Initial commit of Ceres Solver.
diff --git a/internal/ceres/schur_ordering_test.cc b/internal/ceres/schur_ordering_test.cc
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+// 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 "ceres/schur_ordering.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/stl_util.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+typedef Graph<ParameterBlock*> HessianGraph;
+typedef HashSet<ParameterBlock*> VertexSet;
+
+template <int M, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> {
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+class SchurOrderingTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ // 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>, NULL, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_);
+ problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_);
+ problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL,
+ z_, x_, w_);
+ }
+
+ ProblemImpl problem_;
+ double x_[3], y_[4], z_[5], w_[6];
+};
+
+TEST_F(SchurOrderingTest, NoFixed) {
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> 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();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+ EXPECT_EQ(graph->vertices().size(), 0);
+}
+
+TEST_F(SchurOrderingTest, OneFixed) {
+ problem_.SetParameterBlockConstant(x_);
+
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> 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.
+ vector<ParameterBlock*> ordering;
+ ComputeSchurOrdering(program, &ordering);
+ EXPECT_EQ(ordering.back(), parameter_blocks[0]);
+}
+
+} // namespace internal
+} // namespace ceres
