Initial commit of Ceres Solver.
diff --git a/internal/ceres/visibility_test.cc b/internal/ceres/visibility_test.cc
new file mode 100644
index 0000000..ac26dfc
--- /dev/null
+++ b/internal/ceres/visibility_test.cc
@@ -0,0 +1,203 @@
+// 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: kushalav@google.com (Avanish Kushal)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility.h"
+
+#include <set>
+#include <vector>
+#include <glog/logging.h>
+#include "gtest/gtest.h"
+#include "ceres/block_structure.h"
+#include "ceres/graph.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+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.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(5, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ row.cells.push_back(Cell(3, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ row.cells.push_back(Cell(2, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(1, 3));
+ row.cells.push_back(Cell(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 (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 1);
+ }
+
+ scoped_ptr<Graph<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.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(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 (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 0);
+ }
+
+ scoped_ptr<Graph<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 internal
+} // namespace ceres
