mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
41675682dc
A recent change made this function templated and MSVC 16 has trouble doing automatic argument deduction, so the type of the template is simplified and all callsites are explicitly annotated with the type of the arguments. Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d
120 lines
3.5 KiB
C++
120 lines
3.5 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: vitus@google.com (Michael Vitus)
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#include "ceres/internal/householder_vector.h"
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#include "ceres/internal/eigen.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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static void HouseholderTestHelper(const Vector& x) {
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const double kTolerance = 1e-14;
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// Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
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Vector v(x.rows());
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double beta;
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// NOTE: The explicit template arguments are needed here because
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// ComputeHouseholderVector is templated and some versions of MSVC
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// have trouble deducing the type of v automatically.
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ComputeHouseholderVector<Vector, double, Eigen::Dynamic>(x, &v, &beta);
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Vector result = x - beta * v * (v.transpose() * x);
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Vector expected_result(x.rows());
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expected_result.setZero();
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expected_result(x.rows() - 1) = 1;
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expected_result *= x.norm();
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for (int i = 0; i < x.rows(); ++i) {
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EXPECT_NEAR(expected_result[i], result[i], kTolerance);
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}
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}
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TEST(HouseholderVector, ZeroPositive) {
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Vector x(3);
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x << 0.0, 0.0, 0.25;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, ZeroNegative) {
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Vector x(3);
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x << 0.0, 0.0, -0.25;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, NearZeroPositive) {
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Vector x(3);
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x << 1e-18, 1e-18, 0.25;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, NearZeroNegative) {
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Vector x(3);
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x << 1e-18, 1e-18, -0.25;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, NonZeroNegative) {
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Vector x(3);
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x << 1.0, 0.0, -3.0;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, NonZeroPositive) {
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Vector x(3);
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x << 1.0, 1.0, 1.0;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, NonZeroPositive_Size4) {
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Vector x(4);
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x << 1.0, 1.0, 0.0, 2.0;
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HouseholderTestHelper(x);
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}
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TEST(HouseholderVector, LastElementZero) {
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Vector x(4);
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x << 1.0, 1.0, 0.0, 0.0;
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HouseholderTestHelper(x);
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}
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} // namespace internal
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} // namespace ceres
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