| // 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 "Eigen/Core" |
| #include "glog/logging.h" |
| #include "gtest/gtest.h" |
| #include "ceres/block_structure.h" |
| #include "ceres/detect_structure.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(DetectStructure, EverythingStatic) { |
| const int expected_row_block_size = 2; |
| const int expected_e_block_size = 3; |
| const int expected_f_block_size = 4; |
| |
| CompressedRowBlockStructure bs; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 0; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 3; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 7; |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(1, 0)); |
| } |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 2; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| int row_block_size = 0; |
| int e_block_size = 0; |
| int f_block_size = 0; |
| const int num_eliminate_blocks = 1; |
| DetectStructure(bs, |
| num_eliminate_blocks, |
| &row_block_size, |
| &e_block_size, |
| &f_block_size); |
| |
| EXPECT_EQ(row_block_size, expected_row_block_size); |
| EXPECT_EQ(e_block_size, expected_e_block_size); |
| EXPECT_EQ(f_block_size, expected_f_block_size); |
| } |
| |
| TEST(DetectStructure, DynamicRow) { |
| const int expected_row_block_size = Eigen::Dynamic; |
| const int expected_e_block_size = 3; |
| const int expected_f_block_size = 4; |
| |
| CompressedRowBlockStructure bs; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 0; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 3; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 7; |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(1, 0)); |
| } |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 1; |
| row.block.position = 2; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| int row_block_size = 0; |
| int e_block_size = 0; |
| int f_block_size = 0; |
| const int num_eliminate_blocks = 1; |
| DetectStructure(bs, |
| num_eliminate_blocks, |
| &row_block_size, |
| &e_block_size, |
| &f_block_size); |
| |
| EXPECT_EQ(row_block_size, expected_row_block_size); |
| EXPECT_EQ(e_block_size, expected_e_block_size); |
| EXPECT_EQ(f_block_size, expected_f_block_size); |
| } |
| |
| TEST(DetectStructure, DynamicFBlockDifferentRows) { |
| const int expected_row_block_size = 2; |
| const int expected_e_block_size = 3; |
| const int expected_f_block_size = Eigen::Dynamic; |
| |
| |
| CompressedRowBlockStructure bs; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 0; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 3; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 7; |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(1, 0)); |
| } |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 2; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| int row_block_size = 0; |
| int e_block_size = 0; |
| int f_block_size = 0; |
| const int num_eliminate_blocks = 1; |
| DetectStructure(bs, |
| num_eliminate_blocks, |
| &row_block_size, |
| &e_block_size, |
| &f_block_size); |
| |
| EXPECT_EQ(row_block_size, expected_row_block_size); |
| EXPECT_EQ(e_block_size, expected_e_block_size); |
| EXPECT_EQ(f_block_size, expected_f_block_size); |
| } |
| |
| TEST(DetectStructure, DynamicEBlock) { |
| const int expected_row_block_size = 2; |
| const int expected_e_block_size = Eigen::Dynamic; |
| const int expected_f_block_size = 3; |
| |
| CompressedRowBlockStructure bs; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 0; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 3; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 7; |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 2; |
| row.cells.push_back(Cell(1, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| int row_block_size = 0; |
| int e_block_size = 0; |
| int f_block_size = 0; |
| const int num_eliminate_blocks = 2; |
| DetectStructure(bs, |
| num_eliminate_blocks, |
| &row_block_size, |
| &e_block_size, |
| &f_block_size); |
| |
| EXPECT_EQ(row_block_size, expected_row_block_size); |
| EXPECT_EQ(e_block_size, expected_e_block_size); |
| EXPECT_EQ(f_block_size, expected_f_block_size); |
| } |
| |
| TEST(DetectStructure, DynamicFBlockSameRow) { |
| const int expected_row_block_size = 2; |
| const int expected_e_block_size = 3; |
| const int expected_f_block_size = Eigen::Dynamic; |
| |
| CompressedRowBlockStructure bs; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 0; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 4; |
| bs.cols.back().position = 3; |
| |
| bs.cols.push_back(Block()); |
| bs.cols.back().size = 3; |
| bs.cols.back().position = 7; |
| |
| { |
| bs.rows.push_back(CompressedRow()); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.push_back(Cell(0, 0)); |
| row.cells.push_back(Cell(1, 0)); |
| row.cells.push_back(Cell(2, 0)); |
| } |
| |
| int row_block_size = 0; |
| int e_block_size = 0; |
| int f_block_size = 0; |
| const int num_eliminate_blocks = 1; |
| DetectStructure(bs, |
| num_eliminate_blocks, |
| &row_block_size, |
| &e_block_size, |
| &f_block_size); |
| |
| EXPECT_EQ(row_block_size, expected_row_block_size); |
| EXPECT_EQ(e_block_size, expected_e_block_size); |
| EXPECT_EQ(f_block_size, expected_f_block_size); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |