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/residual_block_test.cc b/internal/ceres/residual_block_test.cc
index fddd44e..1e03e7d 100644
--- a/internal/ceres/residual_block_test.cc
+++ b/internal/ceres/residual_block_test.cc
@@ -105,12 +105,12 @@
// Verify cost-only evaluation.
double cost;
- residual_block.Evaluate(&cost, NULL, NULL, scratch);
+ residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
// Verify cost and residual evaluation.
double residuals[3];
- residual_block.Evaluate(&cost, residuals, NULL, scratch);
+ residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
@@ -134,7 +134,7 @@
jacobian_rz.data()
};
- residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
@@ -153,7 +153,7 @@
jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
- residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
@@ -244,12 +244,12 @@
// Verify cost-only evaluation.
double cost;
- residual_block.Evaluate(&cost, NULL, NULL, scratch);
+ residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
// Verify cost and residual evaluation.
double residuals[3];
- residual_block.Evaluate(&cost, residuals, NULL, scratch);
+ residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
@@ -273,7 +273,7 @@
jacobian_rz.data()
};
- residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
@@ -311,7 +311,7 @@
jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
- residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
EXPECT_EQ(0.0, residuals[0]);
EXPECT_EQ(1.0, residuals[1]);
