| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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/port.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. |
| 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 |
| 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. |
| 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. |
| std::string TestFileAbsolutePath(const std::string& filename); |
| |
| // Struct used for configuring the solver. Used by end-to-end tests. |
| struct SolverConfig { |
| SolverConfig( |
| LinearSolverType linear_solver_type, |
| SparseLinearAlgebraLibraryType |
| sparse_linear_algebra_library_type = NO_SPARSE, |
| bool use_automatic_ordering = true, |
| PreconditionerType preconditioner_type = IDENTITY, |
| int num_threads = 1) |
| : linear_solver_type(linear_solver_type), |
| sparse_linear_algebra_library_type(sparse_linear_algebra_library_type), |
| use_automatic_ordering(use_automatic_ordering), |
| preconditioner_type(preconditioner_type), |
| num_threads(num_threads) { |
| } |
| |
| std::string ToString() const { |
| return StringPrintf( |
| "(%s, %s, %s, %s, %d)", |
| LinearSolverTypeToString(linear_solver_type), |
| SparseLinearAlgebraLibraryTypeToString( |
| sparse_linear_algebra_library_type), |
| use_automatic_ordering ? "AUTOMATIC" : "USER", |
| PreconditionerTypeToString(preconditioner_type), |
| num_threads); |
| } |
| |
| void UpdateOptions(Solver::Options* options) const { |
| options->linear_solver_type = linear_solver_type; |
| options->sparse_linear_algebra_library_type = |
| sparse_linear_algebra_library_type; |
| options->preconditioner_type = preconditioner_type; |
| options->num_threads = num_threads; |
| if (use_automatic_ordering) { |
| options->linear_solver_ordering.reset(); |
| } |
| } |
| |
| LinearSolverType linear_solver_type; |
| SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type; |
| bool use_automatic_ordering; |
| PreconditionerType preconditioner_type; |
| int num_threads; |
| }; |
| |
| SolverConfig ThreadedSolverConfig( |
| LinearSolverType linear_solver_type, |
| SparseLinearAlgebraLibraryType |
| sparse_linear_algebra_library_type = NO_SPARSE, |
| bool use_automatic_ordering = true, |
| PreconditionerType preconditioner_type = IDENTITY); |
| |
| // 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 <class SystemTestProblem> |
| class SystemTest : public::testing::Test { |
| protected: |
| virtual void SetUp() { |
| SystemTestProblem system_test_problem; |
| SolveAndEvaluateFinalResiduals( |
| *system_test_problem.mutable_solver_options(), |
| system_test_problem.mutable_problem(), |
| &expected_final_residuals_); |
| } |
| |
| void RunSolverForConfigAndExpectResidualsMatch(const SolverConfig& config) { |
| LOG(INFO) << "Running solver configuration: " |
| << config.ToString(); |
| |
| SystemTestProblem system_test_problem; |
| config.UpdateOptions(system_test_problem.mutable_solver_options()); |
| std::vector<double> final_residuals; |
| SolveAndEvaluateFinalResiduals( |
| *system_test_problem.mutable_solver_options(), |
| system_test_problem.mutable_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(), |
| NULL, |
| final_residuals, |
| NULL, |
| NULL); |
| } |
| |
| std::vector<double> expected_final_residuals_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_TEST_UTIL_H_ |