mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 09:00:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
131 lines
4.2 KiB
C++
131 lines
4.2 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://ceres-solver.org/
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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: keir@google.com (Keir Mierle)
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//
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// Utility functions useful for testing.
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#include "ceres/test_util.h"
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#include <algorithm>
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#include <cmath>
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#include "ceres/file.h"
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#include "ceres/stringprintf.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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DECLARE_string(test_srcdir);
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// This macro is used to inject additional path information specific
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// to the build system.
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#ifndef CERES_TEST_SRCDIR_SUFFIX
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#define CERES_TEST_SRCDIR_SUFFIX ""
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#endif
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namespace ceres {
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namespace internal {
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bool ExpectClose(double x, double y, double max_abs_relative_difference) {
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double absolute_difference = fabs(x - y);
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double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
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if (x == 0 || y == 0) {
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// If x or y is exactly zero, then relative difference doesn't have any
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// meaning. Take the absolute difference instead.
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relative_difference = absolute_difference;
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}
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if (relative_difference > max_abs_relative_difference) {
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VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
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x, y, absolute_difference, relative_difference);
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}
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EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
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return relative_difference <= max_abs_relative_difference;
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}
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void ExpectArraysCloseUptoScale(int n,
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const double* p,
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const double* q,
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double tol) {
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CHECK_GT(n, 0);
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CHECK(p);
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CHECK(q);
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double p_max = 0;
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double q_max = 0;
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int p_i = 0;
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int q_i = 0;
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for (int i = 0; i < n; ++i) {
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if (std::abs(p[i]) > p_max) {
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p_max = std::abs(p[i]);
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p_i = i;
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}
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if (std::abs(q[i]) > q_max) {
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q_max = std::abs(q[i]);
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q_i = i;
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}
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}
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// If both arrays are all zeros, they are equal up to scale, but
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// for testing purposes, that's more likely to be an error than
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// a desired result.
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CHECK_NE(p_max, 0.0);
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CHECK_NE(q_max, 0.0);
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for (int i = 0; i < n; ++i) {
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double p_norm = p[i] / p[p_i];
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double q_norm = q[i] / q[q_i];
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EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
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}
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}
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void ExpectArraysClose(int n,
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const double* p,
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const double* q,
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double tol) {
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CHECK_GT(n, 0);
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CHECK(p);
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CHECK(q);
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for (int i = 0; i < n; ++i) {
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EXPECT_NEAR(p[i], q[i], tol) << "i=" << i;
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}
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}
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std::string TestFileAbsolutePath(const std::string& filename) {
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return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
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filename);
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}
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} // namespace internal
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} // namespace ceres
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