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 <cmath>
34 #include "ceres/file.h"
35 #include "ceres/stringprintf.h"
36 #include "gflags/gflags.h"
37 #include "glog/logging.h"
38 #include "gtest/gtest.h"
39
40 DECLARE_string(test_srcdir);
41
42 // This macro is used to inject additional path information specific
43 // to the build system.
44
45 #ifndef CERES_TEST_SRCDIR_SUFFIX
46 #define CERES_TEST_SRCDIR_SUFFIX ""
47 #endif
48
49 namespace ceres {
50 namespace internal {
51
ExpectClose(double x,double y,double max_abs_relative_difference)52 bool ExpectClose(double x, double y, double max_abs_relative_difference) {
53 double absolute_difference = fabs(x - y);
54 double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
55 if (x == 0 || y == 0) {
56 // If x or y is exactly zero, then relative difference doesn't have any
57 // meaning. Take the absolute difference instead.
58 relative_difference = absolute_difference;
59 }
60 if (relative_difference > max_abs_relative_difference) {
61 VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
62 x, y, absolute_difference, relative_difference);
63 }
64
65 EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
66 return relative_difference <= max_abs_relative_difference;
67 }
68
ExpectArraysCloseUptoScale(int n,const double * p,const double * q,double tol)69 void ExpectArraysCloseUptoScale(int n,
70 const double* p,
71 const double* q,
72 double tol) {
73 CHECK_GT(n, 0);
74 CHECK(p);
75 CHECK(q);
76
77 double p_max = 0;
78 double q_max = 0;
79 int p_i = 0;
80 int q_i = 0;
81
82 for (int i = 0; i < n; ++i) {
83 if (std::abs(p[i]) > p_max) {
84 p_max = std::abs(p[i]);
85 p_i = i;
86 }
87 if (std::abs(q[i]) > q_max) {
88 q_max = std::abs(q[i]);
89 q_i = i;
90 }
91 }
92
93 // If both arrays are all zeros, they are equal up to scale, but
94 // for testing purposes, that's more likely to be an error than
95 // a desired result.
96 CHECK_NE(p_max, 0.0);
97 CHECK_NE(q_max, 0.0);
98
99 for (int i = 0; i < n; ++i) {
100 double p_norm = p[i] / p[p_i];
101 double q_norm = q[i] / q[q_i];
102
103 EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
104 }
105 }
106
ExpectArraysClose(int n,const double * p,const double * q,double tol)107 void ExpectArraysClose(int n,
108 const double* p,
109 const double* q,
110 double tol) {
111 CHECK_GT(n, 0);
112 CHECK(p);
113 CHECK(q);
114
115 for (int i = 0; i < n; ++i) {
116 EXPECT_NEAR(p[i], q[i], tol) << "i=" << i;
117 }
118 }
119
TestFileAbsolutePath(const string & filename)120 string TestFileAbsolutePath(const string& filename) {
121 return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
122 filename);
123 }
124
125
126 } // namespace internal
127 } // namespace ceres
128