diff options
Diffstat (limited to 'internal/ceres/evaluator_test.cc')
| -rw-r--r-- | internal/ceres/evaluator_test.cc | 71 |
1 files changed, 49 insertions, 22 deletions
diff --git a/internal/ceres/evaluator_test.cc b/internal/ceres/evaluator_test.cc index ea24504..c0de3fc 100644 --- a/internal/ceres/evaluator_test.cc +++ b/internal/ceres/evaluator_test.cc @@ -44,6 +44,7 @@ #include "ceres/program.h" #include "ceres/sized_cost_function.h" #include "ceres/sparse_matrix.h" +#include "ceres/stringprintf.h" #include "ceres/types.h" #include "gtest/gtest.h" @@ -91,18 +92,42 @@ class ParameterIgnoringCostFunction } }; +struct EvaluatorTestOptions { + EvaluatorTestOptions(LinearSolverType linear_solver_type, + int num_eliminate_blocks, + bool dynamic_sparsity = false) + : linear_solver_type(linear_solver_type), + num_eliminate_blocks(num_eliminate_blocks), + dynamic_sparsity(dynamic_sparsity) {} + + LinearSolverType linear_solver_type; + int num_eliminate_blocks; + bool dynamic_sparsity; +}; + struct EvaluatorTest - : public ::testing::TestWithParam<pair<LinearSolverType, int> > { + : public ::testing::TestWithParam<EvaluatorTestOptions> { Evaluator* CreateEvaluator(Program* program) { // This program is straight from the ProblemImpl, and so has no index/offset // yet; compute it here as required by the evalutor implementations. program->SetParameterOffsetsAndIndex(); - VLOG(1) << "Creating evaluator with type: " << GetParam().first - << " and num_eliminate_blocks: " << GetParam().second; + if (VLOG_IS_ON(1)) { + string report; + StringAppendF(&report, "Creating evaluator with type: %d", + GetParam().linear_solver_type); + if (GetParam().linear_solver_type == SPARSE_NORMAL_CHOLESKY) { + StringAppendF(&report, ", dynamic_sparsity: %d", + GetParam().dynamic_sparsity); + } + StringAppendF(&report, " and num_eliminate_blocks: %d", + GetParam().num_eliminate_blocks); + VLOG(1) << report; + } Evaluator::Options options; - options.linear_solver_type = GetParam().first; - options.num_eliminate_blocks = GetParam().second; + options.linear_solver_type = GetParam().linear_solver_type; + options.num_eliminate_blocks = GetParam().num_eliminate_blocks; + options.dynamic_sparsity = GetParam().dynamic_sparsity; string error; return Evaluator::Create(options, program, &error); } @@ -517,23 +542,25 @@ TEST_P(EvaluatorTest, EvaluatorAbortsForResidualsThatFailToEvaluate) { INSTANTIATE_TEST_CASE_P( LinearSolvers, EvaluatorTest, - ::testing::Values(make_pair(DENSE_QR, 0), - make_pair(DENSE_SCHUR, 0), - make_pair(DENSE_SCHUR, 1), - make_pair(DENSE_SCHUR, 2), - make_pair(DENSE_SCHUR, 3), - make_pair(DENSE_SCHUR, 4), - make_pair(SPARSE_SCHUR, 0), - make_pair(SPARSE_SCHUR, 1), - make_pair(SPARSE_SCHUR, 2), - make_pair(SPARSE_SCHUR, 3), - make_pair(SPARSE_SCHUR, 4), - make_pair(ITERATIVE_SCHUR, 0), - make_pair(ITERATIVE_SCHUR, 1), - make_pair(ITERATIVE_SCHUR, 2), - make_pair(ITERATIVE_SCHUR, 3), - make_pair(ITERATIVE_SCHUR, 4), - make_pair(SPARSE_NORMAL_CHOLESKY, 0))); + ::testing::Values( + EvaluatorTestOptions(DENSE_QR, 0), + EvaluatorTestOptions(DENSE_SCHUR, 0), + EvaluatorTestOptions(DENSE_SCHUR, 1), + EvaluatorTestOptions(DENSE_SCHUR, 2), + EvaluatorTestOptions(DENSE_SCHUR, 3), + EvaluatorTestOptions(DENSE_SCHUR, 4), + EvaluatorTestOptions(SPARSE_SCHUR, 0), + EvaluatorTestOptions(SPARSE_SCHUR, 1), + EvaluatorTestOptions(SPARSE_SCHUR, 2), + EvaluatorTestOptions(SPARSE_SCHUR, 3), + EvaluatorTestOptions(SPARSE_SCHUR, 4), + EvaluatorTestOptions(ITERATIVE_SCHUR, 0), + EvaluatorTestOptions(ITERATIVE_SCHUR, 1), + EvaluatorTestOptions(ITERATIVE_SCHUR, 2), + EvaluatorTestOptions(ITERATIVE_SCHUR, 3), + EvaluatorTestOptions(ITERATIVE_SCHUR, 4), + EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, false), + EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, true))); // Simple cost function used to check if the evaluator is sensitive to // state changes. |