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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6 // modification, are permitted provided that the following conditions are met:
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #include "ceres/normal_prior.h"
35 #include "gtest/gtest.h"
36 #include "ceres/internal/eigen.h"
37 #include "ceres/random.h"
42 void RandomVector(Vector* v) {
43 for (int r = 0; r < v->rows(); ++r)
44 (*v)[r] = 2 * RandDouble() - 1;
47 void RandomMatrix(Matrix* m) {
48 for (int r = 0; r < m->rows(); ++r) {
49 for (int c = 0; c < m->cols(); ++c) {
50 (*m)(r, c) = 2 * RandDouble() - 1;
55 TEST(NormalPriorTest, ResidualAtRandomPosition) {
58 for (int num_rows = 1; num_rows < 5; ++num_rows) {
59 for (int num_cols = 1; num_cols < 5; ++num_cols) {
63 Matrix A(num_rows, num_cols);
66 double * x = new double[num_cols];
67 for (int i = 0; i < num_cols; ++i)
68 x[i] = 2 * RandDouble() - 1;
70 double * jacobian = new double[num_rows * num_cols];
71 Vector residuals(num_rows);
73 NormalPrior prior(A, b);
74 prior.Evaluate(&x, residuals.data(), &jacobian);
76 // Compare the norm of the residual
77 double residual_diff_norm =
78 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
79 EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
81 // Compare the jacobians
82 MatrixRef J(jacobian, num_rows, num_cols);
83 double jacobian_diff_norm = (J - A).norm();
84 EXPECT_NEAR(jacobian_diff_norm, 0.0, 1e-10);
92 TEST(NormalPriorTest, ResidualAtRandomPositionNullJacobians) {
95 for (int num_rows = 1; num_rows < 5; ++num_rows) {
96 for (int num_cols = 1; num_cols < 5; ++num_cols) {
100 Matrix A(num_rows, num_cols);
103 double * x = new double[num_cols];
104 for (int i = 0; i < num_cols; ++i)
105 x[i] = 2 * RandDouble() - 1;
107 double* jacobians[1];
110 Vector residuals(num_rows);
112 NormalPrior prior(A, b);
113 prior.Evaluate(&x, residuals.data(), jacobians);
115 // Compare the norm of the residual
116 double residual_diff_norm =
117 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
118 EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
120 prior.Evaluate(&x, residuals.data(), NULL);
121 // Compare the norm of the residual
123 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
124 EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
132 } // namespace internal