Evaluate ResidualBlocks without LossFunction if needed.
1. Add the ability to evaluate the problem without loss function.
2. Remove static Evaluator::Evaluate
3. Refactor the common code from problem_test.cc and
evaluator_test.cc into evaluator_test_utils.cc
Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
index 888eb7c..5f3bc94 100644
--- a/internal/ceres/problem_test.cc
+++ b/internal/ceres/problem_test.cc
@@ -35,6 +35,7 @@
#include "ceres/casts.h"
#include "ceres/cost_function.h"
#include "ceres/crs_matrix.h"
+#include "ceres/evaluator_test_utils.cc"
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/local_parameterization.h"
@@ -46,7 +47,6 @@
#include "ceres/types.h"
#include "gtest/gtest.h"
-
namespace ceres {
namespace internal {
@@ -703,71 +703,6 @@
// Test for Problem::Evaluate
-// TODO(sameeragarwal): The following struct and function are shared
-// with evaluator_test.cc. Once things settle down, do an
-// evaluate_utils.h or some such thing to reduce code duplication. The
-// best time is perhaps when we remove the support for
-// Solver::Summary::initial_*
-struct ExpectedEvaluation {
- int num_rows;
- int num_cols;
- double cost;
- const double residuals[50];
- const double gradient[50];
- const double jacobian[200];
-};
-
-void CompareEvaluations(int expected_num_rows,
- int expected_num_cols,
- double expected_cost,
- const double* expected_residuals,
- const double* expected_gradient,
- const double* expected_jacobian,
- const double actual_cost,
- const double* actual_residuals,
- const double* actual_gradient,
- const double* actual_jacobian) {
- EXPECT_EQ(expected_cost, actual_cost);
-
- if (expected_residuals != NULL) {
- ConstVectorRef expected_residuals_vector(expected_residuals,
- expected_num_rows);
- ConstVectorRef actual_residuals_vector(actual_residuals,
- expected_num_rows);
- EXPECT_TRUE((actual_residuals_vector.array() ==
- expected_residuals_vector.array()).all())
- << "Actual:\n" << actual_residuals_vector
- << "\nExpected:\n" << expected_residuals_vector;
- }
-
- if (expected_gradient != NULL) {
- ConstVectorRef expected_gradient_vector(expected_gradient,
- expected_num_cols);
- ConstVectorRef actual_gradient_vector(actual_gradient,
- expected_num_cols);
-
- EXPECT_TRUE((actual_gradient_vector.array() ==
- expected_gradient_vector.array()).all())
- << "Actual:\n" << actual_gradient_vector.transpose()
- << "\nExpected:\n" << expected_gradient_vector.transpose();
- }
-
- if (expected_jacobian != NULL) {
- ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
- expected_num_rows,
- expected_num_cols);
- ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
- expected_num_rows,
- expected_num_cols);
- EXPECT_TRUE((actual_jacobian_matrix.array() ==
- expected_jacobian_matrix.array()).all())
- << "Actual:\n" << actual_jacobian_matrix
- << "\nExpected:\n" << expected_jacobian_matrix;
- }
-}
-
-// Simple cost function used for testing Problem::Evaluate.
-//
// r_i = i - (j + 1) * x_ij^2
template <int kNumResiduals, int kNumParameterBlocks>
class QuadraticCostFunction : public CostFunction {
