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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
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/block_random_access_dense_matrix.h"
#include <vector>
#include "ceres/internal/eigen.h"
#include "gtest/gtest.h"
namespace ceres::internal {
TEST(BlockRandomAccessDenseMatrix, GetCell) {
ContextImpl context;
constexpr int num_threads = 1;
std::vector<Block> blocks;
blocks.emplace_back(3, 0);
blocks.emplace_back(4, 3);
blocks.emplace_back(5, 7);
constexpr int num_rows = 3 + 4 + 5;
BlockRandomAccessDenseMatrix m(blocks, &context, num_threads);
EXPECT_EQ(m.num_rows(), num_rows);
EXPECT_EQ(m.num_cols(), num_rows);
for (int i = 0; i < blocks.size(); ++i) {
const int row_idx = blocks[i].position;
for (int j = 0; j < blocks.size(); ++j) {
const int col_idx = blocks[j].position;
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 != nullptr);
EXPECT_EQ(row, row_idx);
EXPECT_EQ(col, col_idx);
EXPECT_EQ(row_stride, 3 + 4 + 5);
EXPECT_EQ(col_stride, 3 + 4 + 5);
}
}
}
TEST(BlockRandomAccessDenseMatrix, WriteCell) {
ContextImpl context;
constexpr int num_threads = 1;
std::vector<Block> blocks;
blocks.emplace_back(3, 0);
blocks.emplace_back(4, 3);
blocks.emplace_back(5, 7);
constexpr int num_rows = 3 + 4 + 5;
BlockRandomAccessDenseMatrix m(blocks, &context, num_threads);
// 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].size, blocks[j].size) =
(i + 1) * (j + 1) * Matrix::Ones(blocks[i].size, blocks[j].size);
}
}
// Check the values in the array are correct by going over the
// entries of each block manually.
for (int i = 0; i < blocks.size(); ++i) {
const int row_idx = blocks[i].position;
for (int j = 0; j < blocks.size(); ++j) {
const int col_idx = blocks[j].position;
// Check the values of this block.
for (int r = 0; r < blocks[i].size; ++r) {
for (int c = 0; c < blocks[j].size; ++c) {
int pos = row_idx * num_rows + col_idx;
EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
}
}
}
}
}
} // namespace ceres::internal