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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
// 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: kushalav@google.com (Avanish Kushal)
// sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/visibility.h"
#include <memory>
#include <set>
#include <vector>
#include "ceres/block_structure.h"
#include "ceres/graph.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace ceres::internal {
using std::set;
using std::vector;
class VisibilityTest : public ::testing::Test {};
TEST(VisibilityTest, SimpleMatrix) {
// A = [1 0 0 0 0 1
// 1 0 0 1 0 0
// 0 1 1 0 0 0
// 0 1 0 0 1 0]
int num_cols = 6;
int num_eliminate_blocks = 2;
CompressedRowBlockStructure bs;
// Row 1
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.emplace_back(0, 0);
row.cells.emplace_back(5, 0);
}
// Row 2
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.emplace_back(0, 1);
row.cells.emplace_back(3, 1);
}
// Row 3
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 4;
row.cells.emplace_back(1, 2);
row.cells.emplace_back(2, 2);
}
// Row 4
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 6;
row.cells.emplace_back(1, 3);
row.cells.emplace_back(4, 3);
}
bs.cols.resize(num_cols);
vector<set<int>> visibility;
ComputeVisibility(bs, num_eliminate_blocks, &visibility);
ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
for (const auto& visible : visibility) {
ASSERT_EQ(visible.size(), 1);
}
std::unique_ptr<WeightedGraph<int>> graph(
CreateSchurComplementGraph(visibility));
EXPECT_EQ(graph->vertices().size(), visibility.size());
for (int i = 0; i < visibility.size(); ++i) {
EXPECT_EQ(graph->VertexWeight(i), 1.0);
}
for (int i = 0; i < visibility.size(); ++i) {
for (int j = i; j < visibility.size(); ++j) {
double edge_weight = 0.0;
if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) {
edge_weight = 1.0;
}
EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
<< "Edge: " << i << " " << j << " weight: " << graph->EdgeWeight(i, j)
<< " expected weight: " << edge_weight;
}
}
}
TEST(VisibilityTest, NoEBlocks) {
// A = [1 0 0 0 0 0
// 1 0 0 0 0 0
// 0 1 0 0 0 0
// 0 1 0 0 0 0]
int num_cols = 6;
int num_eliminate_blocks = 2;
CompressedRowBlockStructure bs;
// Row 1
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.emplace_back(0, 0);
}
// Row 2
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.emplace_back(0, 1);
}
// Row 3
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 4;
row.cells.emplace_back(1, 2);
}
// Row 4
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 6;
row.cells.emplace_back(1, 3);
}
bs.cols.resize(num_cols);
vector<set<int>> visibility;
ComputeVisibility(bs, num_eliminate_blocks, &visibility);
ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
for (const auto& visible : visibility) {
ASSERT_EQ(visible.size(), 0);
}
std::unique_ptr<WeightedGraph<int>> graph(
CreateSchurComplementGraph(visibility));
EXPECT_EQ(graph->vertices().size(), visibility.size());
for (int i = 0; i < visibility.size(); ++i) {
EXPECT_EQ(graph->VertexWeight(i), 1.0);
}
for (int i = 0; i < visibility.size(); ++i) {
for (int j = i; j < visibility.size(); ++j) {
double edge_weight = 0.0;
if (i == j) {
edge_weight = 1.0;
}
EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
<< "Edge: " << i << " " << j << " weight: " << graph->EdgeWeight(i, j)
<< " expected weight: " << edge_weight;
}
}
}
} // namespace ceres::internal