| // 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 |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // 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/triplet_sparse_matrix.h" |
| |
| #include <memory> |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) { |
| TripletSparseMatrix m; |
| EXPECT_EQ(m.num_rows(), 0); |
| EXPECT_EQ(m.num_cols(), 0); |
| EXPECT_EQ(m.num_nonzeros(), 0); |
| EXPECT_EQ(m.max_num_nonzeros(), 0); |
| } |
| |
| TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) { |
| // Build a matrix |
| TripletSparseMatrix m(2, 5, 4); |
| EXPECT_EQ(m.num_rows(), 2); |
| EXPECT_EQ(m.num_cols(), 5); |
| EXPECT_EQ(m.num_nonzeros(), 0); |
| EXPECT_EQ(m.max_num_nonzeros(), 4); |
| |
| m.mutable_rows()[0] = 0; |
| m.mutable_cols()[0] = 1; |
| m.mutable_values()[0] = 2.5; |
| |
| m.mutable_rows()[1] = 1; |
| m.mutable_cols()[1] = 4; |
| m.mutable_values()[1] = 5.2; |
| m.set_num_nonzeros(2); |
| |
| EXPECT_EQ(m.num_nonzeros(), 2); |
| |
| ASSERT_TRUE(m.AllTripletsWithinBounds()); |
| |
| // We should never be able resize and lose data |
| EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss"); |
| |
| // We should be able to resize while preserving data |
| m.Reserve(50); |
| EXPECT_EQ(m.max_num_nonzeros(), 50); |
| |
| m.Reserve(3); |
| EXPECT_EQ(m.max_num_nonzeros(), 50); // The space is already reserved. |
| |
| EXPECT_EQ(m.rows()[0], 0); |
| EXPECT_EQ(m.rows()[1], 1); |
| |
| EXPECT_EQ(m.cols()[0], 1); |
| EXPECT_EQ(m.cols()[1], 4); |
| |
| EXPECT_DOUBLE_EQ(m.values()[0], 2.5); |
| EXPECT_DOUBLE_EQ(m.values()[1], 5.2); |
| |
| // Bounds check should fail |
| m.mutable_rows()[0] = 10; |
| EXPECT_FALSE(m.AllTripletsWithinBounds()); |
| |
| m.mutable_rows()[0] = 1; |
| m.mutable_cols()[0] = 100; |
| EXPECT_FALSE(m.AllTripletsWithinBounds()); |
| |
| // Remove all data and then resize the data store |
| m.SetZero(); |
| EXPECT_EQ(m.num_nonzeros(), 0); |
| m.Reserve(1); |
| } |
| |
| TEST(TripletSparseMatrix, CopyConstructor) { |
| TripletSparseMatrix orig(2, 5, 4); |
| orig.mutable_rows()[0] = 0; |
| orig.mutable_cols()[0] = 1; |
| orig.mutable_values()[0] = 2.5; |
| |
| orig.mutable_rows()[1] = 1; |
| orig.mutable_cols()[1] = 4; |
| orig.mutable_values()[1] = 5.2; |
| orig.set_num_nonzeros(2); |
| |
| TripletSparseMatrix cpy(orig); |
| |
| EXPECT_EQ(cpy.num_rows(), 2); |
| EXPECT_EQ(cpy.num_cols(), 5); |
| ASSERT_EQ(cpy.num_nonzeros(), 2); |
| EXPECT_EQ(cpy.max_num_nonzeros(), 4); |
| |
| EXPECT_EQ(cpy.rows()[0], 0); |
| EXPECT_EQ(cpy.rows()[1], 1); |
| |
| EXPECT_EQ(cpy.cols()[0], 1); |
| EXPECT_EQ(cpy.cols()[1], 4); |
| |
| EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5); |
| EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2); |
| } |
| |
| TEST(TripletSparseMatrix, AssignmentOperator) { |
| TripletSparseMatrix orig(2, 5, 4); |
| orig.mutable_rows()[0] = 0; |
| orig.mutable_cols()[0] = 1; |
| orig.mutable_values()[0] = 2.5; |
| |
| orig.mutable_rows()[1] = 1; |
| orig.mutable_cols()[1] = 4; |
| orig.mutable_values()[1] = 5.2; |
| orig.set_num_nonzeros(2); |
| |
| TripletSparseMatrix cpy(3, 50, 40); |
| cpy.mutable_rows()[0] = 0; |
| cpy.mutable_cols()[0] = 10; |
| cpy.mutable_values()[0] = 10.22; |
| |
| cpy.mutable_rows()[1] = 2; |
| cpy.mutable_cols()[1] = 23; |
| cpy.mutable_values()[1] = 34.45; |
| |
| cpy.mutable_rows()[0] = 0; |
| cpy.mutable_cols()[0] = 10; |
| cpy.mutable_values()[0] = 10.22; |
| |
| cpy.mutable_rows()[1] = 0; |
| cpy.mutable_cols()[1] = 3; |
| cpy.mutable_values()[1] = 4.4; |
| cpy.set_num_nonzeros(3); |
| |
| cpy = orig; |
| |
| EXPECT_EQ(cpy.num_rows(), 2); |
| EXPECT_EQ(cpy.num_cols(), 5); |
| ASSERT_EQ(cpy.num_nonzeros(), 2); |
| EXPECT_EQ(cpy.max_num_nonzeros(), 4); |
| |
| EXPECT_EQ(cpy.rows()[0], 0); |
| EXPECT_EQ(cpy.rows()[1], 1); |
| |
| EXPECT_EQ(cpy.cols()[0], 1); |
| EXPECT_EQ(cpy.cols()[1], 4); |
| |
| EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5); |
| EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2); |
| } |
| |
| TEST(TripletSparseMatrix, AssignmentOperatorSelfAssignment) { |
| TripletSparseMatrix orig(2, 5, 4); |
| orig.mutable_rows()[0] = 0; |
| orig.mutable_cols()[0] = 1; |
| orig.mutable_values()[0] = 2.5; |
| |
| orig.mutable_rows()[1] = 1; |
| orig.mutable_cols()[1] = 4; |
| orig.mutable_values()[1] = 5.2; |
| orig.set_num_nonzeros(2); |
| |
| // Who's on earth gonna do this? |
| orig = orig; |
| |
| EXPECT_EQ(orig.num_rows(), 2); |
| EXPECT_EQ(orig.num_cols(), 5); |
| ASSERT_EQ(orig.num_nonzeros(), 2); |
| EXPECT_EQ(orig.max_num_nonzeros(), 4); |
| |
| EXPECT_EQ(orig.rows()[0], 0); |
| EXPECT_EQ(orig.rows()[1], 1); |
| |
| EXPECT_EQ(orig.cols()[0], 1); |
| EXPECT_EQ(orig.cols()[1], 4); |
| |
| EXPECT_DOUBLE_EQ(orig.values()[0], 2.5); |
| EXPECT_DOUBLE_EQ(orig.values()[1], 5.2); |
| } |
| |
| TEST(TripletSparseMatrix, AppendRows) { |
| // Build one matrix. |
| TripletSparseMatrix m(2, 5, 4); |
| m.mutable_rows()[0] = 0; |
| m.mutable_cols()[0] = 1; |
| m.mutable_values()[0] = 2.5; |
| |
| m.mutable_rows()[1] = 1; |
| m.mutable_cols()[1] = 4; |
| m.mutable_values()[1] = 5.2; |
| m.set_num_nonzeros(2); |
| |
| // Build another matrix. |
| TripletSparseMatrix a(10, 5, 4); |
| a.mutable_rows()[0] = 0; |
| a.mutable_cols()[0] = 1; |
| a.mutable_values()[0] = 3.5; |
| |
| a.mutable_rows()[1] = 1; |
| a.mutable_cols()[1] = 4; |
| a.mutable_values()[1] = 6.2; |
| |
| a.mutable_rows()[2] = 9; |
| a.mutable_cols()[2] = 5; |
| a.mutable_values()[2] = 1; |
| a.set_num_nonzeros(3); |
| |
| // Glue the second matrix to the bottom of the first. |
| m.AppendRows(a); |
| |
| EXPECT_EQ(m.num_rows(), 12); |
| EXPECT_EQ(m.num_cols(), 5); |
| ASSERT_EQ(m.num_nonzeros(), 5); |
| |
| EXPECT_EQ(m.values()[0], 2.5); |
| EXPECT_EQ(m.values()[1], 5.2); |
| EXPECT_EQ(m.values()[2], 3.5); |
| EXPECT_EQ(m.values()[3], 6.2); |
| EXPECT_EQ(m.values()[4], 1); |
| |
| EXPECT_EQ(m.rows()[0], 0); |
| EXPECT_EQ(m.rows()[1], 1); |
| EXPECT_EQ(m.rows()[2], 2); |
| EXPECT_EQ(m.rows()[3], 3); |
| EXPECT_EQ(m.rows()[4], 11); |
| |
| EXPECT_EQ(m.cols()[0], 1); |
| EXPECT_EQ(m.cols()[1], 4); |
| EXPECT_EQ(m.cols()[2], 1); |
| EXPECT_EQ(m.cols()[3], 4); |
| EXPECT_EQ(m.cols()[4], 5); |
| } |
| |
| TEST(TripletSparseMatrix, AppendCols) { |
| // Build one matrix. |
| TripletSparseMatrix m(2, 5, 4); |
| m.mutable_rows()[0] = 0; |
| m.mutable_cols()[0] = 1; |
| m.mutable_values()[0] = 2.5; |
| |
| m.mutable_rows()[1] = 1; |
| m.mutable_cols()[1] = 4; |
| m.mutable_values()[1] = 5.2; |
| m.set_num_nonzeros(2); |
| |
| // Build another matrix. |
| TripletSparseMatrix a(2, 15, 4); |
| a.mutable_rows()[0] = 0; |
| a.mutable_cols()[0] = 1; |
| a.mutable_values()[0] = 3.5; |
| |
| a.mutable_rows()[1] = 1; |
| a.mutable_cols()[1] = 4; |
| a.mutable_values()[1] = 6.2; |
| |
| a.mutable_rows()[2] = 0; |
| a.mutable_cols()[2] = 10; |
| a.mutable_values()[2] = 1; |
| a.set_num_nonzeros(3); |
| |
| // Glue the second matrix to the left of the first. |
| m.AppendCols(a); |
| |
| EXPECT_EQ(m.num_rows(), 2); |
| EXPECT_EQ(m.num_cols(), 20); |
| ASSERT_EQ(m.num_nonzeros(), 5); |
| |
| EXPECT_EQ(m.values()[0], 2.5); |
| EXPECT_EQ(m.values()[1], 5.2); |
| EXPECT_EQ(m.values()[2], 3.5); |
| EXPECT_EQ(m.values()[3], 6.2); |
| EXPECT_EQ(m.values()[4], 1); |
| |
| EXPECT_EQ(m.rows()[0], 0); |
| EXPECT_EQ(m.rows()[1], 1); |
| EXPECT_EQ(m.rows()[2], 0); |
| EXPECT_EQ(m.rows()[3], 1); |
| EXPECT_EQ(m.rows()[4], 0); |
| |
| EXPECT_EQ(m.cols()[0], 1); |
| EXPECT_EQ(m.cols()[1], 4); |
| EXPECT_EQ(m.cols()[2], 6); |
| EXPECT_EQ(m.cols()[3], 9); |
| EXPECT_EQ(m.cols()[4], 15); |
| } |
| |
| TEST(TripletSparseMatrix, CreateDiagonalMatrix) { |
| std::unique_ptr<double[]> values(new double[10]); |
| for (int i = 0; i < 10; ++i) |
| values[i] = i; |
| |
| std::unique_ptr<TripletSparseMatrix> m( |
| TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10)); |
| EXPECT_EQ(m->num_rows(), 10); |
| EXPECT_EQ(m->num_cols(), 10); |
| ASSERT_EQ(m->num_nonzeros(), 10); |
| for (int i = 0; i < 10 ; ++i) { |
| EXPECT_EQ(m->rows()[i], i); |
| EXPECT_EQ(m->cols()[i], i); |
| EXPECT_EQ(m->values()[i], i); |
| } |
| } |
| |
| TEST(TripletSparseMatrix, Resize) { |
| TripletSparseMatrix m(10, 20, 200); |
| int nnz = 0; |
| for (int i = 0; i < 10; ++i) { |
| for (int j = 0; j < 20; ++j) { |
| m.mutable_rows()[nnz] = i; |
| m.mutable_cols()[nnz] = j; |
| m.mutable_values()[nnz++] = i+j; |
| } |
| } |
| m.set_num_nonzeros(nnz); |
| m.Resize(5, 6); |
| EXPECT_EQ(m.num_rows(), 5); |
| EXPECT_EQ(m.num_cols(), 6); |
| ASSERT_EQ(m.num_nonzeros(), 30); |
| for (int i = 0; i < 30; ++i) { |
| EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]); |
| } |
| } |
| |
| } // namespace internal |
| } // namespace ceres |