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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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 "ceres/test_util.h"
#include <algorithm>
#include <cmath>
#include "ceres/file.h"
#include "ceres/internal/port.h"
#include "ceres/stringprintf.h"
#include "ceres/types.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) {
if (std::isinf(x) && std::isinf(y)) {
EXPECT_EQ(std::signbit(x), std::signbit(y));
return true;
}
if (std::isnan(x) && std::isnan(y)) {
return true;
}
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_TRUE(ExpectClose(p[i], q[i], tol)) << "p[" << i << "]" << p[i] << " "
<< "q[" << i << "]" << q[i] << " "
<< "tol: " << tol;
}
}
std::string TestFileAbsolutePath(const std::string& filename) {
return JoinPath(CERES_GET_FLAG(FLAGS_test_srcdir) + CERES_TEST_SRCDIR_SUFFIX,
filename);
}
std::string ToString(const Solver::Options& options) {
return StringPrintf("(%s, %s, %s, %s, %d)",
LinearSolverTypeToString(options.linear_solver_type),
SparseLinearAlgebraLibraryTypeToString(
options.sparse_linear_algebra_library_type),
options.linear_solver_ordering ? "USER" : "AUTOMATIC",
PreconditionerTypeToString(options.preconditioner_type),
options.num_threads);
}
} // namespace internal
} // namespace ceres
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