| // 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) |
| // |
| // Utility functions useful for testing. |
| |
| #include "ceres/test_util.h" |
| |
| #include <algorithm> |
| #include <cmath> |
| #include "ceres/file.h" |
| #include "ceres/stringprintf.h" |
| #include "ceres/types.h" |
| #include "gflags/gflags.h" |
| #include "glog/logging.h" |
| #include "gtest/gtest.h" |
| |
| DECLARE_string(test_srcdir); |
| |
| // This macro is used to inject additional path information specific |
| // to the build system. |
| |
| #ifndef CERES_TEST_SRCDIR_SUFFIX |
| #define CERES_TEST_SRCDIR_SUFFIX "" |
| #endif |
| |
| namespace ceres { |
| namespace internal { |
| |
| bool ExpectClose(double x, double y, double max_abs_relative_difference) { |
| double absolute_difference = fabs(x - y); |
| double relative_difference = absolute_difference / std::max(fabs(x), fabs(y)); |
| if (x == 0 || y == 0) { |
| // If x or y is exactly zero, then relative difference doesn't have any |
| // meaning. Take the absolute difference instead. |
| relative_difference = absolute_difference; |
| } |
| if (relative_difference > max_abs_relative_difference) { |
| VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g", |
| x, y, absolute_difference, relative_difference); |
| } |
| |
| EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference); |
| return relative_difference <= max_abs_relative_difference; |
| } |
| |
| void ExpectArraysCloseUptoScale(int n, |
| const double* p, |
| const double* q, |
| double tol) { |
| CHECK_GT(n, 0); |
| CHECK(p); |
| CHECK(q); |
| |
| double p_max = 0; |
| double q_max = 0; |
| int p_i = 0; |
| int q_i = 0; |
| |
| for (int i = 0; i < n; ++i) { |
| if (std::abs(p[i]) > p_max) { |
| p_max = std::abs(p[i]); |
| p_i = i; |
| } |
| if (std::abs(q[i]) > q_max) { |
| q_max = std::abs(q[i]); |
| q_i = i; |
| } |
| } |
| |
| // If both arrays are all zeros, they are equal up to scale, but |
| // for testing purposes, that's more likely to be an error than |
| // a desired result. |
| CHECK_NE(p_max, 0.0); |
| CHECK_NE(q_max, 0.0); |
| |
| for (int i = 0; i < n; ++i) { |
| double p_norm = p[i] / p[p_i]; |
| double q_norm = q[i] / q[q_i]; |
| |
| EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i; |
| } |
| } |
| |
| void ExpectArraysClose(int n, |
| const double* p, |
| const double* q, |
| double tol) { |
| CHECK_GT(n, 0); |
| CHECK(p); |
| CHECK(q); |
| |
| for (int i = 0; i < n; ++i) { |
| EXPECT_TRUE(ExpectClose(p[i], q[i], tol)) |
| << "p[" << i << "]" << p[i] << " " |
| << "q[" << i << "]" << q[i] << " " |
| << "tol: " << tol; |
| } |
| } |
| |
| std::string TestFileAbsolutePath(const std::string& filename) { |
| return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX, |
| filename); |
| } |
| |
| SolverConfig ThreadedSolverConfig( |
| LinearSolverType linear_solver_type, |
| SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, |
| bool use_automatic_ordering, |
| PreconditionerType preconditioner_type) { |
| const int kNumThreads = 4; |
| return SolverConfig(linear_solver_type, |
| sparse_linear_algebra_library_type, |
| use_automatic_ordering, |
| preconditioner_type, |
| kNumThreads); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |