levenberg_marquardt_test.cc

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// Copyright (c) 2007, 2008, 2009 libmv authors.
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#include "libmv/numeric/levenberg_marquardt.h"
#include "testing/testing.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