diff options
Diffstat (limited to 'internal/ceres/system_test.cc')
| -rw-r--r-- | internal/ceres/system_test.cc | 71 |
1 files changed, 40 insertions, 31 deletions
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc index 7b0e02d..be56f20 100644 --- a/internal/ceres/system_test.cc +++ b/internal/ceres/system_test.cc @@ -43,6 +43,8 @@ #include <cstdlib> #include <string> +#include "ceres/internal/port.h" + #include "ceres/autodiff_cost_function.h" #include "ceres/ordered_groups.h" #include "ceres/problem.h" @@ -63,9 +65,10 @@ const bool kUserOrdering = false; // Struct used for configuring the solver. struct SolverConfig { - SolverConfig(LinearSolverType linear_solver_type, - SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, - bool use_automatic_ordering) + SolverConfig( + LinearSolverType linear_solver_type, + SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, + bool use_automatic_ordering) : linear_solver_type(linear_solver_type), sparse_linear_algebra_library_type(sparse_linear_algebra_library_type), use_automatic_ordering(use_automatic_ordering), @@ -73,10 +76,11 @@ struct SolverConfig { num_threads(1) { } - SolverConfig(LinearSolverType linear_solver_type, - SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, - bool use_automatic_ordering, - PreconditionerType preconditioner_type) + SolverConfig( + LinearSolverType linear_solver_type, + SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, + bool use_automatic_ordering, + PreconditionerType preconditioner_type) : linear_solver_type(linear_solver_type), sparse_linear_algebra_library_type(sparse_linear_algebra_library_type), use_automatic_ordering(use_automatic_ordering), @@ -88,7 +92,8 @@ struct SolverConfig { return StringPrintf( "(%s, %s, %s, %s, %d)", LinearSolverTypeToString(linear_solver_type), - SparseLinearAlgebraLibraryTypeToString(sparse_linear_algebra_library_type), + SparseLinearAlgebraLibraryTypeToString( + sparse_linear_algebra_library_type), use_automatic_ordering ? "AUTOMATIC" : "USER", PreconditionerTypeToString(preconditioner_type), num_threads); @@ -137,8 +142,7 @@ void RunSolversAndCheckTheyMatch(const vector<SolverConfig>& configurations, options.num_linear_solver_threads = config.num_threads; if (config.use_automatic_ordering) { - delete options.linear_solver_ordering; - options.linear_solver_ordering = NULL; + options.linear_solver_ordering.reset(); } LOG(INFO) << "Running solver configuration: " @@ -157,7 +161,7 @@ void RunSolversAndCheckTheyMatch(const vector<SolverConfig>& configurations, NULL, NULL); - CHECK_NE(summary.termination_type, ceres::NUMERICAL_FAILURE) + CHECK_NE(summary.termination_type, ceres::FAILURE) << "Solver configuration " << i << " failed."; problems.push_back(system_test_problem); @@ -395,7 +399,7 @@ class BundleAdjustmentProblem { problem_.AddResidualBlock(cost_function, NULL, camera, point); } - options_.linear_solver_ordering = new ParameterBlockOrdering; + options_.linear_solver_ordering.reset(new ParameterBlockOrdering); // The points come before the cameras. for (int i = 0; i < num_points_; ++i) { @@ -491,40 +495,45 @@ TEST(SystemTest, BundleAdjustmentProblem) { ordering, \ preconditioner)) -#ifndef CERES_NO_SUITESPARSE - CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering, IDENTITY); - CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering, IDENTITY); - - CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY); - CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY); -#endif // CERES_NO_SUITESPARSE - -#ifndef CERES_NO_CXSPARSE - CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering, IDENTITY); - CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kUserOrdering, IDENTITY); -#endif // CERES_NO_CXSPARSE - CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY); CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY); CONFIGURE(CGNR, SUITE_SPARSE, kAutomaticOrdering, JACOBI); + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, JACOBI); + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, JACOBI); + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, SCHUR_JACOBI); + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, SCHUR_JACOBI); #ifndef CERES_NO_SUITESPARSE + CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering, IDENTITY); + + CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY); + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_JACOBI); CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_JACOBI); + + CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_TRIDIAGONAL); CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_TRIDIAGONAL); #endif // CERES_NO_SUITESPARSE - CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, JACOBI); - CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, SCHUR_JACOBI); +#ifndef CERES_NO_CXSPARSE + CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering, IDENTITY); -#ifndef CERES_NO_SUITESPARSE + CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kUserOrdering, IDENTITY); +#endif // CERES_NO_CXSPARSE - CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_JACOBI); - CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_TRIDIAGONAL); -#endif // CERES_NO_SUITESPARSE +#ifdef CERES_USE_EIGEN_SPARSE + CONFIGURE(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering, IDENTITY); + CONFIGURE(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering, IDENTITY); + CONFIGURE(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kUserOrdering, IDENTITY); +#endif // CERES_USE_EIGEN_SPARSE #undef CONFIGURE |