1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #include "ceres/triplet_sparse_matrix.h"
33 #include "gtest/gtest.h"
34 #include "ceres/internal/scoped_ptr.h"
39 TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) {
40 TripletSparseMatrix m;
41 EXPECT_EQ(m.num_rows(), 0);
42 EXPECT_EQ(m.num_cols(), 0);
43 EXPECT_EQ(m.num_nonzeros(), 0);
44 EXPECT_EQ(m.max_num_nonzeros(), 0);
47 TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) {
49 TripletSparseMatrix m(2, 5, 4);
50 EXPECT_EQ(m.num_rows(), 2);
51 EXPECT_EQ(m.num_cols(), 5);
52 EXPECT_EQ(m.num_nonzeros(), 0);
53 EXPECT_EQ(m.max_num_nonzeros(), 4);
55 m.mutable_rows()[0] = 0;
56 m.mutable_cols()[0] = 1;
57 m.mutable_values()[0] = 2.5;
59 m.mutable_rows()[1] = 1;
60 m.mutable_cols()[1] = 4;
61 m.mutable_values()[1] = 5.2;
62 m.set_num_nonzeros(2);
64 EXPECT_EQ(m.num_nonzeros(), 2);
66 ASSERT_TRUE(m.AllTripletsWithinBounds());
68 // We should never be able resize and lose data
69 EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss");
71 // We should be able to resize while preserving data
73 EXPECT_EQ(m.max_num_nonzeros(), 50);
76 EXPECT_EQ(m.max_num_nonzeros(), 50); // The space is already reserved.
78 EXPECT_EQ(m.rows()[0], 0);
79 EXPECT_EQ(m.rows()[1], 1);
81 EXPECT_EQ(m.cols()[0], 1);
82 EXPECT_EQ(m.cols()[1], 4);
84 EXPECT_DOUBLE_EQ(m.values()[0], 2.5);
85 EXPECT_DOUBLE_EQ(m.values()[1], 5.2);
87 // Bounds check should fail
88 m.mutable_rows()[0] = 10;
89 EXPECT_FALSE(m.AllTripletsWithinBounds());
91 m.mutable_rows()[0] = 1;
92 m.mutable_cols()[0] = 100;
93 EXPECT_FALSE(m.AllTripletsWithinBounds());
95 // Remove all data and then resize the data store
97 EXPECT_EQ(m.num_nonzeros(), 0);
101 TEST(TripletSparseMatrix, CopyConstructor) {
102 TripletSparseMatrix orig(2, 5, 4);
103 orig.mutable_rows()[0] = 0;
104 orig.mutable_cols()[0] = 1;
105 orig.mutable_values()[0] = 2.5;
107 orig.mutable_rows()[1] = 1;
108 orig.mutable_cols()[1] = 4;
109 orig.mutable_values()[1] = 5.2;
110 orig.set_num_nonzeros(2);
112 TripletSparseMatrix cpy(orig);
114 EXPECT_EQ(cpy.num_rows(), 2);
115 EXPECT_EQ(cpy.num_cols(), 5);
116 ASSERT_EQ(cpy.num_nonzeros(), 2);
117 EXPECT_EQ(cpy.max_num_nonzeros(), 4);
119 EXPECT_EQ(cpy.rows()[0], 0);
120 EXPECT_EQ(cpy.rows()[1], 1);
122 EXPECT_EQ(cpy.cols()[0], 1);
123 EXPECT_EQ(cpy.cols()[1], 4);
125 EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
126 EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
129 TEST(TripletSparseMatrix, AssignmentOperator) {
130 TripletSparseMatrix orig(2, 5, 4);
131 orig.mutable_rows()[0] = 0;
132 orig.mutable_cols()[0] = 1;
133 orig.mutable_values()[0] = 2.5;
135 orig.mutable_rows()[1] = 1;
136 orig.mutable_cols()[1] = 4;
137 orig.mutable_values()[1] = 5.2;
138 orig.set_num_nonzeros(2);
140 TripletSparseMatrix cpy(3, 50, 40);
141 cpy.mutable_rows()[0] = 0;
142 cpy.mutable_cols()[0] = 10;
143 cpy.mutable_values()[0] = 10.22;
145 cpy.mutable_rows()[1] = 2;
146 cpy.mutable_cols()[1] = 23;
147 cpy.mutable_values()[1] = 34.45;
149 cpy.mutable_rows()[0] = 0;
150 cpy.mutable_cols()[0] = 10;
151 cpy.mutable_values()[0] = 10.22;
153 cpy.mutable_rows()[1] = 0;
154 cpy.mutable_cols()[1] = 3;
155 cpy.mutable_values()[1] = 4.4;
156 cpy.set_num_nonzeros(3);
160 EXPECT_EQ(cpy.num_rows(), 2);
161 EXPECT_EQ(cpy.num_cols(), 5);
162 ASSERT_EQ(cpy.num_nonzeros(), 2);
163 EXPECT_EQ(cpy.max_num_nonzeros(), 4);
165 EXPECT_EQ(cpy.rows()[0], 0);
166 EXPECT_EQ(cpy.rows()[1], 1);
168 EXPECT_EQ(cpy.cols()[0], 1);
169 EXPECT_EQ(cpy.cols()[1], 4);
171 EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
172 EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
175 TEST(TripletSparseMatrix, AppendRows) {
177 TripletSparseMatrix m(2, 5, 4);
178 m.mutable_rows()[0] = 0;
179 m.mutable_cols()[0] = 1;
180 m.mutable_values()[0] = 2.5;
182 m.mutable_rows()[1] = 1;
183 m.mutable_cols()[1] = 4;
184 m.mutable_values()[1] = 5.2;
185 m.set_num_nonzeros(2);
187 // Build another matrix.
188 TripletSparseMatrix a(10, 5, 4);
189 a.mutable_rows()[0] = 0;
190 a.mutable_cols()[0] = 1;
191 a.mutable_values()[0] = 3.5;
193 a.mutable_rows()[1] = 1;
194 a.mutable_cols()[1] = 4;
195 a.mutable_values()[1] = 6.2;
197 a.mutable_rows()[2] = 9;
198 a.mutable_cols()[2] = 5;
199 a.mutable_values()[2] = 1;
200 a.set_num_nonzeros(3);
202 // Glue the second matrix to the bottom of the first.
205 EXPECT_EQ(m.num_rows(), 12);
206 EXPECT_EQ(m.num_cols(), 5);
207 ASSERT_EQ(m.num_nonzeros(), 5);
209 EXPECT_EQ(m.values()[0], 2.5);
210 EXPECT_EQ(m.values()[1], 5.2);
211 EXPECT_EQ(m.values()[2], 3.5);
212 EXPECT_EQ(m.values()[3], 6.2);
213 EXPECT_EQ(m.values()[4], 1);
215 EXPECT_EQ(m.rows()[0], 0);
216 EXPECT_EQ(m.rows()[1], 1);
217 EXPECT_EQ(m.rows()[2], 2);
218 EXPECT_EQ(m.rows()[3], 3);
219 EXPECT_EQ(m.rows()[4], 11);
221 EXPECT_EQ(m.cols()[0], 1);
222 EXPECT_EQ(m.cols()[1], 4);
223 EXPECT_EQ(m.cols()[2], 1);
224 EXPECT_EQ(m.cols()[3], 4);
225 EXPECT_EQ(m.cols()[4], 5);
228 TEST(TripletSparseMatrix, AppendCols) {
230 TripletSparseMatrix m(2, 5, 4);
231 m.mutable_rows()[0] = 0;
232 m.mutable_cols()[0] = 1;
233 m.mutable_values()[0] = 2.5;
235 m.mutable_rows()[1] = 1;
236 m.mutable_cols()[1] = 4;
237 m.mutable_values()[1] = 5.2;
238 m.set_num_nonzeros(2);
240 // Build another matrix.
241 TripletSparseMatrix a(2, 15, 4);
242 a.mutable_rows()[0] = 0;
243 a.mutable_cols()[0] = 1;
244 a.mutable_values()[0] = 3.5;
246 a.mutable_rows()[1] = 1;
247 a.mutable_cols()[1] = 4;
248 a.mutable_values()[1] = 6.2;
250 a.mutable_rows()[2] = 0;
251 a.mutable_cols()[2] = 10;
252 a.mutable_values()[2] = 1;
253 a.set_num_nonzeros(3);
255 // Glue the second matrix to the left of the first.
258 EXPECT_EQ(m.num_rows(), 2);
259 EXPECT_EQ(m.num_cols(), 20);
260 ASSERT_EQ(m.num_nonzeros(), 5);
262 EXPECT_EQ(m.values()[0], 2.5);
263 EXPECT_EQ(m.values()[1], 5.2);
264 EXPECT_EQ(m.values()[2], 3.5);
265 EXPECT_EQ(m.values()[3], 6.2);
266 EXPECT_EQ(m.values()[4], 1);
268 EXPECT_EQ(m.rows()[0], 0);
269 EXPECT_EQ(m.rows()[1], 1);
270 EXPECT_EQ(m.rows()[2], 0);
271 EXPECT_EQ(m.rows()[3], 1);
272 EXPECT_EQ(m.rows()[4], 0);
274 EXPECT_EQ(m.cols()[0], 1);
275 EXPECT_EQ(m.cols()[1], 4);
276 EXPECT_EQ(m.cols()[2], 6);
277 EXPECT_EQ(m.cols()[3], 9);
278 EXPECT_EQ(m.cols()[4], 15);
281 TEST(TripletSparseMatrix, CreateDiagonalMatrix) {
282 scoped_array<double> values(new double[10]);
283 for (int i = 0; i < 10; ++i)
286 scoped_ptr<TripletSparseMatrix> m(
287 TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10));
288 EXPECT_EQ(m->num_rows(), 10);
289 EXPECT_EQ(m->num_cols(), 10);
290 ASSERT_EQ(m->num_nonzeros(), 10);
291 for (int i = 0; i < 10 ; ++i) {
292 EXPECT_EQ(m->rows()[i], i);
293 EXPECT_EQ(m->cols()[i], i);
294 EXPECT_EQ(m->values()[i], i);
298 TEST(TripletSparseMatrix, Resize) {
299 TripletSparseMatrix m(10, 20, 200);
301 for (int i = 0; i < 10; ++i) {
302 for (int j = 0; j < 20; ++j) {
303 m.mutable_rows()[nnz] = i;
304 m.mutable_cols()[nnz] = j;
305 m.mutable_values()[nnz++] = i+j;
308 m.set_num_nonzeros(nnz);
310 EXPECT_EQ(m.num_rows(), 5);
311 EXPECT_EQ(m.num_cols(), 6);
312 ASSERT_EQ(m.num_nonzeros(), 30);
313 for (int i = 0; i < 30; ++i) {
314 EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]);
318 } // namespace internal