116 lines
3.3 KiB
C++
116 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://code.google.com/p/ceres-solver/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: vitus@google.com (Michael Vitus)
|
|
|
|
#include "ceres/householder_vector.h"
|
|
#include "ceres/internal/eigen.h"
|
|
#include "glog/logging.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
void HouseholderTestHelper(const Vector& x) {
|
|
const double kTolerance = 1e-14;
|
|
|
|
// Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
|
|
Vector v(x.rows());
|
|
double beta;
|
|
ComputeHouseholderVector(x, &v, &beta);
|
|
Vector result = x - beta * v * (v.transpose() * x);
|
|
|
|
Vector expected_result(x.rows());
|
|
expected_result.setZero();
|
|
expected_result(x.rows() - 1) = 1;
|
|
expected_result *= x.norm();
|
|
|
|
for (int i = 0; i < x.rows(); ++i) {
|
|
EXPECT_NEAR(expected_result[i], result[i], kTolerance);
|
|
}
|
|
}
|
|
|
|
TEST(HouseholderVector, ZeroPositive) {
|
|
Vector x(3);
|
|
x << 0.0, 0.0, 0.25;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, ZeroNegative) {
|
|
Vector x(3);
|
|
x << 0.0, 0.0, -0.25;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, NearZeroPositive) {
|
|
Vector x(3);
|
|
x << 1e-18, 1e-18, 0.25;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, NearZeroNegative) {
|
|
Vector x(3);
|
|
x << 1e-18, 1e-18, -0.25;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, NonZeroNegative) {
|
|
Vector x(3);
|
|
x << 1.0, 0.0, -3.0;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, NonZeroPositive) {
|
|
Vector x(3);
|
|
x << 1.0, 1.0, 1.0;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, NonZeroPositive_Size4) {
|
|
Vector x(4);
|
|
x << 1.0, 1.0, 0.0, 2.0;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
TEST(HouseholderVector, LastElementZero) {
|
|
Vector x(4);
|
|
x << 1.0, 1.0, 0.0, 0.0;
|
|
|
|
HouseholderTestHelper(x);
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|