1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 // Author: keir@google.com (Keir Mierle)
30 //
31 // Utility functions useful for testing.
32
33 #include <algorithm>
34 #include <cmath>
35 #include "ceres/file.h"
36 #include "ceres/stringprintf.h"
37 #include "gflags/gflags.h"
38 #include "glog/logging.h"
39 #include "gtest/gtest.h"
40
41 DECLARE_string(test_srcdir);
42
43 // This macro is used to inject additional path information specific
44 // to the build system.
45
46 #ifndef CERES_TEST_SRCDIR_SUFFIX
47 #define CERES_TEST_SRCDIR_SUFFIX ""
48 #endif
49
50 namespace ceres {
51 namespace internal {
52
ExpectClose(double x,double y,double max_abs_relative_difference)53 bool ExpectClose(double x, double y, double max_abs_relative_difference) {
54 double absolute_difference = fabs(x - y);
55 double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
56 if (x == 0 || y == 0) {
57 // If x or y is exactly zero, then relative difference doesn't have any
58 // meaning. Take the absolute difference instead.
59 relative_difference = absolute_difference;
60 }
61 if (relative_difference > max_abs_relative_difference) {
62 VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
63 x, y, absolute_difference, relative_difference);
64 }
65
66 EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
67 return relative_difference <= max_abs_relative_difference;
68 }
69
ExpectArraysCloseUptoScale(int n,const double * p,const double * q,double tol)70 void ExpectArraysCloseUptoScale(int n,
71 const double* p,
72 const double* q,
73 double tol) {
74 CHECK_GT(n, 0);
75 CHECK(p);
76 CHECK(q);
77
78 double p_max = 0;
79 double q_max = 0;
80 int p_i = 0;
81 int q_i = 0;
82
83 for (int i = 0; i < n; ++i) {
84 if (std::abs(p[i]) > p_max) {
85 p_max = std::abs(p[i]);
86 p_i = i;
87 }
88 if (std::abs(q[i]) > q_max) {
89 q_max = std::abs(q[i]);
90 q_i = i;
91 }
92 }
93
94 // If both arrays are all zeros, they are equal up to scale, but
95 // for testing purposes, that's more likely to be an error than
96 // a desired result.
97 CHECK_NE(p_max, 0.0);
98 CHECK_NE(q_max, 0.0);
99
100 for (int i = 0; i < n; ++i) {
101 double p_norm = p[i] / p[p_i];
102 double q_norm = q[i] / q[q_i];
103
104 EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
105 }
106 }
107
ExpectArraysClose(int n,const double * p,const double * q,double tol)108 void ExpectArraysClose(int n,
109 const double* p,
110 const double* q,
111 double tol) {
112 CHECK_GT(n, 0);
113 CHECK(p);
114 CHECK(q);
115
116 for (int i = 0; i < n; ++i) {
117 EXPECT_NEAR(p[i], q[i], tol) << "i=" << i;
118 }
119 }
120
TestFileAbsolutePath(const string & filename)121 string TestFileAbsolutePath(const string& filename) {
122 return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
123 filename);
124 }
125
126
127 } // namespace internal
128 } // namespace ceres
129