Ticket #44627: test_ceres.cc

// Example program exhibiting crashing behavior on ceres-solver from MacPorts.
#include <fstream>
#include <vector>
#include <ceres/ceres.h>
#include <glog/logging.h>

using namespace std;

struct Bounds {
    Bounds(size_t _var, double _val) : var(_var), value(_val) { }
    size_t var; double value;
};

struct Block {
    double vars[4];
    Block() { vars[0] = vars[1] = vars[2] = vars[3] = 1.0; }

    struct Cost {
        vector<double> v1, v2;
        Cost(const vector<double> &_v1, const vector<double> &_v2)
            : v1(_v1), v2(_v2) { }

        template<typename T>
        bool operator()(const T *x, T *e) const {
            T a = -x[2] / x[1];
            e[0] = T(v2[0]) / x[0] + T(v2[1]) * a    - T(v1[0]);
            e[1] = T(v2[0]) * a    + T(v2[1]) / x[1] - T(v1[1]);
            e[2] = T(0.5 * v2[2]) / x[3]             - T(v1[2]);

            return true;
        }
    };

    vector<Bounds> lowerBounds() const { return { Bounds(0,  0.01), Bounds(1,  0.01),
                                                  Bounds(2, -0.75), Bounds(3,  0.01) }; }
};

// Initialized with magic values at the end...
extern vector<vector<double> > v1s, v2s;

void run(size_t iterations, vector<Block> &blocks) {
    for (size_t i = 0; i < iterations; ++i) {
        ceres::Problem problem;

        for (size_t b = 0; b < blocks.size(); ++b) {
            typedef ceres::AutoDiffCostFunction<Block::Cost, 3, 4> ADCost;
            problem.AddResidualBlock(new ADCost(new Block::Cost(v1s.at(b), v2s.at(b))),
                                     NULL, &(blocks.at(b).vars[0]));
        }

        for (size_t b = 0; b < blocks.size(); ++b) {
            for (const auto &bd : blocks.at(b).lowerBounds())
                problem.SetParameterLowerBound(&(blocks.at(b).vars[0]), bd.var, bd.value);
        }

        ceres::Solver::Options options;
        ceres::Solver::Summary summary;
        ceres::Solve(options, &problem, &summary);
        cout << i << endl;
    }
}

int main(int argc, char *argv[]) {
    google::InitGoogleLogging(argv[0]);
    vector<Block> blocks(32);
    run(20, blocks);
    return 0;
}

// Magic values!
vector<vector<double> > v1s = 
{ {3.0817489158798020e-02, -1.4639652781992274e-01, 2.5384337331345333e-02},
  {3.6416333288597572e-02, -1.4370318305552215e-01, 1.4599625998471710e-02},
  {5.9139959045658906e-02, -1.6027414824842132e-01, 4.6539090917746689e-02},
  {-7.7137836451530994e-04, -1.3403132909752880e-01, -4.1484586240324015e-02},
  {2.5560607024309095e-02, -1.2919253632002803e-01, 2.5832911869640728e-02},
  {3.2071237742699508e-02, -1.3022405189772818e-01, 2.7268453999170710e-02},
  {2.1622790894534089e-02, -1.2726778921938658e-01, -5.1173706653678992e-03},
  {4.0244356858828156e-02, -1.6130786507298731e-01, -1.1163660781301264e-02},
  {4.8788063640979901e-02, -1.8120846219081277e-01, -1.4565309498155628e-02},
  {5.5232208414017762e-02, -1.5704262740549430e-01, 2.4233785919737232e-02},
  {4.6104712366251126e-02, -2.0702534294091537e-01, -3.7053354995384750e-02},
  {0.0000000000000000e+00, -2.5045832979528465e-01, -8.1854068155362947e-02},
  {0.0000000000000000e+00, -1.3898004129056230e-01, 8.8575952321807663e-02},
  {1.3477835680895604e-02, -1.0174098641907151e-01, 4.2912726175510882e-02},
  {0.0000000000000000e+00, -3.8842425363172284e-02, 8.1837034481359830e-02},
  {0.0000000000000000e+00, -1.9230435386316186e-01, -1.1777727633638249e-01},
  {0.0000000000000000e+00, -1.2919253632002803e-01, 1.8577588501893672e-02},
  {0.0000000000000000e+00, -1.6130786507298731e-01, -1.2410881654559655e-02},
  {5.5232208414017762e-02, -2.0702534294091537e-01, 2.1209618255679089e-02},
  {2.1622790894534089e-02, -1.0174098641907151e-01, -1.4142330271570670e-02},
  {0.0000000000000000e+00, -1.4370318305552215e-01, 5.7972849897391376e-03},
  {2.5560607024309095e-02, -1.5704262740549430e-01, 1.0603850886092458e-02},
  {3.0817489158798020e-02, -1.3022405189772818e-01, -1.9981528724067402e-03},
  {0.0000000000000000e+00, -1.6380230681950408e-01, -3.2533060083973747e-02},
  {4.0244356858828156e-02, -1.6170222153671412e-01, -9.0840425621821694e-03},
  {3.6416333288597572e-02, -1.8120846219081277e-01, 2.7429309643678887e-03},
  {4.8788063640979901e-02, -1.4928171214915323e-01, -6.8398639621393004e-03},
  {4.6104712366251126e-02, -1.2521375949462860e-01, 3.8205731780906471e-03},
  {5.9139959045658906e-02, -2.5045832979528465e-01, 6.2406787592275942e-02},
  {3.2071237742699508e-02, -1.6027414824842132e-01, 2.2942846291737932e-02},
  {1.3477835680895604e-02, -1.3898004129056230e-01, 3.8507144358112630e-02},
  {-7.7137836451530994e-04, -3.8842425363172284e-02, -4.1432001268645366e-02} };

vector<vector<double> > v2s = 
{ {1.0603676351030047e+00,   -1.9821797140167170e+01,  4.2698931306173304e-17}, 
  {5.6935183941423795e-01,   -2.0952036543452198e+01,  5.7377285462306378e-17}, 
  {-8.8813039511212222e-01,  -1.5572692709906484e+01,  2.2862213501255789e-16}, 
  {4.9215594754148624e+00,   -2.7702822165808850e+01,  2.1351241181995114e-17}, 
  {1.4881530961183600e+00,   -2.8895795691536350e+01,  4.2698896770941251e-17}, 
  {7.7261568397273850e-01,   -2.8167259451299802e+01,  -1.0675352592850044e-17}, 
  {1.9438109265215457e+00,   -3.0331887148391719e+01,  0.0000000000000000e+00}, 
  {5.1134528154470149e-01,   -1.4796491124909133e+01,  -1.0675167676094421e-17}, 
  {2.5884991669862606e-01,   -1.0444103837535154e+01,  -1.0675151308821354e-17}, 
  {-6.0729046267177389e-01,  -1.6388132235232202e+01,  7.4720835987312826e-17}, 
  {5.2791651009406715e-01,   -6.9756939288785551e+00,  6.4057746169957302e-17}, 
  {1.6397218338183999e+00,   -4.5068363344240403e+00,  -9.6045084840126392e-17}, 
  {4.4903656911643113e+00,   -2.4826786375995109e+01,  3.8508571353500547e-16}, 
  {3.7227601674009030e+00,   -5.9717229830149542e+01,  1.0675014912059824e-17}, 
  {4.5388631239396545e+01,   -1.0493299676690988e+03,  -4.2707185199475057e-17}, 
  {2.5434916304734618e+00,   -9.6377021723256533e+00,  8.5438030089939855e-17}, 
  {5.1144674018812886e+00,   -3.0754613768451545e+01,  4.2699455345762322e-17}, 
  {3.4516035612843337e+00,   -1.6062626076064539e+01,  4.2701840996489685e-17}, 
  {2.2720224673857706e-01,   -6.9924100045584581e+00,  1.1741508636714041e-16}, 
  {1.9070342209621305e+00,   -5.9177200450192416e+01,  8.0067987927799027e-17}, 
  {4.2317777221540904e+00,   -2.2512678201071591e+01,  8.5399985896146723e-17}, 
  {1.4518488146156971e+00,   -1.6158244294372508e+01,  8.5398505717778069e-17}, 
  {9.1093611077442560e-01,   -2.8163859933753752e+01,  2.1350481237960489e-17}, 
  {3.3600165951024215e+00,   -1.5359958929341769e+01,  4.2703390019456474e-17}, 
  {5.1546092977785030e-01,   -1.4687752130561263e+01,  -8.5398973744921281e-17}, 
  {8.3229834968097360e-01,   -1.0439683645432424e+01,  4.2700674398446374e-17}, 
  {-3.0907582755895013e-01,  -1.8899119139130999e+01,  5.3376929702094496e-17}, 
  {-1.3480514777053112e+00,  -3.2431741303676304e+01,  -4.2701179686587152e-17}, 
  {3.2891299843734711e-01,   -3.9244573081873497e+00,  1.7072665182609013e-16}, 
  {1.0215084053935168e+00,   -1.5107863743949604e+01,  4.2699119273145233e-17}, 
  {2.6771252624695112e+00,   -2.3728381584139054e+01,  -4.2703849896809369e-17}, 
  {4.9915099046852518e+01,   -1.0484635916681621e+03,  4.2704075046392998e-17} };