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Diffstat (limited to 'internal/ceres/test_util.cc')
-rw-r--r-- | internal/ceres/test_util.cc | 127 |
1 files changed, 127 insertions, 0 deletions
diff --git a/internal/ceres/test_util.cc b/internal/ceres/test_util.cc new file mode 100644 index 0000000..a3f67bd --- /dev/null +++ b/internal/ceres/test_util.cc @@ -0,0 +1,127 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 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) +// +// Utility functions useful for testing. + +#include <cmath> +#include "ceres/file.h" +#include "ceres/stringprintf.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 "" +#endif + +namespace ceres { +namespace internal { + +bool ExpectClose(double x, double y, double max_abs_relative_difference) { + 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_NEAR(p[i], q[i], tol) << "i=" << i; + } +} + +string TestFileAbsolutePath(const string& filename) { + return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX, + filename); +} + + +} // namespace internal +} // namespace ceres |