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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/parameter_block_ordering.h"
#include <cstddef>
#include <memory>
#include <unordered_set>
#include <vector>
#include "ceres/cost_function.h"
#include "ceres/graph.h"
#include "ceres/problem_impl.h"
#include "ceres/program.h"
#include "ceres/sized_cost_function.h"
#include "ceres/stl_util.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
using std::vector;
typedef Graph<ParameterBlock*> HessianGraph;
typedef std::unordered_set<ParameterBlock*> VertexSet;
template <int M, int N1 = 0, int N2 = 0, int N3 = 0>
class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> {
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
return true;
}
};
class SchurOrderingTest : public ::testing::Test {
protected :
virtual void SetUp() {
// The explicit calls to AddParameterBlock are necessary because
// the below tests depend on the specific numbering of the
// parameter blocks.
problem_.AddParameterBlock(x_, 3);
problem_.AddParameterBlock(y_, 4);
problem_.AddParameterBlock(z_, 5);
problem_.AddParameterBlock(w_, 6);
problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_);
problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_);
problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_);
problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_);
problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL,
z_, x_, w_);
}
ProblemImpl problem_;
double x_[3], y_[4], z_[5], w_[6];
};
TEST_F(SchurOrderingTest, NoFixed) {
const Program& program = problem_.program();
const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
std::unique_ptr<HessianGraph> graph(CreateHessianGraph(program));
const VertexSet& vertices = graph->vertices();
EXPECT_EQ(vertices.size(), 4);
for (int i = 0; i < 4; ++i) {
EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]);
EXPECT_EQ(neighbors.size(), 2);
EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
EXPECT_EQ(neighbors.size(), 1);
EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
EXPECT_EQ(neighbors.size(), 3);
EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
EXPECT_EQ(neighbors.size(), 2);
EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
}
}
TEST_F(SchurOrderingTest, AllFixed) {
problem_.SetParameterBlockConstant(x_);
problem_.SetParameterBlockConstant(y_);
problem_.SetParameterBlockConstant(z_);
problem_.SetParameterBlockConstant(w_);
const Program& program = problem_.program();
std::unique_ptr<HessianGraph> graph(CreateHessianGraph(program));
EXPECT_EQ(graph->vertices().size(), 0);
}
TEST_F(SchurOrderingTest, OneFixed) {
problem_.SetParameterBlockConstant(x_);
const Program& program = problem_.program();
const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
std::unique_ptr<HessianGraph> graph(CreateHessianGraph(program));
const VertexSet& vertices = graph->vertices();
EXPECT_EQ(vertices.size(), 3);
EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end());
for (int i = 1; i < 3; ++i) {
EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
EXPECT_EQ(neighbors.size(), 1);
EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
EXPECT_EQ(neighbors.size(), 2);
EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
}
{
const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
EXPECT_EQ(neighbors.size(), 1);
EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
}
// The constant parameter block is at the end.
vector<ParameterBlock*> ordering;
ComputeSchurOrdering(program, &ordering);
EXPECT_EQ(ordering.back(), parameter_blocks[0]);
}
} // namespace internal
} // namespace ceres