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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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// this list of conditions and the following disclaimer.
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// this list of conditions and the following disclaimer in the documentation
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/detect_structure.h"
#include "Eigen/Core"
#include "ceres/block_structure.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
TEST(DetectStructure, EverythingStatic) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = 4;
CompressedRowBlockStructure bs;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 7;
{
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(1, 0);
}
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.emplace_back(0, 0);
row.cells.emplace_back(2, 0);
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(
bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicRow) {
const int expected_row_block_size = Eigen::Dynamic;
const int expected_e_block_size = 3;
const int expected_f_block_size = 4;
CompressedRowBlockStructure bs;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 7;
{
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(1, 0);
}
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 1;
row.block.position = 2;
row.cells.emplace_back(0, 0);
row.cells.emplace_back(2, 0);
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(
bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicFBlockDifferentRows) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = Eigen::Dynamic;
CompressedRowBlockStructure bs;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
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(1, 0);
}
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.emplace_back(0, 0);
row.cells.emplace_back(2, 0);
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(
bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicEBlock) {
const int expected_row_block_size = 2;
const int expected_e_block_size = Eigen::Dynamic;
const int expected_f_block_size = 3;
CompressedRowBlockStructure bs;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
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(2, 0);
}
{
bs.rows.emplace_back();
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.emplace_back(1, 0);
row.cells.emplace_back(2, 0);
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 2;
DetectStructure(
bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicFBlockSameRow) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = Eigen::Dynamic;
CompressedRowBlockStructure bs;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.emplace_back();
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.emplace_back();
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
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(1, 0);
row.cells.emplace_back(2, 0);
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(
bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
} // namespace internal
} // namespace ceres