|
Packit |
ea1746 |
// Ceres Solver - A fast non-linear least squares minimizer
|
|
Packit |
ea1746 |
// Copyright 2015 Google Inc. All rights reserved.
|
|
Packit |
ea1746 |
// http://ceres-solver.org/
|
|
Packit |
ea1746 |
//
|
|
Packit |
ea1746 |
// Redistribution and use in source and binary forms, with or without
|
|
Packit |
ea1746 |
// modification, are permitted provided that the following conditions are met:
|
|
Packit |
ea1746 |
//
|
|
Packit |
ea1746 |
// * Redistributions of source code must retain the above copyright notice,
|
|
Packit |
ea1746 |
// this list of conditions and the following disclaimer.
|
|
Packit |
ea1746 |
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
Packit |
ea1746 |
// this list of conditions and the following disclaimer in the documentation
|
|
Packit |
ea1746 |
// and/or other materials provided with the distribution.
|
|
Packit |
ea1746 |
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
Packit |
ea1746 |
// used to endorse or promote products derived from this software without
|
|
Packit |
ea1746 |
// specific prior written permission.
|
|
Packit |
ea1746 |
//
|
|
Packit |
ea1746 |
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
Packit |
ea1746 |
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
Packit |
ea1746 |
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
Packit |
ea1746 |
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
Packit |
ea1746 |
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
Packit |
ea1746 |
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
Packit |
ea1746 |
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
Packit |
ea1746 |
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
Packit |
ea1746 |
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
Packit |
ea1746 |
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
Packit |
ea1746 |
// POSSIBILITY OF SUCH DAMAGE.
|
|
Packit |
ea1746 |
//
|
|
Packit |
ea1746 |
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
#include <vector>
|
|
Packit |
ea1746 |
#include "gtest/gtest.h"
|
|
Packit |
ea1746 |
#include "ceres/block_random_access_dense_matrix.h"
|
|
Packit |
ea1746 |
#include "ceres/internal/eigen.h"
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
namespace ceres {
|
|
Packit |
ea1746 |
namespace internal {
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
TEST(BlockRandomAccessDenseMatrix, GetCell) {
|
|
Packit |
ea1746 |
std::vector<int> blocks;
|
|
Packit |
ea1746 |
blocks.push_back(3);
|
|
Packit |
ea1746 |
blocks.push_back(4);
|
|
Packit |
ea1746 |
blocks.push_back(5);
|
|
Packit |
ea1746 |
const int num_rows = 3 + 4 + 5;
|
|
Packit |
ea1746 |
BlockRandomAccessDenseMatrix m(blocks);
|
|
Packit |
ea1746 |
EXPECT_EQ(m.num_rows(), num_rows);
|
|
Packit |
ea1746 |
EXPECT_EQ(m.num_cols(), num_rows);
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
int row_idx = 0;
|
|
Packit |
ea1746 |
for (int i = 0; i < blocks.size(); ++i) {
|
|
Packit |
ea1746 |
int col_idx = 0;
|
|
Packit |
ea1746 |
for (int j = 0; j < blocks.size(); ++j) {
|
|
Packit |
ea1746 |
int row;
|
|
Packit |
ea1746 |
int col;
|
|
Packit |
ea1746 |
int row_stride;
|
|
Packit |
ea1746 |
int col_stride;
|
|
Packit |
ea1746 |
CellInfo* cell =
|
|
Packit |
ea1746 |
m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
EXPECT_TRUE(cell != NULL);
|
|
Packit |
ea1746 |
EXPECT_EQ(row, row_idx);
|
|
Packit |
ea1746 |
EXPECT_EQ(col, col_idx);
|
|
Packit |
ea1746 |
EXPECT_EQ(row_stride, 3 + 4 + 5);
|
|
Packit |
ea1746 |
EXPECT_EQ(col_stride, 3 + 4 + 5);
|
|
Packit |
ea1746 |
col_idx += blocks[j];
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
row_idx += blocks[i];
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
TEST(BlockRandomAccessDenseMatrix, WriteCell) {
|
|
Packit |
ea1746 |
std::vector<int> blocks;
|
|
Packit |
ea1746 |
blocks.push_back(3);
|
|
Packit |
ea1746 |
blocks.push_back(4);
|
|
Packit |
ea1746 |
blocks.push_back(5);
|
|
Packit |
ea1746 |
const int num_rows = 3 + 4 + 5;
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
BlockRandomAccessDenseMatrix m(blocks);
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
// Fill the cell (i,j) with (i + 1) * (j + 1)
|
|
Packit |
ea1746 |
for (int i = 0; i < blocks.size(); ++i) {
|
|
Packit |
ea1746 |
for (int j = 0; j < blocks.size(); ++j) {
|
|
Packit |
ea1746 |
int row;
|
|
Packit |
ea1746 |
int col;
|
|
Packit |
ea1746 |
int row_stride;
|
|
Packit |
ea1746 |
int col_stride;
|
|
Packit |
ea1746 |
CellInfo* cell = m.GetCell(
|
|
Packit |
ea1746 |
i, j, &row, &col, &row_stride, &col_stride);
|
|
Packit |
ea1746 |
MatrixRef(cell->values, row_stride, col_stride).block(
|
|
Packit |
ea1746 |
row, col, blocks[i], blocks[j]) =
|
|
Packit |
ea1746 |
(i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
// Check the values in the array are correct by going over the
|
|
Packit |
ea1746 |
// entries of each block manually.
|
|
Packit |
ea1746 |
int row_idx = 0;
|
|
Packit |
ea1746 |
for (int i = 0; i < blocks.size(); ++i) {
|
|
Packit |
ea1746 |
int col_idx = 0;
|
|
Packit |
ea1746 |
for (int j = 0; j < blocks.size(); ++j) {
|
|
Packit |
ea1746 |
// Check the values of this block.
|
|
Packit |
ea1746 |
for (int r = 0; r < blocks[i]; ++r) {
|
|
Packit |
ea1746 |
for (int c = 0; c < blocks[j]; ++c) {
|
|
Packit |
ea1746 |
int pos = row_idx * num_rows + col_idx;
|
|
Packit |
ea1746 |
EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
col_idx += blocks[j];
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
row_idx += blocks[i];
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
}
|
|
Packit |
ea1746 |
|
|
Packit |
ea1746 |
} // namespace internal
|
|
Packit |
ea1746 |
} // namespace ceres
|