| // 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: keir@google.com (Keir Mierle) |
| |
| #ifndef CERES_INTERNAL_TEST_UTIL_H_ |
| #define CERES_INTERNAL_TEST_UTIL_H_ |
| |
| #include <string> |
| |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/problem.h" |
| #include "ceres/solver.h" |
| #include "ceres/stringprintf.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Expects that x and y have a relative difference of no more than |
| // max_abs_relative_difference. If either x or y is zero, then the relative |
| // difference is interpreted as an absolute difference. |
| // If x and y have the same non-finite value (inf or nan) we treat them as being |
| // close. In such a case no error is thrown and true is returned. |
| CERES_NO_EXPORT bool ExpectClose(double x, |
| double y, |
| double max_abs_relative_difference); |
| |
| // Expects that for all i = 1,.., n - 1 |
| // |
| // |p[i] - q[i]| / max(|p[i]|, |q[i]|) < tolerance |
| CERES_NO_EXPORT void ExpectArraysClose(int n, |
| const double* p, |
| const double* q, |
| double tolerance); |
| |
| // Expects that for all i = 1,.., n - 1 |
| // |
| // |p[i] / max_norm_p - q[i] / max_norm_q| < tolerance |
| // |
| // where max_norm_p and max_norm_q are the max norms of the arrays p |
| // and q respectively. |
| CERES_NO_EXPORT void ExpectArraysCloseUptoScale(int n, |
| const double* p, |
| const double* q, |
| double tolerance); |
| |
| // Construct a fully qualified path for the test file depending on the |
| // local build/testing environment. |
| CERES_NO_EXPORT std::string TestFileAbsolutePath(const std::string& filename); |
| |
| CERES_NO_EXPORT std::string ToString(const Solver::Options& options); |
| |
| // A templated test fixture, that is used for testing Ceres end to end |
| // by computing a solution to the problem for a given solver |
| // configuration and comparing it to a reference solver configuration. |
| // |
| // It is assumed that the SystemTestProblem has an Solver::Options |
| // struct that contains the reference Solver configuration. |
| template <typename SystemTestProblem> |
| class CERES_NO_EXPORT SystemTest : public ::testing::Test { |
| protected: |
| void SetUp() final { |
| SystemTestProblem system_test_problem; |
| SolveAndEvaluateFinalResiduals( |
| *system_test_problem.mutable_solver_options(), |
| system_test_problem.mutable_problem(), |
| &expected_final_residuals_); |
| } |
| |
| void RunSolverForConfigAndExpectResidualsMatch(const Solver::Options& options, |
| Problem* problem) { |
| std::vector<double> final_residuals; |
| SolveAndEvaluateFinalResiduals(options, problem, &final_residuals); |
| |
| // We compare solutions by comparing their residual vectors. We do |
| // not compare parameter vectors because it is much more brittle |
| // and error prone to do so, since the same problem can have |
| // nearly the same residuals at two completely different positions |
| // in parameter space. |
| CHECK_EQ(expected_final_residuals_.size(), final_residuals.size()); |
| for (int i = 0; i < final_residuals.size(); ++i) { |
| EXPECT_NEAR(final_residuals[i], |
| expected_final_residuals_[i], |
| SystemTestProblem::kResidualTolerance) |
| << "Not close enough residual:" << i; |
| } |
| } |
| |
| void SolveAndEvaluateFinalResiduals(const Solver::Options& options, |
| Problem* problem, |
| std::vector<double>* final_residuals) { |
| Solver::Summary summary; |
| Solve(options, problem, &summary); |
| CHECK_NE(summary.termination_type, ceres::FAILURE); |
| problem->Evaluate( |
| Problem::EvaluateOptions(), nullptr, final_residuals, nullptr, nullptr); |
| } |
| |
| std::vector<double> expected_final_residuals_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_TEST_UTIL_H_ |