Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/autodiff_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: keir@google.com (Keir Mierle)

#include "ceres/internal/autodiff.h"

#include <algorithm>
#include <iterator>
#include <random>

#include "gtest/gtest.h"

namespace ceres::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) {
  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;
  std::mt19937 prng;
  std::uniform_real_distribution<double> uniform01(0.0, 1.0);

  // Make random P and X, in a single vector.
  double PX[12 + 4];
  std::generate(std::begin(PX), std::end(PX), [&prng, &uniform01] {
    return uniform01(prng);
  });

  // 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((AutoDifferentiate<2, StaticParameterDims<12 + 4>>(
        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((AutoDifferentiate<2, StaticParameterDims<12, 4>>(
        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) {
  double const tol = 1e-10;  // floating-point tolerance.
  double const del = 1e-4;   // finite-difference step.
  double const err = 2e-5;   // finite-difference tolerance.

  Metric b;

  // Make random parameter vector.
  double qcX[4 + 3 + 3];
  std::mt19937 prng;
  std::uniform_real_distribution<double> uniform01(0.0, 1.0);

  std::generate(std::begin(qcX), std::end(qcX), [&prng, &uniform01] {
    return uniform01(prng);
  });

  // 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((AutoDifferentiate<2, StaticParameterDims<4, 3, 3>>(
      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((AutoDifferentiate<DYNAMIC, StaticParameterDims<2>>(
        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((AutoDifferentiate<1, StaticParameterDims<1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1, 1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1, 1>>(
        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((AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1, 1, 1>>(
        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(
        (AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1>>(
            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(
        (AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1, 1>>(
            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((
        AutoDifferentiate<1, StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1, 1, 1>>(
            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;

  using JetT = Jet<double, 2>;
  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 ceres::internal