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Diffstat (limited to 'internal/ceres/evaluator_test_utils.cc')
| -rw-r--r-- | internal/ceres/evaluator_test_utils.cc | 89 |
1 files changed, 89 insertions, 0 deletions
diff --git a/internal/ceres/evaluator_test_utils.cc b/internal/ceres/evaluator_test_utils.cc new file mode 100644 index 0000000..a09be2d --- /dev/null +++ b/internal/ceres/evaluator_test_utils.cc @@ -0,0 +1,89 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2013 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) +// sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/evaluator_test_utils.h" +#include "ceres/internal/eigen.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +void CompareEvaluations(int expected_num_rows, + int expected_num_cols, + double expected_cost, + const double* expected_residuals, + const double* expected_gradient, + const double* expected_jacobian, + const double actual_cost, + const double* actual_residuals, + const double* actual_gradient, + const double* actual_jacobian) { + EXPECT_EQ(expected_cost, actual_cost); + + if (expected_residuals != NULL) { + ConstVectorRef expected_residuals_vector(expected_residuals, + expected_num_rows); + ConstVectorRef actual_residuals_vector(actual_residuals, + expected_num_rows); + EXPECT_TRUE((actual_residuals_vector.array() == + expected_residuals_vector.array()).all()) + << "Actual:\n" << actual_residuals_vector + << "\nExpected:\n" << expected_residuals_vector; + } + + if (expected_gradient != NULL) { + ConstVectorRef expected_gradient_vector(expected_gradient, + expected_num_cols); + ConstVectorRef actual_gradient_vector(actual_gradient, + expected_num_cols); + + EXPECT_TRUE((actual_gradient_vector.array() == + expected_gradient_vector.array()).all()) + << "Actual:\n" << actual_gradient_vector.transpose() + << "\nExpected:\n" << expected_gradient_vector.transpose(); + } + + if (expected_jacobian != NULL) { + ConstMatrixRef expected_jacobian_matrix(expected_jacobian, + expected_num_rows, + expected_num_cols); + ConstMatrixRef actual_jacobian_matrix(actual_jacobian, + expected_num_rows, + expected_num_cols); + EXPECT_TRUE((actual_jacobian_matrix.array() == + expected_jacobian_matrix.array()).all()) + << "Actual:\n" << actual_jacobian_matrix + << "\nExpected:\n" << expected_jacobian_matrix; + } +} + +} // namespace internal +} // namespace ceres |