| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/solver.h" |
| |
| #include <cmath> |
| #include <limits> |
| #include <memory> |
| #include <string> |
| #include <vector> |
| |
| #include "absl/log/log.h" |
| #include "ceres/autodiff_cost_function.h" |
| #include "ceres/evaluation_callback.h" |
| #include "ceres/manifold.h" |
| #include "ceres/problem.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/sized_cost_function.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres::internal { |
| |
| TEST(SolverOptions, DefaultTrustRegionOptionsAreValid) { |
| Solver::Options options; |
| options.minimizer_type = TRUST_REGION; |
| std::string error; |
| EXPECT_TRUE(options.IsValid(&error)) << error; |
| } |
| |
| TEST(SolverOptions, DefaultLineSearchOptionsAreValid) { |
| Solver::Options options; |
| options.minimizer_type = LINE_SEARCH; |
| std::string error; |
| EXPECT_TRUE(options.IsValid(&error)) << error; |
| } |
| |
| struct QuadraticCostFunctor { |
| template <typename T> |
| bool operator()(const T* const x, T* residual) const { |
| residual[0] = T(5.0) - *x; |
| return true; |
| } |
| |
| static CostFunction* Create() { |
| return new AutoDiffCostFunction<QuadraticCostFunctor, 1, 1>( |
| new QuadraticCostFunctor); |
| } |
| }; |
| |
| struct RememberingCallback : public IterationCallback { |
| explicit RememberingCallback(double* x) : calls(0), x(x) {} |
| CallbackReturnType operator()(const IterationSummary& summary) final { |
| x_values.push_back(*x); |
| return SOLVER_CONTINUE; |
| } |
| int calls; |
| double* x; |
| std::vector<double> x_values; |
| }; |
| |
| struct NoOpEvaluationCallback : EvaluationCallback { |
| void PrepareForEvaluation(bool evaluate_jacobians, |
| bool new_evaluation_point) final { |
| (void)evaluate_jacobians; |
| (void)new_evaluation_point; |
| } |
| }; |
| |
| TEST(Solver, UpdateStateEveryIterationOptionNoEvaluationCallback) { |
| double x = 50.0; |
| const double original_x = x; |
| |
| Problem::Options problem_options; |
| Problem problem(problem_options); |
| problem.AddResidualBlock(QuadraticCostFunctor::Create(), nullptr, &x); |
| |
| Solver::Options options; |
| options.linear_solver_type = DENSE_QR; |
| |
| RememberingCallback callback(&x); |
| options.callbacks.push_back(&callback); |
| |
| Solver::Summary summary; |
| |
| int num_iterations; |
| |
| // First: update_state_every_iteration=false, evaluation_callback=nullptr. |
| Solve(options, &problem, &summary); |
| num_iterations = |
| summary.num_successful_steps + summary.num_unsuccessful_steps; |
| EXPECT_GT(num_iterations, 1); |
| for (double value : callback.x_values) { |
| EXPECT_EQ(50.0, value); |
| } |
| |
| // Second: update_state_every_iteration=true, evaluation_callback=nullptr. |
| x = 50.0; |
| options.update_state_every_iteration = true; |
| callback.x_values.clear(); |
| Solve(options, &problem, &summary); |
| num_iterations = |
| summary.num_successful_steps + summary.num_unsuccessful_steps; |
| EXPECT_GT(num_iterations, 1); |
| EXPECT_EQ(original_x, callback.x_values[0]); |
| EXPECT_NE(original_x, callback.x_values[1]); |
| } |
| |
| TEST(Solver, UpdateStateEveryIterationOptionWithEvaluationCallback) { |
| double x = 50.0; |
| const double original_x = x; |
| |
| Problem::Options problem_options; |
| NoOpEvaluationCallback evaluation_callback; |
| problem_options.evaluation_callback = &evaluation_callback; |
| |
| Problem problem(problem_options); |
| problem.AddResidualBlock(QuadraticCostFunctor::Create(), nullptr, &x); |
| |
| Solver::Options options; |
| options.linear_solver_type = DENSE_QR; |
| RememberingCallback callback(&x); |
| options.callbacks.push_back(&callback); |
| |
| Solver::Summary summary; |
| |
| int num_iterations; |
| |
| // First: update_state_every_iteration=true, evaluation_callback=!nullptr. |
| x = 50.0; |
| options.update_state_every_iteration = true; |
| callback.x_values.clear(); |
| Solve(options, &problem, &summary); |
| num_iterations = |
| summary.num_successful_steps + summary.num_unsuccessful_steps; |
| EXPECT_GT(num_iterations, 1); |
| EXPECT_EQ(original_x, callback.x_values[0]); |
| EXPECT_NE(original_x, callback.x_values[1]); |
| |
| // Second: update_state_every_iteration=false, evaluation_callback=!nullptr. |
| x = 50.0; |
| options.update_state_every_iteration = false; |
| callback.x_values.clear(); |
| Solve(options, &problem, &summary); |
| num_iterations = |
| summary.num_successful_steps + summary.num_unsuccessful_steps; |
| EXPECT_GT(num_iterations, 1); |
| EXPECT_EQ(original_x, callback.x_values[0]); |
| EXPECT_NE(original_x, callback.x_values[1]); |
| } |
| |
| TEST(Solver, CantMixEvaluationCallbackWithInnerIterations) { |
| double x = 50.0; |
| double y = 60.0; |
| |
| Problem::Options problem_options; |
| NoOpEvaluationCallback evaluation_callback; |
| problem_options.evaluation_callback = &evaluation_callback; |
| |
| Problem problem(problem_options); |
| problem.AddResidualBlock(QuadraticCostFunctor::Create(), nullptr, &x); |
| problem.AddResidualBlock(QuadraticCostFunctor::Create(), nullptr, &y); |
| |
| Solver::Options options; |
| options.use_inner_iterations = true; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, FAILURE); |
| |
| options.use_inner_iterations = false; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| } |
| |
| // The parameters must be in separate blocks so that they can be individually |
| // set constant or not. |
| struct Quadratic4DCostFunction { |
| template <typename T> |
| bool operator()(const T* const x, |
| const T* const y, |
| const T* const z, |
| const T* const w, |
| T* residual) const { |
| // A 4-dimension axis-aligned quadratic. |
| residual[0] = T(10.0) - *x + T(20.0) - *y + T(30.0) - *z + T(40.0) - *w; |
| return true; |
| } |
| |
| static CostFunction* Create() { |
| return new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>( |
| new Quadratic4DCostFunction); |
| } |
| }; |
| |
| // A cost function that simply returns its argument. |
| class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| residuals[0] = parameters[0][0]; |
| if (jacobians != nullptr && jacobians[0] != nullptr) { |
| jacobians[0][0] = 1.0; |
| } |
| return true; |
| } |
| }; |
| |
| TEST(Solver, TrustRegionProblemHasNoParameterBlocks) { |
| Problem problem; |
| Solver::Options options; |
| options.minimizer_type = TRUST_REGION; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.message, |
| "Function tolerance reached. " |
| "No non-constant parameter blocks found."); |
| } |
| |
| TEST(Solver, LineSearchProblemHasNoParameterBlocks) { |
| Problem problem; |
| Solver::Options options; |
| options.minimizer_type = LINE_SEARCH; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.message, |
| "Function tolerance reached. " |
| "No non-constant parameter blocks found."); |
| } |
| |
| TEST(Solver, TrustRegionProblemHasZeroResiduals) { |
| Problem problem; |
| double x = 1; |
| problem.AddParameterBlock(&x, 1); |
| Solver::Options options; |
| options.minimizer_type = TRUST_REGION; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.message, |
| "Function tolerance reached. " |
| "No non-constant parameter blocks found."); |
| } |
| |
| TEST(Solver, LineSearchProblemHasZeroResiduals) { |
| Problem problem; |
| double x = 1; |
| problem.AddParameterBlock(&x, 1); |
| Solver::Options options; |
| options.minimizer_type = LINE_SEARCH; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.message, |
| "Function tolerance reached. " |
| "No non-constant parameter blocks found."); |
| } |
| |
| TEST(Solver, TrustRegionProblemIsConstant) { |
| Problem problem; |
| double x = 1; |
| problem.AddResidualBlock(new UnaryIdentityCostFunction, nullptr, &x); |
| problem.SetParameterBlockConstant(&x); |
| Solver::Options options; |
| options.minimizer_type = TRUST_REGION; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.initial_cost, 1.0 / 2.0); |
| EXPECT_EQ(summary.final_cost, 1.0 / 2.0); |
| } |
| |
| TEST(Solver, LineSearchProblemIsConstant) { |
| Problem problem; |
| double x = 1; |
| problem.AddResidualBlock(new UnaryIdentityCostFunction, nullptr, &x); |
| problem.SetParameterBlockConstant(&x); |
| Solver::Options options; |
| options.minimizer_type = LINE_SEARCH; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_EQ(summary.initial_cost, 1.0 / 2.0); |
| EXPECT_EQ(summary.final_cost, 1.0 / 2.0); |
| } |
| |
| template <int kNumResiduals, int... Ns> |
| class DummyCostFunction : public SizedCostFunction<kNumResiduals, Ns...> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const override { |
| for (int i = 0; i < kNumResiduals; ++i) { |
| residuals[i] = kNumResiduals * kNumResiduals + i; |
| } |
| |
| return true; |
| } |
| }; |
| |
| TEST(Solver, FixedCostForConstantProblem) { |
| double x = 1.0; |
| Problem problem; |
| problem.AddResidualBlock(new DummyCostFunction<2, 1>(), nullptr, &x); |
| problem.SetParameterBlockConstant(&x); |
| const double expected_cost = 41.0 / 2.0; // 1/2 * ((4 + 0)^2 + (4 + 1)^2) |
| Solver::Options options; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| EXPECT_TRUE(summary.IsSolutionUsable()); |
| EXPECT_EQ(summary.fixed_cost, expected_cost); |
| EXPECT_EQ(summary.initial_cost, expected_cost); |
| EXPECT_EQ(summary.final_cost, expected_cost); |
| EXPECT_EQ(summary.iterations.size(), 0); |
| } |
| |
| struct LinearCostFunction { |
| template <typename T> |
| bool operator()(const T* x, const T* y, T* residual) const { |
| residual[0] = T(10.0) - *x; |
| residual[1] = T(5.0) - *y; |
| return true; |
| } |
| static CostFunction* Create() { |
| return new AutoDiffCostFunction<LinearCostFunction, 2, 1, 1>( |
| new LinearCostFunction); |
| } |
| }; |
| |
| TEST(Solver, ZeroSizedManifoldHoldsParameterBlockConstant) { |
| double x = 0.0; |
| double y = 1.0; |
| Problem problem; |
| problem.AddResidualBlock(LinearCostFunction::Create(), nullptr, &x, &y); |
| problem.SetManifold(&y, new SubsetManifold(1, {0})); |
| EXPECT_TRUE(problem.IsParameterBlockConstant(&y)); |
| |
| Solver::Options options; |
| options.function_tolerance = 0.0; |
| options.gradient_tolerance = 0.0; |
| options.parameter_tolerance = 0.0; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| |
| EXPECT_EQ(summary.termination_type, CONVERGENCE); |
| EXPECT_NEAR(x, 10.0, 1e-7); |
| EXPECT_EQ(y, 1.0); |
| } |
| |
| TEST(Solver, DenseNormalCholeskyOptions) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = DENSE_NORMAL_CHOLESKY; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dense_linear_algebra_library_type = EIGEN; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| if (IsDenseLinearAlgebraLibraryTypeAvailable(LAPACK)) { |
| options.use_mixed_precision_solves = false; |
| options.dense_linear_algebra_library_type = LAPACK; |
| |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.use_mixed_precision_solves = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| options.use_mixed_precision_solves = false; |
| options.dense_linear_algebra_library_type = LAPACK; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| } |
| |
| TEST(Solver, DenseQrOptions) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = DENSE_QR; |
| |
| options.use_mixed_precision_solves = false; |
| options.dense_linear_algebra_library_type = EIGEN; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| if (IsDenseLinearAlgebraLibraryTypeAvailable(LAPACK)) { |
| options.use_mixed_precision_solves = false; |
| options.dense_linear_algebra_library_type = LAPACK; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } else { |
| options.use_mixed_precision_solves = false; |
| options.dense_linear_algebra_library_type = LAPACK; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| } |
| |
| TEST(Solver, SparseNormalCholeskyOptionsNoSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, SparseNormalCholeskyOptionsEigenSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| } |
| |
| #ifndef CERES_NO_EIGEN_METIS |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| } |
| #else |
| options.linear_solver_ordering_type = NESDIS; |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| #endif |
| } |
| |
| TEST(Solver, SparseNormalCholeskyOptionsSuiteSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| #ifndef CERES_NO_CHOLMOD_PARTITION |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| #else |
| options.linear_solver_ordering_type = NESDIS; |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| #endif |
| } |
| |
| TEST(Solver, SparseNormalCholeskyOptionsAccelerateSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| } |
| |
| TEST(Solver, DenseSchurOptions) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = DENSE_SCHUR; |
| options.dense_linear_algebra_library_type = EIGEN; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dense_linear_algebra_library_type = LAPACK; |
| if (IsDenseLinearAlgebraLibraryTypeAvailable( |
| options.dense_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| } |
| |
| TEST(Solver, SparseSchurOptionsNoSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_SCHUR; |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, SparseSchurOptionsEigenSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_SCHUR; |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| #ifndef CERES_NO_EIGEN_METIS |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| #else |
| options.linear_solver_ordering_type = NESDIS; |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| #endif |
| } |
| |
| TEST(Solver, SparseSchurOptionsSuiteSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_SCHUR; |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| #ifndef CERES_NO_CHOLMOD_PARTITION |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| #else |
| options.linear_solver_ordering_type = NESDIS; |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| #endif |
| } |
| |
| TEST(Solver, SparseSchurOptionsAccelerateSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = SPARSE_SCHUR; |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| options.linear_solver_ordering_type = AMD; |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| EXPECT_TRUE(options.IsValid(&message)); |
| } else { |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| options.linear_solver_ordering_type = NESDIS; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = false; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_mixed_precision_solves = true; |
| options.dynamic_sparsity = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| } |
| |
| TEST(Solver, CgnrOptionsIdentityPreconditioner) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = CGNR; |
| options.preconditioner_type = IDENTITY; |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = CUDA_SPARSE; |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable(CUDA_SPARSE)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, CgnrOptionsJacobiPreconditioner) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = CGNR; |
| options.preconditioner_type = JACOBI; |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = CUDA_SPARSE; |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable(CUDA_SPARSE)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, CgnrOptionsSubsetPreconditioner) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = CGNR; |
| options.preconditioner_type = SUBSET; |
| |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.residual_blocks_for_subset_preconditioner.insert(nullptr); |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| if (IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)) { |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_TRUE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| options.sparse_linear_algebra_library_type = CUDA_SPARSE; |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = true; |
| options.use_mixed_precision_solves = false; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.dynamic_sparsity = false; |
| options.use_mixed_precision_solves = true; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, CgnrOptionsSchurPreconditioners) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = CGNR; |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, IterativeSchurOptionsNoSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = ITERATIVE_SCHUR; |
| options.sparse_linear_algebra_library_type = NO_SPARSE; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = SUBSET; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_explicit_schur_complement = true; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, IterativeSchurOptionsEigenSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = ITERATIVE_SCHUR; |
| options.sparse_linear_algebra_library_type = EIGEN_SPARSE; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = SUBSET; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_explicit_schur_complement = true; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, IterativeSchurOptionsSuiteSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = ITERATIVE_SCHUR; |
| options.sparse_linear_algebra_library_type = SUITE_SPARSE; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = SUBSET; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_explicit_schur_complement = true; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| TEST(Solver, IterativeSchurOptionsAccelerateSparse) { |
| std::string message; |
| Solver::Options options; |
| options.linear_solver_type = ITERATIVE_SCHUR; |
| options.sparse_linear_algebra_library_type = ACCELERATE_SPARSE; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_EQ(options.IsValid(&message), |
| IsSparseLinearAlgebraLibraryTypeAvailable( |
| options.sparse_linear_algebra_library_type)); |
| options.preconditioner_type = SUBSET; |
| EXPECT_FALSE(options.IsValid(&message)); |
| |
| options.use_explicit_schur_complement = true; |
| options.preconditioner_type = IDENTITY; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = SCHUR_JACOBI; |
| EXPECT_TRUE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_JACOBI; |
| EXPECT_FALSE(options.IsValid(&message)); |
| options.preconditioner_type = CLUSTER_TRIDIAGONAL; |
| EXPECT_FALSE(options.IsValid(&message)); |
| } |
| |
| class LargeCostCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const override { |
| residuals[0] = 1e300; |
| if (jacobians && jacobians[0]) { |
| jacobians[0][0] = 1.0; |
| } |
| return true; |
| } |
| }; |
| |
| TEST(Solver, LargeCostProblem) { |
| double x = 1; |
| Problem problem; |
| problem.AddResidualBlock(new LargeCostCostFunction, nullptr, &x); |
| Solver::Options options; |
| Solver::Summary summary; |
| Solve(options, &problem, &summary); |
| LOG(INFO) << summary.FullReport(); |
| EXPECT_EQ(summary.termination_type, FAILURE); |
| } |
| |
| } // namespace ceres::internal |
