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tests: add linalg-3 test cases
These are the same as linalg-4 cases, except the matrices have been generated anew, and checked with Octave that the condition numbers and determinant values hold. Signed-off-by: Pekka Paalanen <pekka.paalanen@collabora.com>
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Pekka Paalanen
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1 changed files with 188 additions and 0 deletions
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@ -30,6 +30,194 @@
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#include "weston-test-client-helper.h"
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#include "weston-test-assert.h"
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static void
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print_mat3(struct weston_mat3f M)
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{
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unsigned r, c;
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for (r = 0; r < 3; ++r) {
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for (c = 0; c < 3; ++c)
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testlog(" %14.6e", M.col[c].el[r]);
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testlog("\n");
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}
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}
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/*
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* Test various ways of accessing the vector elements,
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* make sure they are consistent.
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*/
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TEST(vec3_layout)
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{
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struct weston_vec3f v;
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unsigned i;
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static_assert(sizeof(v) == 3 * sizeof(float), "vec3 storage");
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v = WESTON_VEC3F(1, 2, 3);
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test_assert_f64_eq(v.x, 1);
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test_assert_f64_eq(v.y, 2);
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test_assert_f64_eq(v.z, 3);
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for (i = 0; i < 3; i++)
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test_assert_f64_eq(v.el[i], i + 1);
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}
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/*
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* Test various ways of accessing the matrix elements,
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* make sure they are consistent.
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*/
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TEST(mat3_layout)
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{
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struct weston_mat3f M;
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unsigned row, col, i;
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static_assert(sizeof(M.col) == sizeof(M.colmaj), "mat3 storage");
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M = WESTON_MAT3F(
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1, 2, 3,
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4, 5, 6,
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7, 8, 9
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);
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for (row = 0; row < 3; row++)
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for (col = 0; col < 3; col++)
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test_assert_f64_eq(M.col[col].el[row], 1 + col + 3 * row);
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M = weston_m3f_transpose(M);
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for (i = 0; i < 9; i++)
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test_assert_f64_eq(M.colmaj[i], i + 1);
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}
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TEST(mat3_inf_norm)
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{
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struct weston_mat3f M = WESTON_MAT3F(
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1, 2, 3,
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13, 14, 15, /* <- sum */
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5, 6, 7
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);
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test_assert_f64_eq(weston_m3f_inf_norm(M), 42.0);
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}
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struct test_matrix3 {
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/* the matrix to test */
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struct weston_mat3f M;
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/*
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* Residual error limit; inf norm(M * inv(M) - I) < err_limit
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* The residual error as calculated here represents the relative
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* error added by transforming a vector with inv(M).
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*/
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double err_limit;
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};
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static const struct test_matrix3 matrices3[] = {
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/* A very trivial case. */
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{
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.M = WESTON_MAT3F(
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1, 0, 0,
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0, 2, 0,
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0, 0, 3),
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.err_limit = 0.0,
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},
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/* See the description in matrices4[] */
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{
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.M = WESTON_MAT3F(
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1, 0, 1980,
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0, 1, 1080,
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0, 0, 1),
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.err_limit = 0.0,
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},
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/*
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* If you want to verify the matrices in Octave, type this:
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* M = [ <paste the series of numbers> ]
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* mat = reshape(M, 3, 3)
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* det(mat)
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* cond(mat)
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*/
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/* cond = 1e3, abs det = 1 */
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{
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.M = WESTON_MAT3F(
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-3.85619916, -7.33213522, -17.39592142,
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3.68083576, 6.9908134, 16.69315075,
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2.24593119, 6.73273163, 15.43687958
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),
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.err_limit = 1e-4,
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},
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/* cond = 1e3, abs det = 15 */
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{
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.M = WESTON_MAT3F(
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-24.17876224, 31.41542335, 29.67758047,
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27.80376451, -37.71058091, -35.15458289,
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4.70529412, -10.23486155, -8.8383264
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),
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.err_limit = 1e-4,
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},
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/* cond = 700, abs det = 1e-6, invertible regardless of det */
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{
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.M = WESTON_MAT3F(
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-0.1494663, 0.15094259, -0.0227504,
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-0.03434422, 0.03261981, 0.00269234,
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-0.10630476, 0.10418501, -0.00725791
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),
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.err_limit = 1e-4,
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},
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/* cond = 1e6, abs det = 1, this is a little more challenging */
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{
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.M = WESTON_MAT3F(
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-4.76473003, -247.24422465, 181.83067879,
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-8.99040059, -502.78411442, 370.79353696,
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11.30800122, 578.40401799, -425.14300652
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),
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.err_limit = 0.02,
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},
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/* cond = 15, abs det = 1e-9, should be well invertible */
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{
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.M = WESTON_MAT3F(
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-0.00114829, -0.00051657, 0.00126965,
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-0.00181574, 0.00044979, 0.00049775,
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-0.00234378, 0.00010053, 0.00190233
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),
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.err_limit = 1e-6,
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},
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};
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TEST_P(mat3_inversion_precision, matrices3)
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{
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const struct test_matrix3 *tm = data;
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struct weston_mat3f rr;
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double err;
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/* Compute rr = M * inv(M) */
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test_assert_true(weston_m3f_invert(&rr, tm->M));
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rr = weston_m3f_mul_m3f(tm->M, rr);
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/* Residual: subtract identity matrix (expected result) */
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rr = weston_m3f_sub_m3f(rr, WESTON_MAT3F_IDENTITY);
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/*
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* Infinity norm of the residual is our measure.
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* See https://gitlab.freedesktop.org/pq/fourbyfour/-/blob/master/README.d/precision_testing.md
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*/
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err = weston_m3f_inf_norm(rr);
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testlog("Residual error %g (%.1f bits precision), limit %g.\n",
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err, -log2(err), tm->err_limit);
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if (err > tm->err_limit) {
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testlog("Error is too high for matrix\n");
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print_mat3(tm->M);
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test_assert_true(false);
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}
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}
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static void
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print_mat4(struct weston_mat4f M)
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{
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