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// 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/
//
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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.
// * 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.
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// used to endorse or promote products derived from this software without
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//
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// POSSIBILITY OF SUCH DAMAGE.
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#include <limits>
#include <vector>
#include "ceres/block_random_access_sparse_matrix.h"
#include "ceres/internal/eigen.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
TEST(BlockRandomAccessSparseMatrix, GetCell) {
vector<int> blocks;
blocks.push_back(3);
blocks.push_back(4);
blocks.push_back(5);
const int num_rows = 3 + 4 + 5;
set< pair<int, int> > block_pairs;
int num_nonzeros = 0;
block_pairs.insert(make_pair(0, 0));
num_nonzeros += blocks[0] * blocks[0];
block_pairs.insert(make_pair(1, 1));
num_nonzeros += blocks[1] * blocks[1];
block_pairs.insert(make_pair(1, 2));
num_nonzeros += blocks[1] * blocks[2];
block_pairs.insert(make_pair(2, 0));
num_nonzeros += blocks[2] * blocks[0];
BlockRandomAccessSparseMatrix m(blocks, block_pairs);
EXPECT_EQ(m.num_rows(), num_rows);
EXPECT_EQ(m.num_cols(), num_rows);
for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
it != block_pairs.end();
++it) {
const int row_block_id = it->first;
const int col_block_id = it->second;
int row;
int col;
int row_stride;
int col_stride;
CellInfo* cell = m.GetCell(row_block_id, col_block_id,
&row, &col,
&row_stride, &col_stride);
EXPECT_TRUE(cell != NULL);
EXPECT_EQ(row, 0);
EXPECT_EQ(col, 0);
EXPECT_EQ(row_stride, blocks[row_block_id]);
EXPECT_EQ(col_stride, blocks[col_block_id]);
// Write into the block
MatrixRef(cell->values, row_stride, col_stride).block(
row, col, blocks[row_block_id], blocks[col_block_id]) =
(row_block_id + 1) * (col_block_id +1) *
Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
}
const TripletSparseMatrix* tsm = m.matrix();
EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
Matrix dense;
tsm->ToDenseMatrix(&dense);
double kTolerance = 1e-14;
// (0,0)
EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
0.0,
kTolerance);
// (1,1)
EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
0.0,
kTolerance);
// (1,2)
EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
0.0,
kTolerance);
// (2,0)
EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(),
0.0,
kTolerance);
// There is nothing else in the matrix besides these four blocks.
EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
kTolerance);
}
// IntPairToLong is private, thus this fixture is needed to access and
// test it.
class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
public:
virtual void SetUp() {
vector<int> blocks;
blocks.push_back(1);
set< pair<int, int> > block_pairs;
block_pairs.insert(make_pair(0, 0));
m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
}
void CheckIntPair(int a, int b) {
int64 value = m_->IntPairToLong(a, b);
EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
}
private:
scoped_ptr<BlockRandomAccessSparseMatrix> m_;
};
TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max());
}
} // namespace internal
} // namespace ceres