Initial commit of Ceres Solver.
diff --git a/internal/ceres/block_random_access_dense_matrix_test.cc b/internal/ceres/block_random_access_dense_matrix_test.cc
new file mode 100644
index 0000000..359eb93
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix_test.cc
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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 <vector>
+#include "gtest/gtest.h"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(BlockRandomAccessDenseMatrix, GetCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+ BlockRandomAccessDenseMatrix m(blocks);
+ EXPECT_EQ(m.num_rows(), num_rows);
+ EXPECT_EQ(m.num_cols(), num_rows);
+
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell =
+ m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
+
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, row_idx);
+ EXPECT_EQ(col, col_idx);
+ EXPECT_EQ(row_stride, 3 + 4 + 5);
+ EXPECT_EQ(col_stride, 3 + 4 + 5);
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+TEST(BlockRandomAccessDenseMatrix, WriteCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+
+ BlockRandomAccessDenseMatrix m(blocks);
+
+ // Fill the cell (i,j) with (i + 1) * (j + 1)
+ for (int i = 0; i < blocks.size(); ++i) {
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell = m.GetCell(
+ i, j, &row, &col, &row_stride, &col_stride);
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[i], blocks[j]) =
+ (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
+ }
+ }
+
+ // Check the values in the array are correct by going over the
+ // entries of each block manually.
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ // Check the values of this block.
+ for (int r = 0; r < blocks[i]; ++r) {
+ for (int c = 0; c < blocks[j]; ++c) {
+ int pos = row_idx * num_rows + col_idx;
+ EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
+ }
+ }
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+} // namespace internal
+} // namespace ceres
