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// Copyright (c) 2007, 2008, 2009 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.
#include "testing/testing.h"
#include "libmv/numeric/levenberg_marquardt.h"
using namespace libmv;
namespace {
class F {
public:
typedef Vec4 FMatrixType;
typedef Vec3 XMatrixType;
Vec4 operator()(const Vec3 &x) const {
double x1 = x.x() - 2;
double y1 = x.y() - 5;
double z1 = x.z();
Vec4 fx; fx << x1*x1 + z1*z1,
y1*y1 + z1*z1,
z1*z1,
x1*x1;
return fx;
}
};
TEST(LevenbergMarquardt, SimpleCase) {
Vec3 x(0.76026643, -30.01799744, 0.55192142);
F f;
LevenbergMarquardt<F>::SolverParameters params;
LevenbergMarquardt<F> lm(f);
/* TODO(sergey): Better error handling. */
/* LevenbergMarquardt<F>::Results results = */ lm.minimize(params, &x);
Vec3 expected_min_x(2, 5, 0);
EXPECT_MATRIX_NEAR(expected_min_x, x, 1e-5);
}
} // namespace
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