| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 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 |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/parameter_block_ordering.h" |
| |
| #include <cstddef> |
| #include <memory> |
| #include <vector> |
| |
| #include "absl/container/flat_hash_set.h" |
| #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::internal { |
| |
| using VertexSet = absl::flat_hash_set<ParameterBlock*>; |
| |
| template <int M, int... Ns> |
| class DummyCostFunction : public SizedCostFunction<M, Ns...> { |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| return true; |
| } |
| }; |
| |
| class SchurOrderingTest : public ::testing::Test { |
| protected: |
| void SetUp() final { |
| // 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>, nullptr, x_); |
| problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, nullptr, z_, y_); |
| problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, nullptr, x_, z_); |
| problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, nullptr, z_, x_); |
| problem_.AddResidualBlock( |
| new DummyCostFunction<1, 5, 3, 6>, nullptr, z_, x_, w_); |
| } |
| |
| ProblemImpl problem_; |
| double x_[3], y_[4], z_[5], w_[6]; |
| }; |
| |
| TEST_F(SchurOrderingTest, NoFixed) { |
| const Program& program = problem_.program(); |
| const std::vector<ParameterBlock*>& parameter_blocks = |
| program.parameter_blocks(); |
| auto 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(); |
| auto graph = CreateHessianGraph(program); |
| EXPECT_EQ(graph->vertices().size(), 0); |
| } |
| |
| TEST_F(SchurOrderingTest, OneFixed) { |
| problem_.SetParameterBlockConstant(x_); |
| |
| const Program& program = problem_.program(); |
| const std::vector<ParameterBlock*>& parameter_blocks = |
| program.parameter_blocks(); |
| auto 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. |
| std::vector<ParameterBlock*> ordering; |
| ComputeSchurOrdering(program, &ordering); |
| EXPECT_EQ(ordering.back(), parameter_blocks[0]); |
| } |
| |
| } // namespace ceres::internal |