1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2013 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 (at) google.com (Keir Mierle) 30 // sameeragarwal (at) google.com (Sameer Agarwal) 31 32 #include "ceres/evaluator_test_utils.h" 33 #include "ceres/internal/eigen.h" 34 #include "gtest/gtest.h" 35 36 namespace ceres { 37 namespace internal { 38 39 void CompareEvaluations(int expected_num_rows, 40 int expected_num_cols, 41 double expected_cost, 42 const double* expected_residuals, 43 const double* expected_gradient, 44 const double* expected_jacobian, 45 const double actual_cost, 46 const double* actual_residuals, 47 const double* actual_gradient, 48 const double* actual_jacobian) { 49 EXPECT_EQ(expected_cost, actual_cost); 50 51 if (expected_residuals != NULL) { 52 ConstVectorRef expected_residuals_vector(expected_residuals, 53 expected_num_rows); 54 ConstVectorRef actual_residuals_vector(actual_residuals, 55 expected_num_rows); 56 EXPECT_TRUE((actual_residuals_vector.array() == 57 expected_residuals_vector.array()).all()) 58 << "Actual:\n" << actual_residuals_vector 59 << "\nExpected:\n" << expected_residuals_vector; 60 } 61 62 if (expected_gradient != NULL) { 63 ConstVectorRef expected_gradient_vector(expected_gradient, 64 expected_num_cols); 65 ConstVectorRef actual_gradient_vector(actual_gradient, 66 expected_num_cols); 67 68 EXPECT_TRUE((actual_gradient_vector.array() == 69 expected_gradient_vector.array()).all()) 70 << "Actual:\n" << actual_gradient_vector.transpose() 71 << "\nExpected:\n" << expected_gradient_vector.transpose(); 72 } 73 74 if (expected_jacobian != NULL) { 75 ConstMatrixRef expected_jacobian_matrix(expected_jacobian, 76 expected_num_rows, 77 expected_num_cols); 78 ConstMatrixRef actual_jacobian_matrix(actual_jacobian, 79 expected_num_rows, 80 expected_num_cols); 81 EXPECT_TRUE((actual_jacobian_matrix.array() == 82 expected_jacobian_matrix.array()).all()) 83 << "Actual:\n" << actual_jacobian_matrix 84 << "\nExpected:\n" << expected_jacobian_matrix; 85 } 86 } 87 88 } // namespace internal 89 } // namespace ceres 90
