| // 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: kushalav@google.com (Avanish Kushal) |
| // sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/visibility.h" |
| |
| #include <memory> |
| #include <set> |
| #include <vector> |
| |
| #include "ceres/block_structure.h" |
| #include "ceres/graph.h" |
| #include "glog/logging.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres::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.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.emplace_back(0, 0); |
| row.cells.emplace_back(5, 0); |
| } |
| |
| // Row 2 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 2; |
| row.cells.emplace_back(0, 1); |
| row.cells.emplace_back(3, 1); |
| } |
| |
| // Row 3 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 4; |
| row.cells.emplace_back(1, 2); |
| row.cells.emplace_back(2, 2); |
| } |
| |
| // Row 4 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 6; |
| row.cells.emplace_back(1, 3); |
| row.cells.emplace_back(4, 3); |
| } |
| bs.cols.resize(num_cols); |
| |
| std::vector<std::set<int>> visibility; |
| ComputeVisibility(bs, num_eliminate_blocks, &visibility); |
| ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks); |
| for (const auto& visible : visibility) { |
| ASSERT_EQ(visible.size(), 1); |
| } |
| |
| std::unique_ptr<WeightedGraph<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.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 0; |
| row.cells.emplace_back(0, 0); |
| } |
| |
| // Row 2 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 2; |
| row.cells.emplace_back(0, 1); |
| } |
| |
| // Row 3 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 4; |
| row.cells.emplace_back(1, 2); |
| } |
| |
| // Row 4 |
| { |
| bs.rows.emplace_back(); |
| CompressedRow& row = bs.rows.back(); |
| row.block.size = 2; |
| row.block.position = 6; |
| row.cells.emplace_back(1, 3); |
| } |
| bs.cols.resize(num_cols); |
| |
| std::vector<std::set<int>> visibility; |
| ComputeVisibility(bs, num_eliminate_blocks, &visibility); |
| ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks); |
| for (const auto& visible : visibility) { |
| ASSERT_EQ(visible.size(), 0); |
| } |
| |
| std::unique_ptr<WeightedGraph<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 ceres::internal |