1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
33 #include "ceres/block_random_access_sparse_matrix.h"
34 #include "ceres/internal/eigen.h"
35 #include "glog/logging.h"
36 #include "gtest/gtest.h"
46 TEST(BlockRandomAccessSparseMatrix, GetCell) {
51 const int num_rows = 3 + 4 + 5;
53 set< pair<int, int> > block_pairs;
55 block_pairs.insert(make_pair(0, 0));
56 num_nonzeros += blocks[0] * blocks[0];
58 block_pairs.insert(make_pair(1, 1));
59 num_nonzeros += blocks[1] * blocks[1];
61 block_pairs.insert(make_pair(1, 2));
62 num_nonzeros += blocks[1] * blocks[2];
64 block_pairs.insert(make_pair(0, 2));
65 num_nonzeros += blocks[2] * blocks[0];
67 BlockRandomAccessSparseMatrix m(blocks, block_pairs);
68 EXPECT_EQ(m.num_rows(), num_rows);
69 EXPECT_EQ(m.num_cols(), num_rows);
71 for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
72 it != block_pairs.end();
74 const int row_block_id = it->first;
75 const int col_block_id = it->second;
80 CellInfo* cell = m.GetCell(row_block_id, col_block_id,
82 &row_stride, &col_stride);
83 EXPECT_TRUE(cell != NULL);
86 EXPECT_EQ(row_stride, blocks[row_block_id]);
87 EXPECT_EQ(col_stride, blocks[col_block_id]);
89 // Write into the block
90 MatrixRef(cell->values, row_stride, col_stride).block(
91 row, col, blocks[row_block_id], blocks[col_block_id]) =
92 (row_block_id + 1) * (col_block_id +1) *
93 Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
96 const TripletSparseMatrix* tsm = m.matrix();
97 EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
98 EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
101 tsm->ToDenseMatrix(&dense);
103 double kTolerance = 1e-14;
106 EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
110 EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
114 EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
118 EXPECT_NEAR((dense.block(0, 3 + 4, 3, 5) - 3 * 1 * Matrix::Ones(3, 5)).norm(),
122 // There is nothing else in the matrix besides these four blocks.
123 EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
126 Vector x = Vector::Ones(dense.rows());
127 Vector actual_y = Vector::Zero(dense.rows());
128 Vector expected_y = Vector::Zero(dense.rows());
130 expected_y += dense.selfadjointView<Eigen::Upper>() * x;
131 m.SymmetricRightMultiply(x.data(), actual_y.data());
132 EXPECT_NEAR((expected_y - actual_y).norm(), 0.0, kTolerance)
133 << "actual: " << actual_y.transpose() << "\n"
134 << "expected: " << expected_y.transpose()
135 << "matrix: \n " << dense;
138 // IntPairToLong is private, thus this fixture is needed to access and
140 class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
142 virtual void SetUp() {
145 set< pair<int, int> > block_pairs;
146 block_pairs.insert(make_pair(0, 0));
147 m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
150 void CheckIntPairToLong(int a, int b) {
151 int64 value = m_->IntPairToLong(a, b);
152 EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
153 EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
154 EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
157 void CheckLongToIntPair() {
158 uint64 max_rows = m_->kMaxRowBlocks;
159 for (int row = max_rows - 10; row < max_rows; ++row) {
160 for (int col = 0; col < 10; ++col) {
163 m_->LongToIntPair(m_->IntPairToLong(row, col),
166 EXPECT_EQ(row, row_computed);
167 EXPECT_EQ(col, col_computed);
173 scoped_ptr<BlockRandomAccessSparseMatrix> m_;
176 TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
177 CheckIntPairToLong(std::numeric_limits<int>::max(),
178 std::numeric_limits<int>::max());
181 TEST_F(BlockRandomAccessSparseMatrixTest, LongToIntPair) {
182 CheckLongToIntPair();
185 } // namespace internal