internal/ceres/detect_structure_test.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
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  29 // Author: sameeragarwal@google.com (Sameer Agarwal)
  30
  31 #include "Eigen/Core"
  32 #include "glog/logging.h"
  33 #include "gtest/gtest.h"
  34 #include "ceres/block_structure.h"
  35 #include "ceres/detect_structure.h"
  36
  37 namespace ceres {
  38 namespace internal {
  39
  40 TEST(DetectStructure, EverythingStatic) {
  41   const int expected_row_block_size = 2;
  42   const int expected_e_block_size = 3;
  43   const int expected_f_block_size = 4;
  44
  45   CompressedRowBlockStructure bs;
  46
  47   bs.cols.push_back(Block());
  48   bs.cols.back().size = 3;
  49   bs.cols.back().position = 0;
  50
  51   bs.cols.push_back(Block());
  52   bs.cols.back().size = 4;
  53   bs.cols.back().position = 3;
  54
  55   bs.cols.push_back(Block());
  56   bs.cols.back().size = 4;
  57   bs.cols.back().position = 7;
  58
  59   {
  60     bs.rows.push_back(CompressedRow());
  61     CompressedRow& row = bs.rows.back();
  62     row.block.size = 2;
  63     row.block.position = 0;
  64     row.cells.push_back(Cell(0, 0));
  65     row.cells.push_back(Cell(1, 0));
  66   }
  67
  68   {
  69     bs.rows.push_back(CompressedRow());
  70     CompressedRow& row = bs.rows.back();
  71     row.block.size = 2;
  72     row.block.position = 2;
  73     row.cells.push_back(Cell(0, 0));
  74     row.cells.push_back(Cell(2, 0));
  75   }
  76
  77   int row_block_size = 0;
  78   int e_block_size = 0;
  79   int f_block_size = 0;
  80   const int num_eliminate_blocks = 1;
  81   DetectStructure(bs,
  82                   num_eliminate_blocks,
  83                   &row_block_size,
  84                   &e_block_size,
  85                   &f_block_size);
  86
  87   EXPECT_EQ(row_block_size, expected_row_block_size);
  88   EXPECT_EQ(e_block_size, expected_e_block_size);
  89   EXPECT_EQ(f_block_size, expected_f_block_size);
  90 }
  91
  92 TEST(DetectStructure, DynamicRow) {
  93   const int expected_row_block_size = Eigen::Dynamic;
  94   const int expected_e_block_size = 3;
  95   const int expected_f_block_size = 4;
  96
  97   CompressedRowBlockStructure bs;
  98
  99   bs.cols.push_back(Block());
 100   bs.cols.back().size = 3;
 101   bs.cols.back().position = 0;
 102
 103   bs.cols.push_back(Block());
 104   bs.cols.back().size = 4;
 105   bs.cols.back().position = 3;
 106
 107   bs.cols.push_back(Block());
 108   bs.cols.back().size = 4;
 109   bs.cols.back().position = 7;
 110
 111   {
 112     bs.rows.push_back(CompressedRow());
 113     CompressedRow& row = bs.rows.back();
 114     row.block.size = 2;
 115     row.block.position = 0;
 116     row.cells.push_back(Cell(0, 0));
 117     row.cells.push_back(Cell(1, 0));
 118   }
 119
 120   {
 121     bs.rows.push_back(CompressedRow());
 122     CompressedRow& row = bs.rows.back();
 123     row.block.size = 1;
 124     row.block.position = 2;
 125     row.cells.push_back(Cell(0, 0));
 126     row.cells.push_back(Cell(2, 0));
 127   }
 128
 129   int row_block_size = 0;
 130   int e_block_size = 0;
 131   int f_block_size = 0;
 132   const int num_eliminate_blocks = 1;
 133   DetectStructure(bs,
 134                   num_eliminate_blocks,
 135                   &row_block_size,
 136                   &e_block_size,
 137                   &f_block_size);
 138
 139   EXPECT_EQ(row_block_size, expected_row_block_size);
 140   EXPECT_EQ(e_block_size, expected_e_block_size);
 141   EXPECT_EQ(f_block_size, expected_f_block_size);
 142 }
 143
 144 TEST(DetectStructure, DynamicFBlockDifferentRows) {
 145   const int expected_row_block_size = 2;
 146   const int expected_e_block_size = 3;
 147   const int expected_f_block_size = Eigen::Dynamic;
 148
 149
 150   CompressedRowBlockStructure bs;
 151
 152   bs.cols.push_back(Block());
 153   bs.cols.back().size = 3;
 154   bs.cols.back().position = 0;
 155
 156   bs.cols.push_back(Block());
 157   bs.cols.back().size = 4;
 158   bs.cols.back().position = 3;
 159
 160   bs.cols.push_back(Block());
 161   bs.cols.back().size = 3;
 162   bs.cols.back().position = 7;
 163
 164   {
 165     bs.rows.push_back(CompressedRow());
 166     CompressedRow& row = bs.rows.back();
 167     row.block.size = 2;
 168     row.block.position = 0;
 169     row.cells.push_back(Cell(0, 0));
 170     row.cells.push_back(Cell(1, 0));
 171   }
 172
 173   {
 174     bs.rows.push_back(CompressedRow());
 175     CompressedRow& row = bs.rows.back();
 176     row.block.size = 2;
 177     row.block.position = 2;
 178     row.cells.push_back(Cell(0, 0));
 179     row.cells.push_back(Cell(2, 0));
 180   }
 181
 182   int row_block_size = 0;
 183   int e_block_size = 0;
 184   int f_block_size = 0;
 185   const int num_eliminate_blocks = 1;
 186   DetectStructure(bs,
 187                   num_eliminate_blocks,
 188                   &row_block_size,
 189                   &e_block_size,
 190                   &f_block_size);
 191
 192   EXPECT_EQ(row_block_size, expected_row_block_size);
 193   EXPECT_EQ(e_block_size, expected_e_block_size);
 194   EXPECT_EQ(f_block_size, expected_f_block_size);
 195 }
 196
 197 TEST(DetectStructure, DynamicEBlock) {
 198   const int expected_row_block_size = 2;
 199   const int expected_e_block_size = Eigen::Dynamic;
 200   const int expected_f_block_size = 3;
 201
 202   CompressedRowBlockStructure bs;
 203
 204   bs.cols.push_back(Block());
 205   bs.cols.back().size = 3;
 206   bs.cols.back().position = 0;
 207
 208   bs.cols.push_back(Block());
 209   bs.cols.back().size = 4;
 210   bs.cols.back().position = 3;
 211
 212   bs.cols.push_back(Block());
 213   bs.cols.back().size = 3;
 214   bs.cols.back().position = 7;
 215
 216   {
 217     bs.rows.push_back(CompressedRow());
 218     CompressedRow& row = bs.rows.back();
 219     row.block.size = 2;
 220     row.block.position = 0;
 221     row.cells.push_back(Cell(0, 0));
 222     row.cells.push_back(Cell(2, 0));
 223   }
 224
 225   {
 226     bs.rows.push_back(CompressedRow());
 227     CompressedRow& row = bs.rows.back();
 228     row.block.size = 2;
 229     row.block.position = 2;
 230     row.cells.push_back(Cell(1, 0));
 231     row.cells.push_back(Cell(2, 0));
 232   }
 233
 234   int row_block_size = 0;
 235   int e_block_size = 0;
 236   int f_block_size = 0;
 237   const int num_eliminate_blocks = 2;
 238   DetectStructure(bs,
 239                   num_eliminate_blocks,
 240                   &row_block_size,
 241                   &e_block_size,
 242                   &f_block_size);
 243
 244   EXPECT_EQ(row_block_size, expected_row_block_size);
 245   EXPECT_EQ(e_block_size, expected_e_block_size);
 246   EXPECT_EQ(f_block_size, expected_f_block_size);
 247 }
 248
 249 TEST(DetectStructure, DynamicFBlockSameRow) {
 250   const int expected_row_block_size = 2;
 251   const int expected_e_block_size = 3;
 252   const int expected_f_block_size = Eigen::Dynamic;
 253
 254   CompressedRowBlockStructure bs;
 255
 256   bs.cols.push_back(Block());
 257   bs.cols.back().size = 3;
 258   bs.cols.back().position = 0;
 259
 260   bs.cols.push_back(Block());
 261   bs.cols.back().size = 4;
 262   bs.cols.back().position = 3;
 263
 264   bs.cols.push_back(Block());
 265   bs.cols.back().size = 3;
 266   bs.cols.back().position = 7;
 267
 268   {
 269     bs.rows.push_back(CompressedRow());
 270     CompressedRow& row = bs.rows.back();
 271     row.block.size = 2;
 272     row.block.position = 0;
 273     row.cells.push_back(Cell(0, 0));
 274     row.cells.push_back(Cell(1, 0));
 275     row.cells.push_back(Cell(2, 0));
 276   }
 277
 278   int row_block_size = 0;
 279   int e_block_size = 0;
 280   int f_block_size = 0;
 281   const int num_eliminate_blocks = 1;
 282   DetectStructure(bs,
 283                   num_eliminate_blocks,
 284                   &row_block_size,
 285                   &e_block_size,
 286                   &f_block_size);
 287
 288   EXPECT_EQ(row_block_size, expected_row_block_size);
 289   EXPECT_EQ(e_block_size, expected_e_block_size);
 290   EXPECT_EQ(f_block_size, expected_f_block_size);
 291 }
 292
 293 }  // namespace internal
 294 }  // namespace ceres