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https://github.com/ceres-solver/ceres-solver.git
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Sergiu Deitsch
2017abdf9e
Avoid debug-mode assertions from zero width normal distributions when optional perturbations are disabled. Change-Id: Ic078482a5f845ba3095ba4389a1bcdadf426944e
67 lines
2.7 KiB
C++
67 lines
2.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2026 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: sergiu.deitsch@gmail.com (Sergiu Deitsch)
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#include "bal_problem.h"
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#include <algorithm>
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#include <cmath>
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#include <vector>
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#include "gtest/gtest.h"
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namespace ceres::examples {
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namespace {
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TEST(BALProblem, PerturbsRotationWhenPointPerturbationIsDisabled) {
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constexpr const char* kProblemFile =
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CERES_TEST_DATA_DIR "/problem-16-22106-pre.txt";
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BALProblem baseline(kProblemFile, false);
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BALProblem problem(kProblemFile, false);
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const int num_camera_parameters =
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problem.num_cameras() * problem.camera_block_size();
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constexpr double kRotationSigma = 1.0;
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constexpr double kNoRotationSigma = 0.0;
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constexpr double kNoTranslationSigma = 0.0;
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constexpr double kNoPointSigma = 0.0;
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baseline.Perturb(kNoRotationSigma, kNoTranslationSigma, kNoPointSigma);
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problem.Perturb(kRotationSigma, kNoTranslationSigma, kNoPointSigma);
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double maximum_change = 0.0;
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for (int i = 0; i < num_camera_parameters; ++i) {
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maximum_change = std::max(
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maximum_change, std::abs(baseline.cameras()[i] - problem.cameras()[i]));
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}
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EXPECT_GT(maximum_change, 0.0);
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}
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} // namespace
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} // namespace ceres::examples
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