234 lines
7.5 KiB
C++
234 lines
7.5 KiB
C++
|
// Ceres Solver - A fast non-linear least squares minimizer
|
||
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
||
|
|
// http://ceres-solver.org/
|
||
|
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions are met:
|
||
|
|
//
|
||
|
|
// * Redistributions of source code must retain the above copyright notice,
|
||
|
|
// 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.
|
||
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
||
|
|
// used to endorse or promote products derived from this software without
|
||
|
|
// specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
||
|
|
|
||
|
|
#include "ceres/ordered_groups.h"
|
||
|
|
|
||
|
|
#include <cstddef>
|
||
|
|
#include <vector>
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
#include "ceres/collections_port.h"
|
||
|
|
|
||
|
|
namespace ceres {
|
||
|
|
namespace internal {
|
||
|
|
|
||
|
|
TEST(OrderedGroups, EmptyOrderedGroupBehavesCorrectly) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 0);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 0);
|
||
|
|
double x;
|
||
|
|
EXPECT_EQ(ordering.GroupId(&x), -1);
|
||
|
|
EXPECT_FALSE(ordering.Remove(&x));
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, EverythingInOneGroup) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 1);
|
||
|
|
ordering.AddElementToGroup(x + 2, 1);
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 1);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 1);
|
||
|
|
|
||
|
|
ordering.Remove(x);
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 1);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), -1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 1);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, StartInOneGroupAndThenSplit) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 1);
|
||
|
|
ordering.AddElementToGroup(x + 2, 1);
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 1);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 1);
|
||
|
|
|
||
|
|
ordering.AddElementToGroup(x, 5);
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 2);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(5), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 5);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 1);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, AddAndRemoveEveryThingFromOneGroup) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 1);
|
||
|
|
ordering.AddElementToGroup(x + 2, 1);
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 1);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 1);
|
||
|
|
|
||
|
|
ordering.AddElementToGroup(x, 5);
|
||
|
|
ordering.AddElementToGroup(x + 1, 5);
|
||
|
|
ordering.AddElementToGroup(x + 2, 5);
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 1);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(5), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(0), 0);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 5);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 5);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 5);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, ReverseOrdering) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 2);
|
||
|
|
ordering.AddElementToGroup(x + 2, 2);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 2);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(2), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 2);
|
||
|
|
|
||
|
|
ordering.Reverse();
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 2);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(3), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(2), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), 3);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, ReverseOrderingWithEmptyOrderedGroups) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
// This should be a no-op.
|
||
|
|
ordering.Reverse();
|
||
|
|
|
||
|
|
// Ensure the properties of an empty OrderedGroups still hold after Reverse().
|
||
|
|
EXPECT_EQ(ordering.NumGroups(), 0);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 0);
|
||
|
|
EXPECT_EQ(ordering.GroupSize(1), 0);
|
||
|
|
double x;
|
||
|
|
EXPECT_EQ(ordering.GroupId(&x), -1);
|
||
|
|
EXPECT_FALSE(ordering.Remove(&x));
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, BulkRemove) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 2);
|
||
|
|
ordering.AddElementToGroup(x + 2, 2);
|
||
|
|
|
||
|
|
std::vector<double*> elements_to_remove;
|
||
|
|
elements_to_remove.push_back(x);
|
||
|
|
elements_to_remove.push_back(x + 2);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.Remove(elements_to_remove), 2);
|
||
|
|
EXPECT_EQ(ordering.NumElements(), 1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x), -1);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 1), 2);
|
||
|
|
EXPECT_EQ(ordering.GroupId(x + 2), -1);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, BulkRemoveWithNoElements) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
|
||
|
|
double x[3];
|
||
|
|
std::vector<double*> elements_to_remove;
|
||
|
|
elements_to_remove.push_back(x);
|
||
|
|
elements_to_remove.push_back(x + 2);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
|
||
|
|
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 2);
|
||
|
|
ordering.AddElementToGroup(x + 2, 2);
|
||
|
|
|
||
|
|
elements_to_remove.clear();
|
||
|
|
EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(OrderedGroups, MinNonZeroGroup) {
|
||
|
|
ParameterBlockOrdering ordering;
|
||
|
|
double x[3];
|
||
|
|
|
||
|
|
ordering.AddElementToGroup(x, 1);
|
||
|
|
ordering.AddElementToGroup(x + 1, 1);
|
||
|
|
ordering.AddElementToGroup(x + 2, 2);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
|
||
|
|
ordering.Remove(x);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
|
||
|
|
ordering.Remove(x + 1);
|
||
|
|
|
||
|
|
EXPECT_EQ(ordering.MinNonZeroGroup(), 2);
|
||
|
|
ordering.Remove(x + 2);
|
||
|
|
|
||
|
|
// No non-zero groups left.
|
||
|
|
EXPECT_DEATH_IF_SUPPORTED(ordering.MinNonZeroGroup(), "NumGroups");
|
||
|
|
}
|
||
|
|
} // namespace internal
|
||
|
|
} // namespace ceres
|