internal/ceres/bundle_adjustment_test.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
   2 // Copyright 2015 Google Inc. All rights reserved.
   3 // http://ceres-solver.org/
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  14 //   used to endorse or promote products derived from this software without
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  21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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  27 // POSSIBILITY OF SUCH DAMAGE.
  28 //
  29 // Author: keir@google.com (Keir Mierle)
  30 //         sameeragarwal@google.com (Sameer Agarwal)
  31 //
  32 // End-to-end bundle adjustment tests for Ceres. It uses a bundle
  33 // adjustment problem with 16 cameras and two thousand points.
  34
  35 #include <cmath>
  36 #include <cstdio>
  37 #include <cstdlib>
  38 #include <string>
  39
  40 #include "ceres/internal/port.h"
  41
  42 #include "ceres/autodiff_cost_function.h"
  43 #include "ceres/ordered_groups.h"
  44 #include "ceres/problem.h"
  45 #include "ceres/rotation.h"
  46 #include "ceres/solver.h"
  47 #include "ceres/stringprintf.h"
  48 #include "ceres/test_util.h"
  49 #include "ceres/types.h"
  50 #include "gflags/gflags.h"
  51 #include "glog/logging.h"
  52 #include "gtest/gtest.h"
  53
  54 namespace ceres {
  55 namespace internal {
  56
  57 using std::string;
  58 using std::vector;
  59
  60 const bool kAutomaticOrdering = true;
  61 const bool kUserOrdering = false;
  62
  63 // This class implements the SystemTestProblem interface and provides
  64 // access to a bundle adjustment problem. It is based on
  65 // examples/bundle_adjustment_example.cc. Currently a small 16 camera
  66 // problem is hard coded in the constructor.
  67 class BundleAdjustmentProblem {
  68  public:
  69   BundleAdjustmentProblem() {
  70     const string input_file = TestFileAbsolutePath("problem-16-22106-pre.txt");
  71     ReadData(input_file);
  72     BuildProblem();
  73   }
  74
  75   ~BundleAdjustmentProblem() {
  76     delete []point_index_;
  77     delete []camera_index_;
  78     delete []observations_;
  79     delete []parameters_;
  80   }
  81
  82   Problem* mutable_problem() { return &problem_; }
  83   Solver::Options* mutable_solver_options() { return &options_; }
  84
  85   int num_cameras()            const { return num_cameras_;        }
  86   int num_points()             const { return num_points_;         }
  87   int num_observations()       const { return num_observations_;   }
  88   const int* point_index()     const { return point_index_;  }
  89   const int* camera_index()    const { return camera_index_; }
  90   const double* observations() const { return observations_; }
  91   double* mutable_cameras() { return parameters_; }
  92   double* mutable_points() { return parameters_  + 9 * num_cameras_; }
  93
  94   static double kResidualTolerance;
  95
  96  private:
  97   void ReadData(const string& filename) {
  98     FILE * fptr = fopen(filename.c_str(), "r");
  99
 100     if (!fptr) {
 101       LOG(FATAL) << "File Error: unable to open file " << filename;
 102     }
 103
 104     // This will die horribly on invalid files. Them's the breaks.
 105     FscanfOrDie(fptr, "%d", &num_cameras_);
 106     FscanfOrDie(fptr, "%d", &num_points_);
 107     FscanfOrDie(fptr, "%d", &num_observations_);
 108
 109     VLOG(1) << "Header: " << num_cameras_
 110             << " " << num_points_
 111             << " " << num_observations_;
 112
 113     point_index_ = new int[num_observations_];
 114     camera_index_ = new int[num_observations_];
 115     observations_ = new double[2 * num_observations_];
 116
 117     num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
 118     parameters_ = new double[num_parameters_];
 119
 120     for (int i = 0; i < num_observations_; ++i) {
 121       FscanfOrDie(fptr, "%d", camera_index_ + i);
 122       FscanfOrDie(fptr, "%d", point_index_ + i);
 123       for (int j = 0; j < 2; ++j) {
 124         FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
 125       }
 126     }
 127
 128     for (int i = 0; i < num_parameters_; ++i) {
 129       FscanfOrDie(fptr, "%lf", parameters_ + i);
 130     }
 131   }
 132
 133   void BuildProblem() {
 134     double* points = mutable_points();
 135     double* cameras = mutable_cameras();
 136
 137     for (int i = 0; i < num_observations(); ++i) {
 138       // Each Residual block takes a point and a camera as input and
 139       // outputs a 2 dimensional residual.
 140       CostFunction* cost_function =
 141           new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
 142               new BundlerResidual(observations_[2*i + 0],
 143                                   observations_[2*i + 1]));
 144
 145       // Each observation correponds to a pair of a camera and a point
 146       // which are identified by camera_index()[i] and
 147       // point_index()[i] respectively.
 148       double* camera = cameras + 9 * camera_index_[i];
 149       double* point = points + 3 * point_index()[i];
 150       problem_.AddResidualBlock(cost_function, NULL, camera, point);
 151     }
 152
 153     options_.linear_solver_ordering.reset(new ParameterBlockOrdering);
 154
 155     // The points come before the cameras.
 156     for (int i = 0; i < num_points_; ++i) {
 157       options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
 158     }
 159
 160     for (int i = 0; i < num_cameras_; ++i) {
 161       options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
 162     }
 163
 164     options_.linear_solver_type = DENSE_SCHUR;
 165     options_.max_num_iterations = 25;
 166     options_.function_tolerance = 1e-10;
 167     options_.gradient_tolerance = 1e-10;
 168     options_.parameter_tolerance = 1e-10;
 169   }
 170
 171   template<typename T>
 172   void FscanfOrDie(FILE *fptr, const char *format, T *value) {
 173     int num_scanned = fscanf(fptr, format, value);
 174     if (num_scanned != 1) {
 175       LOG(FATAL) << "Invalid UW data file.";
 176     }
 177   }
 178
 179   // Templated pinhole camera model.  The camera is parameterized
 180   // using 9 parameters. 3 for rotation, 3 for translation, 1 for
 181   // focal length and 2 for radial distortion. The principal point is
 182   // not modeled (i.e. it is assumed to be located at the image
 183   // center).
 184   struct BundlerResidual {
 185     // (u, v): the position of the observation with respect to the image
 186     // center point.
 187     BundlerResidual(double u, double v): u(u), v(v) {}
 188
 189     template <typename T>
 190     bool operator()(const T* const camera,
 191                     const T* const point,
 192                     T* residuals) const {
 193       T p[3];
 194       AngleAxisRotatePoint(camera, point, p);
 195
 196       // Add the translation vector
 197       p[0] += camera[3];
 198       p[1] += camera[4];
 199       p[2] += camera[5];
 200
 201       const T& focal = camera[6];
 202       const T& l1 = camera[7];
 203       const T& l2 = camera[8];
 204
 205       // Compute the center of distortion.  The sign change comes from
 206       // the camera model that Noah Snavely's Bundler assumes, whereby
 207       // the camera coordinate system has a negative z axis.
 208       T xp = - focal * p[0] / p[2];
 209       T yp = - focal * p[1] / p[2];
 210
 211       // Apply second and fourth order radial distortion.
 212       T r2 = xp*xp + yp*yp;
 213       T distortion = T(1.0) + r2  * (l1 + l2  * r2);
 214
 215       residuals[0] = distortion * xp - u;
 216       residuals[1] = distortion * yp - v;
 217
 218       return true;
 219     }
 220
 221     double u;
 222     double v;
 223   };
 224
 225   Problem problem_;
 226   Solver::Options options_;
 227
 228   int num_cameras_;
 229   int num_points_;
 230   int num_observations_;
 231   int num_parameters_;
 232
 233   int* point_index_;
 234   int* camera_index_;
 235   double* observations_;
 236   // The parameter vector is laid out as follows
 237   // [camera_1, ..., camera_n, point_1, ..., point_m]
 238   double* parameters_;
 239 };
 240
 241 double BundleAdjustmentProblem::kResidualTolerance = 1e-4;
 242 typedef SystemTest<BundleAdjustmentProblem> BundleAdjustmentTest;
 243
 244 TEST_F(BundleAdjustmentTest, DenseSchurWithAutomaticOrdering) {
 245   RunSolverForConfigAndExpectResidualsMatch(
 246       SolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
 247 }
 248
 249 TEST_F(BundleAdjustmentTest, DenseSchurWithUserOrdering) {
 250   RunSolverForConfigAndExpectResidualsMatch(
 251       SolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
 252 }
 253
 254 TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndAutomaticOrdering) {
 255   RunSolverForConfigAndExpectResidualsMatch(
 256       SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kAutomaticOrdering, JACOBI));
 257 }
 258
 259 TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndUserOrdering) {
 260   RunSolverForConfigAndExpectResidualsMatch(
 261       SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
 262 }
 263
 264 TEST_F(BundleAdjustmentTest,
 265        IterativeSchurWithSchurJacobiAndAutomaticOrdering) {
 266   RunSolverForConfigAndExpectResidualsMatch(
 267       SolverConfig(ITERATIVE_SCHUR,
 268                    NO_SPARSE,
 269                    kAutomaticOrdering,
 270                    SCHUR_JACOBI));
 271 }
 272
 273 TEST_F(BundleAdjustmentTest, IterativeSchurWithSchurJacobiAndUserOrdering) {
 274   RunSolverForConfigAndExpectResidualsMatch(
 275       SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, SCHUR_JACOBI));
 276 }
 277
 278 #ifndef CERES_NO_SUITESPARSE
 279 TEST_F(BundleAdjustmentTest,
 280        SparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
 281   RunSolverForConfigAndExpectResidualsMatch(
 282       SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering));
 283 }
 284
 285 TEST_F(BundleAdjustmentTest,
 286        SparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
 287   RunSolverForConfigAndExpectResidualsMatch(
 288       SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering));
 289 }
 290
 291 TEST_F(BundleAdjustmentTest,
 292        SparseSchurWithAutomaticOrderingUsingSuiteSparse) {
 293   RunSolverForConfigAndExpectResidualsMatch(
 294       SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering));
 295 }
 296
 297 TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingSuiteSparse) {
 298   RunSolverForConfigAndExpectResidualsMatch(
 299       SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
 300 }
 301
 302 TEST_F(BundleAdjustmentTest,
 303        IterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) {
 304   RunSolverForConfigAndExpectResidualsMatch(
 305       SolverConfig(ITERATIVE_SCHUR,
 306                    SUITE_SPARSE,
 307                    kAutomaticOrdering,
 308                    CLUSTER_JACOBI));
 309 }
 310
 311 TEST_F(BundleAdjustmentTest,
 312        IterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) {
 313   RunSolverForConfigAndExpectResidualsMatch(
 314       SolverConfig(ITERATIVE_SCHUR,
 315                    SUITE_SPARSE,
 316                    kUserOrdering,
 317                    CLUSTER_JACOBI));
 318 }
 319
 320 TEST_F(BundleAdjustmentTest,
 321        IterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) {
 322   RunSolverForConfigAndExpectResidualsMatch(
 323       SolverConfig(ITERATIVE_SCHUR,
 324                    SUITE_SPARSE,
 325                    kAutomaticOrdering,
 326                    CLUSTER_TRIDIAGONAL));
 327 }
 328
 329 TEST_F(BundleAdjustmentTest,
 330        IterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) {
 331   RunSolverForConfigAndExpectResidualsMatch(
 332       SolverConfig(ITERATIVE_SCHUR,
 333                    SUITE_SPARSE,
 334                    kUserOrdering,
 335                    CLUSTER_TRIDIAGONAL));
 336 }
 337 #endif  // CERES_NO_SUITESPARSE
 338
 339 #ifndef CERES_NO_CXSPARSE
 340 TEST_F(BundleAdjustmentTest,
 341        SparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
 342   RunSolverForConfigAndExpectResidualsMatch(
 343       SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering));
 344 }
 345
 346 TEST_F(BundleAdjustmentTest,
 347        SparseNormalCholeskyWithUserOrderingUsingCXSparse) {
 348   RunSolverForConfigAndExpectResidualsMatch(
 349       SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
 350 }
 351
 352 TEST_F(BundleAdjustmentTest, SparseSchurWithAutomaticOrderingUsingCXSparse) {
 353   RunSolverForConfigAndExpectResidualsMatch(
 354       SolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
 355 }
 356
 357 TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingCXSparse) {
 358   RunSolverForConfigAndExpectResidualsMatch(
 359       SolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
 360 }
 361 #endif  // CERES_NO_CXSPARSE
 362
 363 #ifdef CERES_USE_EIGEN_SPARSE
 364 TEST_F(BundleAdjustmentTest,
 365        SparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
 366   RunSolverForConfigAndExpectResidualsMatch(
 367       SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering));
 368 }
 369
 370 TEST_F(BundleAdjustmentTest,
 371        SparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
 372   RunSolverForConfigAndExpectResidualsMatch(
 373       SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kUserOrdering));
 374 }
 375
 376 TEST_F(BundleAdjustmentTest,
 377        SparseSchurWithAutomaticOrderingUsingEigenSparse) {
 378   RunSolverForConfigAndExpectResidualsMatch(
 379       SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
 380 }
 381
 382 TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingEigenSparse) {
 383   RunSolverForConfigAndExpectResidualsMatch(
 384       SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
 385 }
 386 #endif  // CERES_USE_EIGEN_SPARSE
 387
 388 #ifdef CERES_USE_OPENMP
 389
 390 TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithAutomaticOrdering) {
 391   RunSolverForConfigAndExpectResidualsMatch(
 392       ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
 393 }
 394
 395 TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithUserOrdering) {
 396   RunSolverForConfigAndExpectResidualsMatch(
 397       ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
 398 }
 399
 400 TEST_F(BundleAdjustmentTest,
 401        MultiThreadedIterativeSchurWithJacobiAndAutomaticOrdering) {
 402   RunSolverForConfigAndExpectResidualsMatch(
 403       ThreadedSolverConfig(ITERATIVE_SCHUR,
 404                            NO_SPARSE,
 405                            kAutomaticOrdering,
 406                            JACOBI));
 407 }
 408
 409 TEST_F(BundleAdjustmentTest,
 410        MultiThreadedIterativeSchurWithJacobiAndUserOrdering) {
 411   RunSolverForConfigAndExpectResidualsMatch(
 412       ThreadedSolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
 413 }
 414
 415 TEST_F(BundleAdjustmentTest,
 416        MultiThreadedIterativeSchurWithSchurJacobiAndAutomaticOrdering) {
 417   RunSolverForConfigAndExpectResidualsMatch(
 418       ThreadedSolverConfig(ITERATIVE_SCHUR,
 419                            NO_SPARSE,
 420                            kAutomaticOrdering,
 421                            SCHUR_JACOBI));
 422 }
 423
 424 TEST_F(BundleAdjustmentTest,
 425        MultiThreadedIterativeSchurWithSchurJacobiAndUserOrdering) {
 426   RunSolverForConfigAndExpectResidualsMatch(
 427       ThreadedSolverConfig(ITERATIVE_SCHUR,
 428                            NO_SPARSE,
 429                            kUserOrdering,
 430                            SCHUR_JACOBI));
 431 }
 432
 433 #ifndef CERES_NO_SUITESPARSE
 434 TEST_F(BundleAdjustmentTest,
 435        MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
 436   RunSolverForConfigAndExpectResidualsMatch(
 437       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
 438                            SUITE_SPARSE,
 439                            kAutomaticOrdering));
 440 }
 441
 442 TEST_F(BundleAdjustmentTest,
 443        MultiThreadedSparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
 444   RunSolverForConfigAndExpectResidualsMatch(
 445       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
 446                            SUITE_SPARSE,
 447                            kUserOrdering));
 448 }
 449
 450 TEST_F(BundleAdjustmentTest,
 451        MultiThreadedSparseSchurWithAutomaticOrderingUsingSuiteSparse) {
 452   RunSolverForConfigAndExpectResidualsMatch(
 453       ThreadedSolverConfig(SPARSE_SCHUR,
 454                            SUITE_SPARSE,
 455                            kAutomaticOrdering));
 456 }
 457
 458 TEST_F(BundleAdjustmentTest,
 459        MultiThreadedSparseSchurWithUserOrderingUsingSuiteSparse) {
 460   RunSolverForConfigAndExpectResidualsMatch(
 461       ThreadedSolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
 462 }
 463
 464 TEST_F(BundleAdjustmentTest,
 465        MultiThreadedIterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) {  // NOLINT
 466   RunSolverForConfigAndExpectResidualsMatch(
 467       ThreadedSolverConfig(ITERATIVE_SCHUR,
 468                            SUITE_SPARSE,
 469                            kAutomaticOrdering,
 470                            CLUSTER_JACOBI));
 471 }
 472
 473 TEST_F(BundleAdjustmentTest,
 474        MultiThreadedIterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) {  // NOLINT
 475   RunSolverForConfigAndExpectResidualsMatch(
 476       ThreadedSolverConfig(ITERATIVE_SCHUR,
 477                            SUITE_SPARSE,
 478                            kUserOrdering,
 479                            CLUSTER_JACOBI));
 480 }
 481
 482 TEST_F(BundleAdjustmentTest,
 483        MultiThreadedIterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) {  // NOLINT
 484   RunSolverForConfigAndExpectResidualsMatch(
 485       ThreadedSolverConfig(ITERATIVE_SCHUR,
 486                            SUITE_SPARSE,
 487                            kAutomaticOrdering,
 488                            CLUSTER_TRIDIAGONAL));
 489 }
 490
 491 TEST_F(BundleAdjustmentTest,
 492        MultiThreadedIterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) {  // NOTLINT
 493   RunSolverForConfigAndExpectResidualsMatch(
 494       ThreadedSolverConfig(ITERATIVE_SCHUR,
 495                            SUITE_SPARSE,
 496                            kUserOrdering,
 497                            CLUSTER_TRIDIAGONAL));
 498 }
 499 #endif  // CERES_NO_SUITESPARSE
 500
 501 #ifndef CERES_NO_CXSPARSE
 502 TEST_F(BundleAdjustmentTest,
 503        MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
 504   RunSolverForConfigAndExpectResidualsMatch(
 505       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
 506                            CX_SPARSE,
 507                            kAutomaticOrdering));
 508 }
 509
 510 TEST_F(BundleAdjustmentTest,
 511        MultiThreadedSparseNormalCholeskyWithUserOrderingUsingCXSparse) {
 512   RunSolverForConfigAndExpectResidualsMatch(
 513       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
 514 }
 515
 516 TEST_F(BundleAdjustmentTest,
 517        MultiThreadedSparseSchurWithAutomaticOrderingUsingCXSparse) {
 518   RunSolverForConfigAndExpectResidualsMatch(
 519       ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
 520 }
 521
 522 TEST_F(BundleAdjustmentTest,
 523        MultiThreadedSparseSchurWithUserOrderingUsingCXSparse) {
 524   RunSolverForConfigAndExpectResidualsMatch(
 525       ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
 526 }
 527 #endif  // CERES_NO_CXSPARSE
 528
 529 #ifdef CERES_USE_EIGEN_SPARSE
 530 TEST_F(BundleAdjustmentTest,
 531        MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
 532   RunSolverForConfigAndExpectResidualsMatch(
 533       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
 534                            EIGEN_SPARSE,
 535                            kAutomaticOrdering));
 536 }
 537
 538 TEST_F(BundleAdjustmentTest,
 539        MultiThreadedSparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
 540   RunSolverForConfigAndExpectResidualsMatch(
 541       ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
 542                            EIGEN_SPARSE,
 543                            kUserOrdering));
 544 }
 545
 546 TEST_F(BundleAdjustmentTest,
 547        MultiThreadedSparseSchurWithAutomaticOrderingUsingEigenSparse) {
 548   RunSolverForConfigAndExpectResidualsMatch(
 549       ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
 550 }
 551
 552 TEST_F(BundleAdjustmentTest,
 553        MultiThreadedSparseSchurWithUserOrderingUsingEigenSparse) {
 554   RunSolverForConfigAndExpectResidualsMatch(
 555       ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
 556 }
 557 #endif  // CERES_USE_EIGEN_SPARSE
 558 #endif  // CERES_USE_OPENMP
 559
 560 }  // namespace internal
 561 }  // namespace ceres