| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152 | // 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 ""#endifnamespace ceres {namespace internal {bool ExpectClose(double x, double y, double max_abs_relative_difference) {  if (std::isinf(x) && std::isinf(y)) {    EXPECT_EQ(std::signbit(x), std::signbit(y));    return true;  }  if (std::isnan(x) && std::isnan(y)) {    return true;  }  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(CERES_GET_FLAG(FLAGS_test_srcdir) + CERES_TEST_SRCDIR_SUFFIX,                  filename);}std::string ToString(const Solver::Options& options) {  return StringPrintf("(%s, %s, %s, %s, %d)",                      LinearSolverTypeToString(options.linear_solver_type),                      SparseLinearAlgebraLibraryTypeToString(                          options.sparse_linear_algebra_library_type),                      options.linear_solver_ordering ? "USER" : "AUTOMATIC",                      PreconditionerTypeToString(options.preconditioner_type),                      options.num_threads);}}  // namespace internal}  // namespace ceres
 |