| // 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: 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 |