination_groups[0]].size;
+ }
+
+ const time_t start_time = time(NULL);
+ switch (options_.type) {
+ case CLUSTER_JACOBI:
+ ComputeClusterJacobiSparsity(bs);
+ break;
+ case CLUSTER_TRIDIAGONAL:
+ ComputeClusterTridiagonalSparsity(bs);
+ break;
+ default:
+ LOG(FATAL) << "Unknown preconditioner type";
+ }
+ const time_t structure_time = time(NULL);
+ InitStorage(bs);
+ const time_t storage_time = time(NULL);
+ InitEliminator(bs);
+ const time_t eliminator_time = time(NULL);
+
+ sparse_cholesky_.reset(
+ SparseCholesky::Create(options_.sparse_linear_algebra_library_type, AMD));
+
+ const time_t init_time = time(NULL);
+ VLOG(2) << "init time: " << init_time - start_time
+ << " structure time: " << structure_time - start_time
+ << " storage time:" << storage_time - structure_time
+ << " eliminator time: " << eliminator_time - storage_time;
+}
+
+VisibilityBasedPreconditioner::~VisibilityBasedPreconditioner() {}
+
+// Determine the sparsity structure of the CLUSTER_JACOBI
+// preconditioner. It clusters cameras using their scene
+// visibility. The clusters form the diagonal blocks of the
+// preconditioner matrix.
+void VisibilityBasedPreconditioner::ComputeClusterJacobiSparsity(
+ const CompressedRowBlockStructure& bs) {
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+ CHECK_EQ(num_blocks_, visibility.size());
+ ClusterCameras(visibility);
+ cluster_pairs_.clear();
+ for (int i = 0; i < num_clusters_; ++i) {
+ cluster_pairs_.insert(make_pair(i, i));
+ }
+}
+
+// Determine the sparsity structure of the CLUSTER_TRIDIAGONAL
+// preconditioner. It clusters cameras using using the scene
+// visibility and then finds the strongly interacting pairs of
+// clusters by constructing another graph with the clusters as
+// vertices and approximating it with a degree-2 maximum spanning
+// forest. The set of edges in this forest are the cluster pairs.
+void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
+ const CompressedRowBlockStructure& bs) {
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+ CHECK_EQ(num_blocks_, visibility.size());
+ ClusterCameras(visibility);
+
+ // Construct a weighted graph on the set of clusters, where the
+ // edges are the number of 3D points/e_blocks visible in both the
+ // clusters at the ends of the edge. Return an approximate degree-2
+ // maximum spanning forest of this graph.
+ vector<set<int> > cluster_visibility;
+ ComputeClusterVisibility(visibility, &cluster_visibility);
+ scoped_ptr<WeightedGraph<int> > cluster_graph(
+ CHECK_NOTNULL(CreateClusterGraph(cluster_visibility)));
+ scoped_ptr<WeightedGraph<int> > forest(
+ CHECK_NOTNULL(Degree2MaximumSpanningForest(*cluster_graph)));
+ ForestToClusterPairs(*forest, &cluster_pairs_);
+}
+
+// Allocate storage for the preconditioner matrix.
+void VisibilityBasedPreconditioner::InitStorage(
+ const CompressedRowBlockStructure& bs) {
+ ComputeBlockPairsInPreconditioner(bs);
+ m_.reset(new BlockRandomAccessSparseMatrix(block_size_, block_pairs_));
+}
+
+// Call the canonical views algorithm and cluster the cameras based on
+// their visibility sets. The visibility set of a camera is the set of
+// e_blocks/3D points in the scene that are seen by it.
+//
+// The cluster_membership_ vector is updated to indicate cluster
+// memberships for each camera block.
+void VisibilityBasedPreconditioner::ClusterCameras(
+ const vector<set<int> >& visibility) {
+ scoped_ptr<WeightedGraph<int> > schur_complement_graph(
+ CHECK_NOTNULL(CreateSchurComplementGraph(visibility)));
+
+ HashMap<int, int> membership;
+
+ if (options_.visibility_clustering_type == CANONICAL_VIEWS) {
+ vector<int> centers;
+ CanonicalViewsClusteringOptions clustering_options;
+ clustering_options.size_penalty_weight = kCanonicalViewsSizePenaltyWeight;
+ clustering_options.similarity_penalty_weight =
+ kCanonicalViewsSimilarityPenaltyWeight;
+ ComputeCanonicalViewsClustering(
+ clustering_options, *schur_complement_graph, ¢ers, &membership);
+ num_clusters_ = centers.size();
+ } else if (options_.visibility_clustering_type == SINGLE_LINKAGE) {
+ SingleLinkageClusteringOptions clustering_options;
+ clustering_options.min_similarity = kSingleLinkageMinSimilarity;
+ num_clusters_ = ComputeSingleLinkageClustering(
+ clustering_options, *schur_complement_graph, &membership);
+ } else {
+ LOG(FATAL) << "Unknown visibility clustering algorithm.";
+ }
+
+ CHECK_GT(num_clusters_, 0);
+ VLOG(2) << "num_clusters: " << num_clusters_;
+ FlattenMembershipMap(membership, &cluster_membership_);
+}
+
+// Compute the block sparsity structure of the Schur complement
+// matrix. For each pair of cameras contributing a non-zero cell to
+// the schur complement, determine if that cell is present in the
+// preconditioner or not.
+//
+// A pair of cameras contribute a cell to the preconditioner if they
+// are part of the same cluster or if the the two clusters that they
+// belong have an edge connecting them in the degree-2 maximum
+// spanning forest.
+//
+// For example, a camera pair (i,j) where i belonges to cluster1 and
+// j belongs to cluster2 (assume that cluster1 < cluster2).
+//
+// The cell corresponding to (i,j) is present in the preconditioner
+// if cluster1 == cluster2 or the pair (cluster1, cluster2) were
+// connected by an edge in the degree-2 maximum spanning forest.
+//
+// Since we have already expanded the forest into a set of camera
+// pairs/edges, including self edges, the check can be reduced to
+// checking membership of (cluster1, cluster2) in cluster_pairs_.
+void VisibilityBasedPreconditioner::ComputeBlockPairsInPreconditioner(
+ const CompressedRowBlockStructure& bs) {
+ block_pairs_.clear();
+ for (int i = 0; i < num_blocks_; ++i) {
+ block_pairs_.insert(make_pair(i, i));
+ }
+
+ int r = 0;
+ const int num_row_blocks = bs.rows.size();
+ const int num_eliminate_blocks = options_.elimination_groups[0];
+
+ // Iterate over each row of the matrix. The block structure of the
+ // matrix is assumed to be sorted in order of the e_blocks/point
+ // blocks. Thus all row blocks containing an e_block/point occur
+ // contiguously. Further, if present, an e_block is always the first
+ // parameter block in each row block. These structural assumptions
+ // are common to all Schur complement based solvers in Ceres.
+ //
+ // For each e_block/point block we identify the set of cameras
+ // seeing it. The cross product of this set with itself is the set
+ // of non-zero cells contibuted by this e_block.
+ //
+ // The time complexity of this is O(nm^2) where, n is the number of
+ // 3d points and m is the maximum number of cameras seeing any
+ // point, which for most scenes is a fairly small number.
+ while (r < num_row_blocks) {
+ int e_block_id = bs.rows[r].cells.front().block_id;
+ if (e_block_id >= num_eliminate_blocks) {
+ // Skip the rows whose first block is an f_block.
+ break;
+ }
+
+ set<int> f_blocks;
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ if (row.cells.front().block_id != e_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first block
+ // since it is the one to be eliminated and adding the rest to
+ // the list of f_blocks associated with this e_block.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ const int f_block_id = cell.block_id - num_eliminate_blocks;
+ CHECK_GE(f_block_id, 0);
+ f_blocks.insert(f_block_id);
+ }
+ }
+
+ for (set<int>::const_iterator block1 = f_blocks.begin();
+ block1 != f_blocks.end();
+ ++block1) {
+ set<int>::const_iterator block2 = block1;
+ ++block2;
+ for (; block2 != f_blocks.end(); ++block2) {
+ if (IsBlockPairInPreconditioner(*block1, *block2)) {
+ block_pairs_.insert(make_pair(*block1, *block2));
+ }
+ }
+ }
+ }
+
+ // The remaining rows which do not contain any e_blocks.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+ for (int i = 0; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks;
+ for (int j = 0; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks;
+ if (block1 <= block2) {
+ if (IsBlockPairInPreconditioner(block1, block2)) {
+ block_pairs_.insert(make_pair(block1, block2));
+ }
+ }
+ }
+ }
+ }
+
+ VLOG(1) << "Block pair stats: " << block_pairs_.size();
+}
+
+// Initialize the SchurEliminator.
+void VisibilityBasedPreconditioner::InitEliminator(
+ const CompressedRowBlockStructure& bs) {
+ LinearSolver::Options eliminator_options;
+ eliminator_options.elimination_groups = options_.elimination_groups;
+ eliminator_options.num_threads = options_.num_threads;
+ eliminator_options.e_block_size = options_.e_block_size;
+ eliminator_options.f_block_size = options_.f_block_size;
+ eliminator_options.row_block_size = options_.row_block_size;
+ eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+ const bool kFullRankETE = true;
+ eliminator_->Init(
+ eliminator_options.elimination_groups[0], kFullRankETE, &bs);
+}
+
+// Update the values of the preconditioner matrix and factorize it.
+bool VisibilityBasedPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+ const double* D) {
+ const time_t start_time = time(NULL);
+ const int num_rows = m_->num_rows();
+ CHECK_GT(num_rows, 0);
+
+ // We need a dummy rhs vector and a dummy b vector since the Schur
+ // eliminator combines the computation of the reduced camera matrix
+ // with the computation of the right hand side of that linear
+ // system.
+ //
+ // TODO(sameeragarwal): Perhaps its worth refactoring the
+ // SchurEliminator::Eliminate function to allow NULL for the rhs. As
+ // of now it does not seem to be worth the effort.
+ Vector rhs = Vector::Zero(m_->num_rows());
+ Vector b = Vector::Zero(A.num_rows());
+
+ // Compute a subset of the entries of the Schur complement.
+ eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data());
+
+ // Try factorizing the matrix. For CLUSTER_JACOBI, this should
+ // always succeed modulo some numerical/conditioning problems. For
+ // CLUSTER_TRIDIAGONAL, in general the preconditioner matrix as
+ // constructed is not positive definite. However, we will go ahead
+ // and try factorizing it. If it works, great, otherwise we scale
+ // all the cells in the preconditioner corresponding to the edges in
+ // the degree-2 forest and that guarantees positive
+ // definiteness. The proof of this fact can be found in Lemma 1 in
+ // "Visibility Based Preconditioning for Bundle Adjustment".
+ //
+ // Doing the factorization like this saves us matrix mass when
+ // scaling is not needed, which is quite often in our experience.
+ LinearSolverTerminationType status = Factorize();
+
+ if (status == LINEAR_SOLVER_FATAL_ERROR) {
+ return false;
+ }
+
+ // The scaling only affects the tri-diagonal case, since
+ // ScaleOffDiagonalBlocks only pays attenion to the cells that
+ // belong to the edges of the degree-2 forest. In the CLUSTER_JACOBI
+ // case, the preconditioner is guaranteed to be positive
+ // semidefinite.
+ if (status == LINEAR_SOLVER_FAILURE && options_.type == CLUSTER_TRIDIAGONAL) {
+ VLOG(1) << "Unscaled factorization failed. Retrying with off-diagonal "
+ << "scaling";
+ ScaleOffDiagonalCells();
+ status = Factorize();
+ }
+
+ VLOG(2) << "Compute time: " << time(NULL) - start_time;
+ return (status == LINEAR_SOLVER_SUCCESS);
+}
+
+// Consider the preconditioner matrix as meta-block matrix, whose
+// blocks correspond to the clusters. Then cluster pairs corresponding
+// to edges in the degree-2 forest are off diagonal entries of this
+// matrix. Scaling these off-diagonal entries by 1/2 forces this
+// matrix to be positive definite.
+void VisibilityBasedPreconditioner::ScaleOffDiagonalCells() {
+ for (set<pair<int, int> >::const_iterator it = block_pairs_.begin();
+ it != block_pairs_.end();
+ ++it) {
+ const int block1 = it->first;
+ const int block2 = it->second;
+ if (!IsBlockPairOffDiagonal(block1, block2)) {
+ continue;
+ }
+
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info =
+ m_->GetCell(block1, block2, &r, &c, &row_stride, &col_stride);
+ CHECK(cell_info != NULL)
+ << "Cell missing for block pair (" << block1 << "," << block2 << ")"
+ << " cluster pair (" << cluster_membership_[block1] << " "
+ << cluster_membership_[block2] << ")";
+
+ // Ah the magic of tri-diagonal matrices and diagonal
+ // dominance. See Lemma 1 in "Visibility Based Preconditioning
+ // For Bundle Adjustment".
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block_size_[block1], block_size_[block2]) *= 0.5;
+ }
+}
+
+// Compute the sparse Cholesky factorization of the preconditioner
+// matrix.
+LinearSolverTerminationType VisibilityBasedPreconditioner::Factorize() {
+ // Extract the TripletSparseMatrix that is used for actually storing
+ // S and convert it into a CompressedRowSparseMatrix.
+ const TripletSparseMatrix* tsm =
+ down_cast<BlockRandomAccessSparseMatrix*>(m_.get())->mutable_matrix();
+
+ scoped_ptr<CompressedRowSparseMatrix> lhs;
+ const CompressedRowSparseMatrix::StorageType storage_type =
+ sparse_cholesky_->StorageType();
+ if (storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+ lhs.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+ lhs->set_storage_type(CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+ } else {
+ lhs.reset(
+ CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+ lhs->set_storage_type(CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+ }
+
+ std::string message;
+ return sparse_cholesky_->Factorize(lhs.get(), &message);
+}
+
+void VisibilityBasedPreconditioner::RightMultiply(const double* x,
+ double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+ CHECK_NOTNULL(sparse_cholesky_.get());
+ std::string message;
+ sparse_cholesky_->Solve(x, y, &message);
+}
+
+int VisibilityBasedPreconditioner::num_rows() const { return m_->num_rows(); }
+
+// Classify camera/f_block pairs as in and out of the preconditioner,
+// based on whether the cluster pair that they belong to is in the
+// preconditioner or not.
+bool VisibilityBasedPreconditioner::IsBlockPairInPreconditioner(
+ const int block1, const int block2) const {
+ int cluster1 = cluster_membership_[block1];
+ int cluster2 = cluster_membership_[block2];
+ if (cluster1 > cluster2) {
+ swap(cluster1, cluster2);
+ }
+ return (cluster_pairs_.count(make_pair(cluster1, cluster2)) > 0);
+}
+
+bool VisibilityBasedPreconditioner::IsBlockPairOffDiagonal(
+ const int block1, const int block2) const {
+ return (cluster_membership_[block1] != cluster_membership_[block2]);
+}
+
+// Convert a graph into a list of edges that includes self edges for
+// each vertex.
+void VisibilityBasedPreconditioner::ForestToClusterPairs(
+ const WeightedGraph<int>& forest,
+ HashSet<pair<int, int> >* cluster_pairs) const {
+ CHECK_NOTNULL(cluster_pairs)->clear();
+ const HashSet<int>& vertices = forest.vertices();
+ CHECK_EQ(vertices.size(), num_clusters_);
+
+ // Add all the cluster pairs corresponding to the edges in the
+ // forest.
+ for (HashSet<int>::const_iterator it1 = vertices.begin();
+ it1 != vertices.end();
+ ++it1) {
+ const int cluster1 = *it1;
+ cluster_pairs->insert(make_pair(cluster1, cluster1));
+ const HashSet<int>& neighbors = forest.Neighbors(cluster1);
+ for (HashSet<int>::const_iterator it2 = neighbors.begin();
+ it2 != neighbors.end();
+ ++it2) {
+ const int cluster2 = *it2;
+ if (cluster1 < cluster2) {
+ cluster_pairs->insert(make_pair(cluster1, cluster2));
+ }
+ }
+ }
+}
+
+// The visibilty set of a cluster is the union of the visibilty sets
+// of all its cameras. In other words, the set of points visible to
+// any camera in the cluster.
+void VisibilityBasedPreconditioner::ComputeClusterVisibility(
+ const vector<set<int> >& visibility,
+ vector<set<int> >* cluster_visibility) const {
+ CHECK_NOTNULL(cluster_visibility)->resize(0);
+ cluster_visibility->resize(num_clusters_);
+ for (int i = 0; i < num_blocks_; ++i) {
+ const int cluster_id = cluster_membership_[i];
+ (*cluster_visibility)[cluster_id].insert(visibility[i].begin(),
+ visibility[i].end());
+ }
+}
+
+// Construct a graph whose vertices are the clusters, and the edge
+// weights are the number of 3D points visible to cameras in both the
+// vertices.
+WeightedGraph<int>* VisibilityBasedPreconditioner::CreateClusterGraph(
+ const vector<set<int> >& cluster_visibility) const {
+ WeightedGraph<int>* cluster_graph = new WeightedGraph<int>;
+
+ for (int i = 0; i < num_clusters_; ++i) {
+ cluster_graph->AddVertex(i);
+ }
+
+ for (int i = 0; i < num_clusters_; ++i) {
+ const set<int>& cluster_i = cluster_visibility[i];
+ for (int j = i + 1; j < num_clusters_; ++j) {
+ vector<int> intersection;
+ const set<int>& cluster_j = cluster_visibility[j];
+ set_intersection(cluster_i.begin(),
+ cluster_i.end(),
+ cluster_j.begin(),
+ cluster_j.end(),
+ back_inserter(intersection));
+
+ if (intersection.size() > 0) {
+ // Clusters interact strongly when they share a large number
+ // of 3D points. The degree-2 maximum spanning forest
+ // alorithm, iterates on the edges in decreasing order of
+ // their weight, which is the number of points shared by the
+ // two cameras that it connects.
+ cluster_graph->AddEdge(i, j, intersection.size());
+ }
+ }
+ }
+ return cluster_graph;
+}
+
+// Canonical views clustering returns a HashMap from vertices to
+// cluster ids. Convert this into a flat array for quick lookup. It is
+// possible that some of the vertices may not be associated with any
+// cluster. In that case, randomly assign them to one of the clusters.
+//
+// The cluster ids can be non-contiguous integers. So as we flatten
+// the membership_map, we also map the cluster ids to a contiguous set
+// of integers so that the cluster ids are in [0, num_clusters_).
+void VisibilityBasedPreconditioner::FlattenMembershipMap(
+ const HashMap<int, int>& membership_map,
+ vector<int>* membership_vector) const {
+ CHECK_NOTNULL(membership_vector)->resize(0);
+ membership_vector->resize(num_blocks_, -1);
+
+ HashMap<int, int> cluster_id_to_index;
+ // Iterate over the cluster membership map and update the
+ // cluster_membership_ vector assigning arbitrary cluster ids to
+ // the few cameras that have not been clustered.
+ for (HashMap<int, int>::const_iterator it = membership_map.begin();
+ it != membership_map.end();
+ ++it) {
+ const int camera_id = it->first;
+ int cluster_id = it->second;
+
+ // If the view was not clustered, randomly assign it to one of the
+ // clusters. This preserves the mathematical correctness of the
+ // preconditioner. If there are too many views which are not
+ // clustered, it may lead to some quality degradation though.
+ //
+ // TODO(sameeragarwal): Check if a large number of views have not
+ // been clustered and deal with it?
+ if (cluster_id == -1) {
+ cluster_id = camera_id % num_clusters_;
+ }
+
+ const int index = FindWithDefault(
+ cluster_id_to_index, cluster_id, cluster_id_to_index.size());
+
+ if (index == cluster_id_to_index.size()) {
+ cluster_id_to_index[cluster_id] = index;
+ }
+
+ CHECK_LT(index, num_clusters_);
+ membership_vector->at(camera_id) = index;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 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)
+//
+// Preconditioners for linear systems that arise in Structure from
+// Motion problems. VisibilityBasedPreconditioner implements:
+//
+// CLUSTER_JACOBI
+// CLUSTER_TRIDIAGONAL
+//
+// Detailed descriptions of these preconditions beyond what is
+// documented here can be found in
+//
+// Visibility Based Preconditioning for Bundle Adjustment
+// A. Kushal & S. Agarwal, CVPR 2012.
+//
+// http://www.cs.washington.edu/homes/sagarwal/vbp.pdf
+//
+// The two preconditioners share enough code that its most efficient
+// to implement them as part of the same code base.
+
+#ifndef CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+#define CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/preconditioner.h"
+#include "ceres/sparse_cholesky.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessSparseMatrix;
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+class SchurEliminatorBase;
+
+// This class implements visibility based preconditioners for
+// Structure from Motion/Bundle Adjustment problems. The name
+// VisibilityBasedPreconditioner comes from the fact that the sparsity
+// structure of the preconditioner matrix is determined by analyzing
+// the visibility structure of the scene, i.e. which cameras see which
+// points.
+//
+// The key idea of visibility based preconditioning is to identify
+// cameras that we expect have strong interactions, and then using the
+// entries in the Schur complement matrix corresponding to these
+// camera pairs as an approximation to the full Schur complement.
+//
+// CLUSTER_JACOBI identifies these camera pairs by clustering cameras,
+// and considering all non-zero camera pairs within each cluster. The
+// clustering in the current implementation is done using the
+// Canonical Views algorithm of Simon et al. (see
+// canonical_views_clustering.h). For the purposes of clustering, the
+// similarity or the degree of interaction between a pair of cameras
+// is measured by counting the number of points visible in both the
+// cameras. Thus the name VisibilityBasedPreconditioner. Further, if we
+// were to permute the parameter blocks such that all the cameras in
+// the same cluster occur contiguously, the preconditioner matrix will
+// be a block diagonal matrix with blocks corresponding to the
+// clusters. Thus in analogy with the Jacobi preconditioner we refer
+// to this as the CLUSTER_JACOBI preconditioner.
+//
+// CLUSTER_TRIDIAGONAL adds more mass to the CLUSTER_JACOBI
+// preconditioner by considering the interaction between clusters and
+// identifying strong interactions between cluster pairs. This is done
+// by constructing a weighted graph on the clusters, with the weight
+// on the edges connecting two clusters proportional to the number of
+// 3D points visible to cameras in both the clusters. A degree-2
+// maximum spanning forest is identified in this graph and the camera
+// pairs contained in the edges of this forest are added to the
+// preconditioner. The detailed reasoning for this construction is
+// explained in the paper mentioned above.
+//
+// Degree-2 spanning trees and forests have the property that they
+// correspond to tri-diagonal matrices. Thus there exist a permutation
+// of the camera blocks under which the CLUSTER_TRIDIAGONAL
+// preconditioner matrix is a block tridiagonal matrix, and thus the
+// name for the preconditioner.
+//
+// Thread Safety: This class is NOT thread safe.
+//
+// Example usage:
+//
+// LinearSolver::Options options;
+// options.preconditioner_type = CLUSTER_JACOBI;
+// options.elimination_groups.push_back(num_points);
+// options.elimination_groups.push_back(num_cameras);
+// VisibilityBasedPreconditioner preconditioner(
+// *A.block_structure(), options);
+// preconditioner.Update(A, NULL);
+// preconditioner.RightMultiply(x, y);
+class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+ // Initialize the symbolic structure of the preconditioner. bs is
+ // the block structure of the linear system to be solved. It is used
+ // to determine the sparsity structure of the preconditioner matrix.
+ //
+ // It has the same structural requirement as other Schur complement
+ // based solvers. Please see schur_eliminator.h for more details.
+ VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs,
+ const Preconditioner::Options& options);
+ virtual ~VisibilityBasedPreconditioner();
+
+ // Preconditioner interface
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual int num_rows() const;
+
+ friend class VisibilityBasedPreconditionerTest;
+
+ private:
+ virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+ void ComputeClusterJacobiSparsity(const CompressedRowBlockStructure& bs);
+ void ComputeClusterTridiagonalSparsity(const CompressedRowBlockStructure& bs);
+ void InitStorage(const CompressedRowBlockStructure& bs);
+ void InitEliminator(const CompressedRowBlockStructure& bs);
+ LinearSolverTerminationType Factorize();
+ void ScaleOffDiagonalCells();
+
+ void ClusterCameras(const std::vector<std::set<int> >& visibility);
+ void FlattenMembershipMap(const HashMap<int, int>& membership_map,
+ std::vector<int>* membership_vector) const;
+ void ComputeClusterVisibility(
+ const std::vector<std::set<int> >& visibility,
+ std::vector<std::set<int> >* cluster_visibility) const;
+ WeightedGraph<int>* CreateClusterGraph(
+ const std::vector<std::set<int> >& visibility) const;
+ void ForestToClusterPairs(const WeightedGraph<int>& forest,
+ HashSet<std::pair<int, int> >* cluster_pairs) const;
+ void ComputeBlockPairsInPreconditioner(const CompressedRowBlockStructure& bs);
+ bool IsBlockPairInPreconditioner(int block1, int block2) const;
+ bool IsBlockPairOffDiagonal(int block1, int block2) const;
+
+ Preconditioner::Options options_;
+
+ // Number of parameter blocks in the schur complement.
+ int num_blocks_;
+ int num_clusters_;
+
+ // Sizes of the blocks in the schur complement.
+ std::vector<int> block_size_;
+
+ // Mapping from cameras to clusters.
+ std::vector<int> cluster_membership_;
+
+ // Non-zero camera pairs from the schur complement matrix that are
+ // present in the preconditioner, sorted by row (first element of
+ // each pair), then column (second).
+ std::set<std::pair<int, int> > block_pairs_;
+
+ // Set of cluster pairs (including self pairs (i,i)) in the
+ // preconditioner.
+ HashSet<std::pair<int, int> > cluster_pairs_;
+ scoped_ptr<SchurEliminatorBase> eliminator_;
+
+ // Preconditioner matrix.
+ scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+ scoped_ptr<SparseCholesky> sparse_cholesky_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(VisibilityBasedPreconditioner);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
--- /dev/null
+// 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/visibility_based_preconditioner.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/collections_port.h"
+#include "ceres/file.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): Re-enable this test once serialization is
+// working again.
+
+// using testing::AssertionResult;
+// using testing::AssertionSuccess;
+// using testing::AssertionFailure;
+
+// static const double kTolerance = 1e-12;
+
+// class VisibilityBasedPreconditionerTest : public ::testing::Test {
+// public:
+// static const int kCameraSize = 9;
+
+// protected:
+// void SetUp() {
+// string input_file = TestFileAbsolutePath("problem-6-1384-000.lsqp");
+
+// scoped_ptr<LinearLeastSquaresProblem> problem(
+// CHECK_NOTNULL(CreateLinearLeastSquaresProblemFromFile(input_file)));
+// A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+// b_.reset(problem->b.release());
+// D_.reset(problem->D.release());
+
+// const CompressedRowBlockStructure* bs =
+// CHECK_NOTNULL(A_->block_structure());
+// const int num_col_blocks = bs->cols.size();
+
+// num_cols_ = A_->num_cols();
+// num_rows_ = A_->num_rows();
+// num_eliminate_blocks_ = problem->num_eliminate_blocks;
+// num_camera_blocks_ = num_col_blocks - num_eliminate_blocks_;
+// options_.elimination_groups.push_back(num_eliminate_blocks_);
+// options_.elimination_groups.push_back(
+// A_->block_structure()->cols.size() - num_eliminate_blocks_);
+
+// vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+// for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+// blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+// }
+
+// // The input matrix is a real jacobian and fairly poorly
+// // conditioned. Setting D to a large constant makes the normal
+// // equations better conditioned and makes the tests below better
+// // conditioned.
+// VectorRef(D_.get(), num_cols_).setConstant(10.0);
+
+// schur_complement_.reset(new BlockRandomAccessDenseMatrix(blocks));
+// Vector rhs(schur_complement_->num_rows());
+
+// scoped_ptr<SchurEliminatorBase> eliminator;
+// LinearSolver::Options eliminator_options;
+// eliminator_options.elimination_groups = options_.elimination_groups;
+// eliminator_options.num_threads = options_.num_threads;
+
+// eliminator.reset(SchurEliminatorBase::Create(eliminator_options));
+// eliminator->Init(num_eliminate_blocks_, bs);
+// eliminator->Eliminate(A_.get(), b_.get(), D_.get(),
+// schur_complement_.get(), rhs.data());
+// }
+
+
+// AssertionResult IsSparsityStructureValid() {
+// preconditioner_->InitStorage(*A_->block_structure());
+// const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+// const vector<int>& cluster_membership = get_cluster_membership();
+
+// for (int i = 0; i < num_camera_blocks_; ++i) {
+// for (int j = i; j < num_camera_blocks_; ++j) {
+// if (cluster_pairs.count(make_pair(cluster_membership[i],
+// cluster_membership[j]))) {
+// if (!IsBlockPairInPreconditioner(i, j)) {
+// return AssertionFailure()
+// << "block pair (" << i << "," << j << "missing";
+// }
+// } else {
+// if (IsBlockPairInPreconditioner(i, j)) {
+// return AssertionFailure()
+// << "block pair (" << i << "," << j << "should not be present";
+// }
+// }
+// }
+// }
+// return AssertionSuccess();
+// }
+
+// AssertionResult PreconditionerValuesMatch() {
+// preconditioner_->Update(*A_, D_.get());
+// const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+// const BlockRandomAccessSparseMatrix* m = get_m();
+// Matrix preconditioner_matrix;
+// m->matrix()->ToDenseMatrix(&preconditioner_matrix);
+// ConstMatrixRef full_schur_complement(schur_complement_->values(),
+// m->num_rows(),
+// m->num_rows());
+// const int num_clusters = get_num_clusters();
+// const int kDiagonalBlockSize =
+// kCameraSize * num_camera_blocks_ / num_clusters;
+
+// for (int i = 0; i < num_clusters; ++i) {
+// for (int j = i; j < num_clusters; ++j) {
+// double diff = 0.0;
+// if (cluster_pairs.count(make_pair(i, j))) {
+// diff =
+// (preconditioner_matrix.block(kDiagonalBlockSize * i,
+// kDiagonalBlockSize * j,
+// kDiagonalBlockSize,
+// kDiagonalBlockSize) -
+// full_schur_complement.block(kDiagonalBlockSize * i,
+// kDiagonalBlockSize * j,
+// kDiagonalBlockSize,
+// kDiagonalBlockSize)).norm();
+// } else {
+// diff = preconditioner_matrix.block(kDiagonalBlockSize * i,
+// kDiagonalBlockSize * j,
+// kDiagonalBlockSize,
+// kDiagonalBlockSize).norm();
+// }
+// if (diff > kTolerance) {
+// return AssertionFailure()
+// << "Preconditioner block " << i << " " << j << " differs "
+// << "from expected value by " << diff;
+// }
+// }
+// }
+// return AssertionSuccess();
+// }
+
+// // Accessors
+// int get_num_blocks() { return preconditioner_->num_blocks_; }
+
+// int get_num_clusters() { return preconditioner_->num_clusters_; }
+// int* get_mutable_num_clusters() { return &preconditioner_->num_clusters_; }
+
+// const vector<int>& get_block_size() {
+// return preconditioner_->block_size_; }
+
+// vector<int>* get_mutable_block_size() {
+// return &preconditioner_->block_size_; }
+
+// const vector<int>& get_cluster_membership() {
+// return preconditioner_->cluster_membership_;
+// }
+
+// vector<int>* get_mutable_cluster_membership() {
+// return &preconditioner_->cluster_membership_;
+// }
+
+// const set<pair<int, int> >& get_block_pairs() {
+// return preconditioner_->block_pairs_;
+// }
+
+// set<pair<int, int> >* get_mutable_block_pairs() {
+// return &preconditioner_->block_pairs_;
+// }
+
+// const HashSet<pair<int, int> >& get_cluster_pairs() {
+// return preconditioner_->cluster_pairs_;
+// }
+
+// HashSet<pair<int, int> >* get_mutable_cluster_pairs() {
+// return &preconditioner_->cluster_pairs_;
+// }
+
+// bool IsBlockPairInPreconditioner(const int block1, const int block2) {
+// return preconditioner_->IsBlockPairInPreconditioner(block1, block2);
+// }
+
+// bool IsBlockPairOffDiagonal(const int block1, const int block2) {
+// return preconditioner_->IsBlockPairOffDiagonal(block1, block2);
+// }
+
+// const BlockRandomAccessSparseMatrix* get_m() {
+// return preconditioner_->m_.get();
+// }
+
+// int num_rows_;
+// int num_cols_;
+// int num_eliminate_blocks_;
+// int num_camera_blocks_;
+
+// scoped_ptr<BlockSparseMatrix> A_;
+// scoped_array<double> b_;
+// scoped_array<double> D_;
+
+// Preconditioner::Options options_;
+// scoped_ptr<VisibilityBasedPreconditioner> preconditioner_;
+// scoped_ptr<BlockRandomAccessDenseMatrix> schur_complement_;
+// };
+
+// TEST_F(VisibilityBasedPreconditionerTest, OneClusterClusterJacobi) {
+// options_.type = CLUSTER_JACOBI;
+// preconditioner_.reset(
+// new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+// // Override the clustering to be a single clustering containing all
+// // the cameras.
+// vector<int>& cluster_membership = *get_mutable_cluster_membership();
+// for (int i = 0; i < num_camera_blocks_; ++i) {
+// cluster_membership[i] = 0;
+// }
+
+// *get_mutable_num_clusters() = 1;
+
+// HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+// cluster_pairs.clear();
+// cluster_pairs.insert(make_pair(0, 0));
+
+// EXPECT_TRUE(IsSparsityStructureValid());
+// EXPECT_TRUE(PreconditionerValuesMatch());
+
+// // Multiplication by the inverse of the preconditioner.
+// const int num_rows = schur_complement_->num_rows();
+// ConstMatrixRef full_schur_complement(schur_complement_->values(),
+// num_rows,
+// num_rows);
+// Vector x(num_rows);
+// Vector y(num_rows);
+// Vector z(num_rows);
+
+// for (int i = 0; i < num_rows; ++i) {
+// x.setZero();
+// y.setZero();
+// z.setZero();
+// x[i] = 1.0;
+// preconditioner_->RightMultiply(x.data(), y.data());
+// z = full_schur_complement
+// .selfadjointView<Eigen::Upper>()
+// .llt().solve(x);
+// double max_relative_difference =
+// ((y - z).array() / z.array()).matrix().lpNorm<Eigen::Infinity>();
+// EXPECT_NEAR(max_relative_difference, 0.0, kTolerance);
+// }
+// }
+
+
+
+// TEST_F(VisibilityBasedPreconditionerTest, ClusterJacobi) {
+// options_.type = CLUSTER_JACOBI;
+// preconditioner_.reset(
+// new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+// // Override the clustering to be equal number of cameras.
+// vector<int>& cluster_membership = *get_mutable_cluster_membership();
+// cluster_membership.resize(num_camera_blocks_);
+// static const int kNumClusters = 3;
+
+// for (int i = 0; i < num_camera_blocks_; ++i) {
+// cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+// }
+// *get_mutable_num_clusters() = kNumClusters;
+
+// HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+// cluster_pairs.clear();
+// for (int i = 0; i < kNumClusters; ++i) {
+// cluster_pairs.insert(make_pair(i, i));
+// }
+
+// EXPECT_TRUE(IsSparsityStructureValid());
+// EXPECT_TRUE(PreconditionerValuesMatch());
+// }
+
+
+// TEST_F(VisibilityBasedPreconditionerTest, ClusterTridiagonal) {
+// options_.type = CLUSTER_TRIDIAGONAL;
+// preconditioner_.reset(
+// new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+// static const int kNumClusters = 3;
+
+// // Override the clustering to be 3 clusters.
+// vector<int>& cluster_membership = *get_mutable_cluster_membership();
+// cluster_membership.resize(num_camera_blocks_);
+// for (int i = 0; i < num_camera_blocks_; ++i) {
+// cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+// }
+// *get_mutable_num_clusters() = kNumClusters;
+
+// // Spanning forest has structure 0-1 2
+// HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+// cluster_pairs.clear();
+// for (int i = 0; i < kNumClusters; ++i) {
+// cluster_pairs.insert(make_pair(i, i));
+// }
+// cluster_pairs.insert(make_pair(0, 1));
+
+// EXPECT_TRUE(IsSparsityStructureValid());
+// EXPECT_TRUE(PreconditionerValuesMatch());
+// }
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: kushalav@google.com (Avanish Kushal)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility.h"
+
+#include <set>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/graph.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::set;
+using std::vector;
+
+class VisibilityTest : public ::testing::Test {
+};
+
+TEST(VisibilityTest, SimpleMatrix) {
+ // A = [1 0 0 0 0 1
+ // 1 0 0 1 0 0
+ // 0 1 1 0 0 0
+ // 0 1 0 0 1 0]
+
+ int num_cols = 6;
+ int num_eliminate_blocks = 2;
+ CompressedRowBlockStructure bs;
+
+ // Row 1
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(5, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ row.cells.push_back(Cell(3, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ row.cells.push_back(Cell(2, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(1, 3));
+ row.cells.push_back(Cell(4, 3));
+ }
+ bs.cols.resize(num_cols);
+
+ vector< set<int> > visibility;
+ ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+ ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+ for (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 1);
+ }
+
+ scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
+ EXPECT_EQ(graph->vertices().size(), visibility.size());
+ for (int i = 0; i < visibility.size(); ++i) {
+ EXPECT_EQ(graph->VertexWeight(i), 1.0);
+ }
+
+ for (int i = 0; i < visibility.size(); ++i) {
+ for (int j = i; j < visibility.size(); ++j) {
+ double edge_weight = 0.0;
+ if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) {
+ edge_weight = 1.0;
+ }
+
+ EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+ << "Edge: " << i << " " << j
+ << " weight: " << graph->EdgeWeight(i, j)
+ << " expected weight: " << edge_weight;
+ }
+ }
+}
+
+
+TEST(VisibilityTest, NoEBlocks) {
+ // A = [1 0 0 0 0 0
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 1 0 0 0 0]
+
+ int num_cols = 6;
+ int num_eliminate_blocks = 2;
+ CompressedRowBlockStructure bs;
+
+ // Row 1
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(1, 3));
+ }
+ bs.cols.resize(num_cols);
+
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+ ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+ for (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 0);
+ }
+
+ scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
+ EXPECT_EQ(graph->vertices().size(), visibility.size());
+ for (int i = 0; i < visibility.size(); ++i) {
+ EXPECT_EQ(graph->VertexWeight(i), 1.0);
+ }
+
+ for (int i = 0; i < visibility.size(); ++i) {
+ for (int j = i; j < visibility.size(); ++j) {
+ double edge_weight = 0.0;
+ if (i == j) {
+ edge_weight = 1.0;
+ }
+ EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+ << "Edge: " << i << " " << j
+ << " weight: " << graph->EdgeWeight(i, j)
+ << " expected weight: " << edge_weight;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/wall_time.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#else
+#include <ctime>
+#endif
+
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <sys/time.h>
+#endif
+
+namespace ceres {
+namespace internal {
+
+double WallTimeInSeconds() {
+#ifdef CERES_USE_OPENMP
+ return omp_get_wtime();
+#else
+#ifdef _WIN32
+ return static_cast<double>(std::time(NULL));
+#else
+ timeval time_val;
+ gettimeofday(&time_val, NULL);
+ return (time_val.tv_sec + time_val.tv_usec * 1e-6);
+#endif
+#endif
+}
+
+EventLogger::EventLogger(const std::string& logger_name)
+ : start_time_(WallTimeInSeconds()),
+ last_event_time_(start_time_),
+ events_("") {
+ StringAppendF(&events_,
+ "\n%s\n Delta Cumulative\n",
+ logger_name.c_str());
+}
+
+EventLogger::~EventLogger() {
+ if (VLOG_IS_ON(3)) {
+ AddEvent("Total");
+ VLOG(2) << "\n" << events_ << "\n";
+ }
+}
+
+void EventLogger::AddEvent(const std::string& event_name) {
+ if (!VLOG_IS_ON(3)) {
+ return;
+ }
+
+ const double current_time = WallTimeInSeconds();
+ const double relative_time_delta = current_time - last_event_time_;
+ const double absolute_time_delta = current_time - start_time_;
+ last_event_time_ = current_time;
+
+ StringAppendF(&events_,
+ " %30s : %10.5f %10.5f\n",
+ event_name.c_str(),
+ relative_time_delta,
+ absolute_time_delta);
+}
+
+} // namespace internal
+} // namespace ceres
--- /dev/null
+// 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: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_WALL_TIME_H_
+#define CERES_INTERNAL_WALL_TIME_H_
+
+#include <map>
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Returns time, in seconds, from some arbitrary starting point. If
+// OpenMP is available then the high precision openmp_get_wtime()
+// function is used. Otherwise on unixes, gettimeofday is used. The
+// granularity is in seconds on windows systems.
+double WallTimeInSeconds();
+
+// Log a series of events, recording for each event the time elapsed
+// since the last event and since the creation of the object.
+//
+// The information is output to VLOG(3) upon destruction. A
+// name::Total event is added as the final event right before
+// destruction.
+//
+// Example usage:
+//
+// void Foo() {
+// EventLogger event_logger("Foo");
+// Bar1();
+// event_logger.AddEvent("Bar1")
+// Bar2();
+// event_logger.AddEvent("Bar2")
+// Bar3();
+// }
+//
+// Will produce output that looks like
+//
+// Foo
+// Bar1: time1 time1
+// Bar2: time2 time1 + time2;
+// Total: time3 time1 + time2 + time3;
+class EventLogger {
+ public:
+ explicit EventLogger(const std::string& logger_name);
+ ~EventLogger();
+ void AddEvent(const std::string& event_name);
+
+ private:
+ const double start_time_;
+ double last_event_time_;
+ std::string events_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_WALL_TIME_H_
--- /dev/null
+# 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: settinger@google.com (Scott Ettinger)
+# keir@google.com (Keir Mierle)
+#
+# Builds Ceres for Android, using the standard toolchain (not
+# standalone). It uses LLVM's libc++ as the standard library. It is a
+# modern BSD licensed implementation of the standard c++ library. We
+# do this to avoid any licensing issues that may arise from using
+# GCC's libstdc++ which is licensed under GPL3.
+#
+# Building
+# --------
+#
+# You will have to specify the environment EIGEN_PATH to point to the
+# Eigen sources when building. For example:
+#
+# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
+#
+# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
+# to pass more definitions to the C compiler.
+#
+# Using the library
+# -----------------
+# Copy the static library:
+#
+# ../obj/local/armeabi-v7a/libceres.a
+#
+# into your own project, then link it into your binary in your
+# Android.mk file.
+#
+# Reducing binary size
+# --------------------
+# This build includes the Schur specializations, which increase the
+# size of the binary. If you don't need them for your application,
+# consider adding:
+#
+# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
+#
+# to the LOCAL_CFLAGS variable below.
+#
+# Changing the logging library
+# ----------------------------
+# Ceres Solver ships with a replacement for glog that provides a
+# simple and small implementation that builds on Android. However, if
+# you wish to supply a header only version yourself, then you may
+# define CERES_GLOG_DIR to point to it.
+
+LOCAL_PATH := $(call my-dir)
+
+# Ceres requires at least NDK version r9d to compile.
+ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
+ $(error Ceres requires NDK version r9d or greater)
+endif
+
+EIGEN_PATH := $(EIGEN_PATH)
+CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
+
+# Use the alternate glog implementation if provided by the user.
+ifdef CERES_GLOG_DIR
+ CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
+else
+ CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
+endif
+CERES_SRC_PATH := ../internal/ceres
+
+include $(CLEAR_VARS)
+LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
+LOCAL_C_INCLUDES += $(EIGEN_PATH)
+
+LOCAL_CPP_EXTENSION := .cc
+LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
+ -DCERES_NO_LAPACK \
+ -DCERES_NO_SUITESPARSE \
+ -DCERES_NO_CXSPARSE \
+ -DCERES_STD_UNORDERED_MAP
+
+
+# If the user did not enable threads in CERES_EXTRA_DEFINES, then add
+# CERES_NO_THREADS.
+#
+# TODO(sameeragarwal): Update comments here and in the docs to
+# demonstrate how OpenMP can be used by the user.
+ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
+ LOCAL_CFLAGS += -DCERES_NO_THREADS
+endif
+
+LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
+ $(CERES_SRC_PATH)/blas.cc \
+ $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
+ $(CERES_SRC_PATH)/block_jacobian_writer.cc \
+ $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
+ $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
+ $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
+ $(CERES_SRC_PATH)/block_random_access_matrix.cc \
+ $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/block_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/block_structure.cc \
+ $(CERES_SRC_PATH)/callbacks.cc \
+ $(CERES_SRC_PATH)/canonical_views_clustering.cc \
+ $(CERES_SRC_PATH)/cgnr_solver.cc \
+ $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
+ $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/conditioned_cost_function.cc \
+ $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
+ $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
+ $(CERES_SRC_PATH)/corrector.cc \
+ $(CERES_SRC_PATH)/covariance.cc \
+ $(CERES_SRC_PATH)/covariance_impl.cc \
+ $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
+ $(CERES_SRC_PATH)/dense_qr_solver.cc \
+ $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/detect_structure.cc \
+ $(CERES_SRC_PATH)/dogleg_strategy.cc \
+ $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
+ $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \
+ $(CERES_SRC_PATH)/eigensparse.cc \
+ $(CERES_SRC_PATH)/evaluator.cc \
+ $(CERES_SRC_PATH)/file.cc \
+ $(CERES_SRC_PATH)/function_sample.cc \
+ $(CERES_SRC_PATH)/gradient_checker.cc \
+ $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
+ $(CERES_SRC_PATH)/gradient_problem.cc \
+ $(CERES_SRC_PATH)/gradient_problem_solver.cc \
+ $(CERES_SRC_PATH)/is_close.cc \
+ $(CERES_SRC_PATH)/implicit_schur_complement.cc \
+ $(CERES_SRC_PATH)/inner_product_computer.cc \
+ $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
+ $(CERES_SRC_PATH)/lapack.cc \
+ $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
+ $(CERES_SRC_PATH)/line_search.cc \
+ $(CERES_SRC_PATH)/line_search_direction.cc \
+ $(CERES_SRC_PATH)/line_search_minimizer.cc \
+ $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
+ $(CERES_SRC_PATH)/linear_operator.cc \
+ $(CERES_SRC_PATH)/line_search_preprocessor.cc \
+ $(CERES_SRC_PATH)/linear_solver.cc \
+ $(CERES_SRC_PATH)/local_parameterization.cc \
+ $(CERES_SRC_PATH)/loss_function.cc \
+ $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
+ $(CERES_SRC_PATH)/minimizer.cc \
+ $(CERES_SRC_PATH)/normal_prior.cc \
+ $(CERES_SRC_PATH)/parameter_block_ordering.cc \
+ $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
+ $(CERES_SRC_PATH)/polynomial.cc \
+ $(CERES_SRC_PATH)/preconditioner.cc \
+ $(CERES_SRC_PATH)/preprocessor.cc \
+ $(CERES_SRC_PATH)/problem.cc \
+ $(CERES_SRC_PATH)/problem_impl.cc \
+ $(CERES_SRC_PATH)/program.cc \
+ $(CERES_SRC_PATH)/reorder_program.cc \
+ $(CERES_SRC_PATH)/residual_block.cc \
+ $(CERES_SRC_PATH)/residual_block_utils.cc \
+ $(CERES_SRC_PATH)/schur_complement_solver.cc \
+ $(CERES_SRC_PATH)/schur_eliminator.cc \
+ $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
+ $(CERES_SRC_PATH)/schur_templates.cc \
+ $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
+ $(CERES_SRC_PATH)/single_linkage_clustering.cc \
+ $(CERES_SRC_PATH)/solver.cc \
+ $(CERES_SRC_PATH)/solver_utils.cc \
+ $(CERES_SRC_PATH)/sparse_cholesky.cc \
+ $(CERES_SRC_PATH)/sparse_matrix.cc \
+ $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
+ $(CERES_SRC_PATH)/split.cc \
+ $(CERES_SRC_PATH)/stringprintf.cc \
+ $(CERES_SRC_PATH)/suitesparse.cc \
+ $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/trust_region_minimizer.cc \
+ $(CERES_SRC_PATH)/trust_region_preprocessor.cc \
+ $(CERES_SRC_PATH)/trust_region_step_evaluator.cc \
+ $(CERES_SRC_PATH)/trust_region_strategy.cc \
+ $(CERES_SRC_PATH)/types.cc \
+ $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
+ $(CERES_SRC_PATH)/visibility.cc \
+ $(CERES_SRC_PATH)/wall_time.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
+ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
+
+ifndef CERES_GLOG_DIR
+LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
+endif
+
+LOCAL_MODULE := ceres
+include $(BUILD_STATIC_LIBRARY)
--- /dev/null
+# 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.
+
+APP_BUILD_SCRIPT := $(call my-dir)/Android.mk
+APP_PROJECT_PATH := $(call my-dir)
+
+APP_CPPFLAGS += -fno-exceptions
+APP_CPPFLAGS += -fno-rtti
+APP_OPTIM := release
+
+# Use libc++ from LLVM. It is a modern BSD licensed implementation of
+# the standard C++ library.
+APP_STL := c++_static
+APP_ABI := armeabi-v7a
--- /dev/null
+#!/bin/bash
+
+# Bash script to assert that the current version of the NDK is at least the
+# specified version. Prints 'true' to standard out if it's the right version,
+# 'false' if it's not.
+#
+# Typically used like this, in your jni/Android.mk:
+#
+# ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r5c" "ndk-dir"), true)
+# $(error NDK version r5c or greater required)
+# endif
+#
+# See https://gist.github.com/2878774 for asserting SDK version.
+#
+# Retrieved from: https://gist.github.com/jorgenpt/1961404 on 2014-06-03.
+#
+# Copyright (c) 2012, Lookout, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: jorgenpt@gmail.com (Jorgen Tjerno)
+# alexs.mac@gmail.com (Alex Stewart)
+
+# Extracts 'r5c' into '5 c', also handles newer versions of the form
+# 'r9d (64-bit)' and versions >= 10.
+function get_major_minor() {
+ # r9d (64-bit) -> '9d', also handle versions >= 10.
+ local version=$(echo "$1" | sed 's/r\([0-9]\{1,2\}[a-z]\{0,1\}\).*/\1/')
+ local major=$(echo "$version" | sed 's/\([0-9]\{1,2\}\).*/\1/')
+ local minor=$(echo "$version" | sed 's/^[0-9]*//')
+ echo "$major $minor"
+}
+
+if [[ -z "$2" ]]; then
+ echo "Usage: $0 <required version> <NDK_ROOT>" >&2
+ echo " For example: $0 r5c android-ndk-r9d" >&2
+ exit 1
+fi
+
+# Assert that the expected version is at least 4.
+declare -a expected_version
+expected_version=( $(get_major_minor "$1") )
+if [[ ${expected_version[0]} -le 4 ]]; then
+ echo "Cannot test for versions less than r5: r4 doesn't have a version file." >&2
+ echo false
+ exit 1
+fi
+
+release_file="$2/RELEASE.TXT"
+
+# NDK version r4 or earlier doesn't have a RELEASE.txt, and we just asserted
+# that the person was looking for r5 or above, so that implies that this is an
+# invalid version.
+if [ ! -s "$release_file" ]; then
+ echo false
+ exit 0
+fi
+
+# Make sure the data is at least kinda sane.
+version=$(grep '^r' $release_file)
+declare -a actual_version
+actual_version=( $(get_major_minor "$version") )
+if [ -z "$version" ] || [ -z "${actual_version[0]}" ]; then
+ echo "Invalid RELEASE.txt: $(cat $release_file)" >&2
+ echo false
+ exit 1
+fi
+
+if [[ ${actual_version[0]} -lt ${expected_version[0]} ]]; then
+ echo "false"
+elif [[ ${actual_version[0]} -eq ${expected_version[0]} ]]; then
+ # This uses < and not -lt because they're string identifiers (a, b, c, etc)
+ if [[ "${actual_version[1]}" < "${expected_version[1]}" ]]; then
+ echo "false"
+ else
+ echo "true"
+ fi
+else
+ echo "true"
+fi
--- /dev/null
+<?xml version="1.0"?>
+<!--
+ Copyright 2017 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.
+-->
+
+<package format="2">
+ <name>ceres-solver</name>
+ <version>1.13.0</version>
+ <description>A large scale non-linear optimization library.</description>
+ <maintainer email="ceres-solver@googlegroups.com">
+ The Ceres Solver Authors
+ </maintainer>
+ <license>New BSD</license>
+ <url type="website">http://ceres-solver.org/</url>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <depend>atlas</depend>
+ <depend>eigen</depend>
+ <depend>gfortran</depend>
+ <depend>libgflags-dev</depend>
+ <depend>libgoogle-glog-dev</depend>
+ <depend>suitesparse</depend>
+
+ <export>
+ <build_type>cmake</build_type>
+ </export>
+</package>
--- /dev/null
+#!/usr/bin/python
+# encoding: utf-8
+#
+# 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)
+#
+# Note: You will need Sphinx and Pygments installed for this to work.
+
+from __future__ import print_function
+import glob
+import io
+import os
+import sys
+
+# Number of arguments
+N = len(sys.argv)
+
+if N < 3:
+ print('make_docs.py src_root destination_root')
+ sys.exit(1)
+
+src_dir = sys.argv[1] + '/docs/source'
+build_root = sys.argv[2]
+cache_dir = build_root + '/doctrees'
+html_dir = build_root + '/html'
+
+# Called from Command Line
+if N == 3:
+ sphinx_exe = 'sphinx-build'
+
+# Called from CMake (using the SPHINX_EXECUTABLE found)
+elif N == 4:
+ sphinx_exe = sys.argv[3]
+
+# Run Sphinx to build the documentation.
+os.system('%s -b html -d %s %s %s' %(sphinx_exe, cache_dir, src_dir, html_dir))
+
+replacements = [
+ # By default MathJax uses does not use TeX fonts. This simple search
+ # and replace fixes that.
+ ('''config=TeX-AMS-MML_HTMLorMML"></script>''',
+ '''config=TeX-AMS_HTML">
+ MathJax.Hub.Config({
+ "HTML-CSS": {
+ availableFonts: ["TeX"]
+ }
+ });
+ </script>'''),
+
+ # The title for the homepage is not ideal, so change it.
+ ('<title>Ceres Solver — Ceres Solver</title>',
+ '<title>Ceres Solver — A Large Scale Non-linear Optimization Library</title>')
+]
+
+# This is a nasty hack to strip the breadcrumb navigation. A better strategy is
+# to fork the upstream template, but that is no fun either. Whitespace matters!
+# This doesn't use regular expressions since the escaping makes it untenable.
+breadcrumb_start_other = \
+'''<div role="navigation" aria-label="breadcrumbs navigation">
+ <ul class="wy-breadcrumbs">
+ <li><a href="index.html">Docs</a> »</li>
+
+ <li>'''
+
+# The index page has a slightly different breadcrumb.
+breadcrumb_start_index = breadcrumb_start_other.replace('index.html', '#')
+
+breadcrumb_end = \
+'''</li>
+ <li class="wy-breadcrumbs-aside">
+
+ </li>
+ </ul>
+ <hr/>
+</div>'''
+
+for name in glob.glob('%s/*.html' % html_dir):
+ print('Postprocessing: ', name)
+ with io.open(name, encoding="utf-8") as fptr:
+ out = fptr.read()
+
+ for input_pattern, output_pattern in replacements:
+ out = out.replace(input_pattern, output_pattern)
+
+ try:
+ breadcrumb_start = breadcrumb_start_index \
+ if name.endswith('index.html') \
+ else breadcrumb_start_other
+ pre_breadcrumb_start, post_breadcrumb_start = out.split(breadcrumb_start)
+ title, post_breadcrumb_end = post_breadcrumb_start.split(breadcrumb_end)
+ print('Stripping breadcrumb for -', title)
+ out = pre_breadcrumb_start + post_breadcrumb_end
+ except ValueError:
+ print('Skipping breadcrumb strip for', name)
+
+ with io.open(name, 'w', encoding="utf-8") as fptr:
+ fptr.write(out)
--- /dev/null
+#!/bin/bash
+#
+# 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: mierle@gmail.com (Keir Mierle)
+#
+# Note: You will need Sphinx and Pygments installed for this to work.
+
+if [ -z $1 ] ; then
+ echo 'usage: scripts/make_release <version>'
+ echo ' must be run from toplevel Ceres source directory'
+ exit 1
+fi
+
+TMP="/tmp/ceres-solver-$1"
+DOCS_TMP="/tmp/ceres-solver-docs-$1"
+VERSION=$(grep '#define CERES_VERSION_' include/ceres/version.h | \
+ sed -e 's/#define CERES_VERSION_STRING.*$//' | \
+ sed -e 's/\(^#define CERES_VERSION_[MR^S].[A-Z]*\) \([0-9]\)/\2/' | \
+ tr '\n' '.' | \
+ sed -e 's/..$//')
+GIT_COMMIT=$(git log -1 HEAD |grep commit)
+
+if [[ $1 != $VERSION ]] ; then
+ echo "ERROR: Version from the command line $1 does not match CERES_VERSION"
+ echo " in include/ceres/version.h, which is $VERSION. You may not be in the "
+ echo " toplevel source dir."
+ exit 1
+fi
+
+# Export repository.
+git checkout-index -f -a --prefix=$TMP/
+
+# Build the VERSION file.
+VERSIONFILE=$TMP/VERSION
+echo "version $VERSION" >> $VERSIONFILE
+echo "$GIT_COMMIT" >> $VERSIONFILE
+
+# Build the documentation.
+python $TMP/scripts/make_docs.py $TMP $DOCS_TMP
+cp -pr $DOCS_TMP/html $TMP/docs
+
+# Build the tarball.
+cd /tmp
+tar -cvzf "ceres-solver-$1.tar.gz" "ceres-solver-$1"
+
+# Don't leave a mess behind.
+rm -rf $TMP
+rm -rf $DOCS_TMP
+
+# Reminder to upload.
+cat <<EOF
+
+TODO:
+ - Upload /tmp/ceres-solver-$1.tar.gz
+EOF
projects / platform / upstream / ceres-solver.git / commitdiff
