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Diffstat (limited to 'internal/ceres/unsymmetric_linear_solver_test.cc')
-rw-r--r-- | internal/ceres/unsymmetric_linear_solver_test.cc | 139 |
1 files changed, 139 insertions, 0 deletions
diff --git a/internal/ceres/unsymmetric_linear_solver_test.cc b/internal/ceres/unsymmetric_linear_solver_test.cc new file mode 100644 index 0000000..0b0d593 --- /dev/null +++ b/internal/ceres/unsymmetric_linear_solver_test.cc @@ -0,0 +1,139 @@ +// 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: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/casts.h" +#include "ceres/compressed_row_sparse_matrix.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/linear_least_squares_problems.h" +#include "ceres/linear_solver.h" +#include "ceres/triplet_sparse_matrix.h" +#include "ceres/types.h" +#include "glog/logging.h" +#include "gtest/gtest.h" + + +namespace ceres { +namespace internal { + +class UnsymmetricLinearSolverTest : public ::testing::Test { + protected : + virtual void SetUp() { + scoped_ptr<LinearLeastSquaresProblem> problem( + CreateLinearLeastSquaresProblemFromId(0)); + + CHECK_NOTNULL(problem.get()); + A_.reset(down_cast<TripletSparseMatrix*>(problem->A.release())); + b_.reset(problem->b.release()); + D_.reset(problem->D.release()); + sol_unregularized_.reset(problem->x.release()); + sol_regularized_.reset(problem->x_D.release()); + } + + void TestSolver( + LinearSolverType linear_solver_type, + SparseLinearAlgebraLibraryType sparse_linear_algebra_library) { + LinearSolver::Options options; + options.type = linear_solver_type; + options.sparse_linear_algebra_library = sparse_linear_algebra_library; + options.use_block_amd = false; + scoped_ptr<LinearSolver> solver(LinearSolver::Create(options)); + + LinearSolver::PerSolveOptions per_solve_options; + LinearSolver::Summary unregularized_solve_summary; + LinearSolver::Summary regularized_solve_summary; + Vector x_unregularized(A_->num_cols()); + Vector x_regularized(A_->num_cols()); + + scoped_ptr<SparseMatrix> transformed_A; + + if (linear_solver_type == DENSE_QR || + linear_solver_type == DENSE_NORMAL_CHOLESKY) { + transformed_A.reset(new DenseSparseMatrix(*A_)); + } else if (linear_solver_type == SPARSE_NORMAL_CHOLESKY) { + transformed_A.reset(new CompressedRowSparseMatrix(*A_)); + } else { + LOG(FATAL) << "Unknown linear solver : " << linear_solver_type; + } + // Unregularized + unregularized_solve_summary = + solver->Solve(transformed_A.get(), + b_.get(), + per_solve_options, + x_unregularized.data()); + + // Regularized solution + per_solve_options.D = D_.get(); + regularized_solve_summary = + solver->Solve(transformed_A.get(), + b_.get(), + per_solve_options, + x_regularized.data()); + + EXPECT_EQ(unregularized_solve_summary.termination_type, TOLERANCE); + + for (int i = 0; i < A_->num_cols(); ++i) { + EXPECT_NEAR(sol_unregularized_[i], x_unregularized[i], 1e-8); + } + + EXPECT_EQ(regularized_solve_summary.termination_type, TOLERANCE); + for (int i = 0; i < A_->num_cols(); ++i) { + EXPECT_NEAR(sol_regularized_[i], x_regularized[i], 1e-8); + } + } + + scoped_ptr<TripletSparseMatrix> A_; + scoped_array<double> b_; + scoped_array<double> D_; + scoped_array<double> sol_unregularized_; + scoped_array<double> sol_regularized_; +}; + +TEST_F(UnsymmetricLinearSolverTest, DenseQR) { + TestSolver(DENSE_QR, SUITE_SPARSE); +} + +TEST_F(UnsymmetricLinearSolverTest, DenseNormalCholesky) { + TestSolver(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE); +} + +#ifndef CERES_NO_SUITESPARSE +TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingSuiteSparse) { + TestSolver(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE); +} +#endif + +#ifndef CERES_NO_CXSPARSE +TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingCXSparse) { + TestSolver(SPARSE_NORMAL_CHOLESKY, CX_SPARSE); +} +#endif + +} // namespace internal +} // namespace ceres |