144 lines
4.7 KiB
C++
144 lines
4.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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//
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// Utility functions useful for testing.
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#include "ceres/test_util.h"
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#include <algorithm>
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#include <cmath>
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#include "ceres/file.h"
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#include "ceres/stringprintf.h"
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#include "ceres/types.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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DECLARE_string(test_srcdir);
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// This macro is used to inject additional path information specific
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// to the build system.
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#ifndef CERES_TEST_SRCDIR_SUFFIX
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#define CERES_TEST_SRCDIR_SUFFIX ""
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#endif
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namespace ceres {
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namespace internal {
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bool ExpectClose(double x, double y, double max_abs_relative_difference) {
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double absolute_difference = fabs(x - y);
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double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
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if (x == 0 || y == 0) {
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// If x or y is exactly zero, then relative difference doesn't have any
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// meaning. Take the absolute difference instead.
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relative_difference = absolute_difference;
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}
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if (relative_difference > max_abs_relative_difference) {
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VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
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x, y, absolute_difference, relative_difference);
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}
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EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
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return relative_difference <= max_abs_relative_difference;
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}
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void ExpectArraysCloseUptoScale(int n,
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const double* p,
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const double* q,
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double tol) {
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CHECK_GT(n, 0);
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CHECK(p);
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CHECK(q);
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double p_max = 0;
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double q_max = 0;
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int p_i = 0;
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int q_i = 0;
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for (int i = 0; i < n; ++i) {
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if (std::abs(p[i]) > p_max) {
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p_max = std::abs(p[i]);
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p_i = i;
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}
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if (std::abs(q[i]) > q_max) {
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q_max = std::abs(q[i]);
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q_i = i;
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}
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}
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// If both arrays are all zeros, they are equal up to scale, but
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// for testing purposes, that's more likely to be an error than
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// a desired result.
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CHECK_NE(p_max, 0.0);
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CHECK_NE(q_max, 0.0);
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for (int i = 0; i < n; ++i) {
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double p_norm = p[i] / p[p_i];
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double q_norm = q[i] / q[q_i];
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EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
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}
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}
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void ExpectArraysClose(int n,
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const double* p,
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const double* q,
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double tol) {
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CHECK_GT(n, 0);
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CHECK(p);
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CHECK(q);
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for (int i = 0; i < n; ++i) {
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EXPECT_NEAR(p[i], q[i], tol) << "i=" << i;
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}
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}
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std::string TestFileAbsolutePath(const std::string& filename) {
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return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
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filename);
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}
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SolverConfig ThreadedSolverConfig(
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LinearSolverType linear_solver_type,
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SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
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bool use_automatic_ordering,
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PreconditionerType preconditioner_type) {
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const int kNumThreads = 4;
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return SolverConfig(linear_solver_type,
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sparse_linear_algebra_library_type,
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use_automatic_ordering,
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preconditioner_type,
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kNumThreads);
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}
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} // namespace internal
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} // namespace ceres
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