Simplify integration tests.
1. Remove SolverConfig, this was a wrapper
around Solver::Options. As we experiment
with more Solver::Options, it became a hurdle.
2. Updated generate_bundle_adjustment_tests.py to use
Solver::Options directly.
3. Update system_test to use Solver::Options.
NOTE: generate_bundle_adjustment_tests.py changes are a bit
gunky, but I tried to minimize the changes in this CL
as I am going to introduce new test cases and that
is going to significantly change this file.
Change-Id: I34a2f51824b04ef368a5bbe54fbd7b281381909e
diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py
index dcac22a..b36cf66 100644
--- a/internal/ceres/generate_bundle_adjustment_tests.py
+++ b/internal/ceres/generate_bundle_adjustment_tests.py
@@ -37,7 +37,9 @@
# Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
# tests to generate.
ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
-THREAD_CONFIGS = ["SolverConfig", "ThreadedSolverConfig"]
+SINGLE_THREADED = "1"
+MULTI_THREADED = "4"
+THREAD_CONFIGS = [SINGLE_THREADED, MULTI_THREADED]
SOLVER_CONFIGS = [
# Linear solver Sparse backend Preconditioner
@@ -70,8 +72,6 @@
CLUSTER_TRIDIAGONAL='clusttri',
kAutomaticOrdering='auto',
kUserOrdering='user',
- SolverConfig='', # Omit references to threads for single threaded tests.
- ThreadedSolverConfig='threads',
)
COPYRIGHT_HEADER = (
@@ -121,12 +121,15 @@
TEST_F(BundleAdjustmentTest,
%(test_class_name)s) { // NOLINT
- RunSolverForConfigAndExpectResidualsMatch(
- %(thread_config)s(
- %(linear_solver)s,
- %(sparse_backend)s,
- %(ordering)s,
- %(preconditioner)s));
+ Solver::Options options = *BundleAdjustmentProblem().mutable_solver_options();
+ options.num_threads = %(num_threads)s;
+ options.linear_solver_type = %(linear_solver)s;
+ options.sparse_linear_algebra_library_type = %(sparse_backend)s;
+ options.preconditioner_type = %(preconditioner)s;
+ if (%(ordering)s) {
+ options.linear_solver_ordering.reset();
+ }
+ RunSolverForConfigAndExpectResidualsMatch(options);
}
} // namespace internal
@@ -134,7 +137,6 @@
%(preprocessor_conditions_end)s
""")
-
def camelcasify(token):
"""Convert capitalized underscore tokens to camel case"""
return ''.join([x.lower().capitalize() for x in token.split('_')])
@@ -163,7 +165,7 @@
camelcasify(sparse_backend_tag),
camelcasify(preconditioner_tag),
ordering[1:], # Strip 'k'
- 'Threads' if thread_config == 'ThreadedSolverConfig' else '']))
+ 'Threads' if thread_config == MULTI_THREADED else '']))
# Initial template parameters (augmented more below).
template_parameters = dict(
@@ -171,7 +173,7 @@
sparse_backend=sparse_backend,
preconditioner=preconditioner,
ordering=ordering,
- thread_config=thread_config,
+ num_threads=thread_config,
test_class_name=test_class_name)
# Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
@@ -188,7 +190,7 @@
preprocessor_conditions_end.insert(0, '#endif // CERES_USE_EIGEN_SPARSE')
# Accumulate appropriate #ifdef/#ifndefs for threading conditions.
- if thread_config == 'ThreadedSolverConfig':
+ if thread_config == MULTI_THREADED:
preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_THREADS')
@@ -210,11 +212,13 @@
linear_solver,
sparse_backend_tag,
preconditioner_tag,
- ordering,
- thread_config]
+ ordering]
if FILENAME_SHORTENING_MAP.get(x))
+ if (thread_config == MULTI_THREADED):
+ filename_tag += '_threads'
+
filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
- filename_tag.lower())
+ filename_tag.lower())
with open(filename, 'w') as fd:
fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)
@@ -245,4 +249,3 @@
for generated_file in generated_files:
fd.write('ceres_test(%s)\n' %
generated_file.split('/')[1].replace('_test.cc', ''))
-
