MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/implicit_schur_complement_test.cc
2019-01-03 16:25:18 +08:00

200 lines
7.3 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
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//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/implicit_schur_complement.h"
#include <cstddef>
#include "Eigen/Dense"
#include "ceres/block_random_access_dense_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/casts.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/linear_least_squares_problems.h"
#include "ceres/linear_solver.h"
#include "ceres/schur_eliminator.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
using testing::AssertionResult;
const double kEpsilon = 1e-14;
class ImplicitSchurComplementTest : public ::testing::Test {
protected :
virtual void SetUp() {
scoped_ptr<LinearLeastSquaresProblem> problem(
CreateLinearLeastSquaresProblemFromId(2));
CHECK_NOTNULL(problem.get());
A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
b_.reset(problem->b.release());
D_.reset(problem->D.release());
num_cols_ = A_->num_cols();
num_rows_ = A_->num_rows();
num_eliminate_blocks_ = problem->num_eliminate_blocks;
}
void ReducedLinearSystemAndSolution(double* D,
Matrix* lhs,
Vector* rhs,
Vector* solution) {
const CompressedRowBlockStructure* bs = A_->block_structure();
const int num_col_blocks = bs->cols.size();
std::vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
}
BlockRandomAccessDenseMatrix blhs(blocks);
const int num_schur_rows = blhs.num_rows();
LinearSolver::Options options;
options.elimination_groups.push_back(num_eliminate_blocks_);
options.type = DENSE_SCHUR;
scoped_ptr<SchurEliminatorBase> eliminator(
SchurEliminatorBase::Create(options));
CHECK_NOTNULL(eliminator.get());
eliminator->Init(num_eliminate_blocks_, bs);
lhs->resize(num_schur_rows, num_schur_rows);
rhs->resize(num_schur_rows);
eliminator->Eliminate(A_.get(), b_.get(), D, &blhs, rhs->data());
MatrixRef lhs_ref(blhs.mutable_values(), num_schur_rows, num_schur_rows);
// lhs_ref is an upper triangular matrix. Construct a full version
// of lhs_ref in lhs by transposing lhs_ref, choosing the strictly
// lower triangular part of the matrix and adding it to lhs_ref.
*lhs = lhs_ref;
lhs->triangularView<Eigen::StrictlyLower>() =
lhs_ref.triangularView<Eigen::StrictlyUpper>().transpose();
solution->resize(num_cols_);
solution->setZero();
VectorRef schur_solution(solution->data() + num_cols_ - num_schur_rows,
num_schur_rows);
schur_solution = lhs->selfadjointView<Eigen::Upper>().llt().solve(*rhs);
eliminator->BackSubstitute(A_.get(), b_.get(), D,
schur_solution.data(), solution->data());
}
AssertionResult TestImplicitSchurComplement(double* D) {
Matrix lhs;
Vector rhs;
Vector reference_solution;
ReducedLinearSystemAndSolution(D, &lhs, &rhs, &reference_solution);
LinearSolver::Options options;
options.elimination_groups.push_back(num_eliminate_blocks_);
options.preconditioner_type = JACOBI;
ImplicitSchurComplement isc(options);
isc.Init(*A_, D, b_.get());
int num_sc_cols = lhs.cols();
for (int i = 0; i < num_sc_cols; ++i) {
Vector x(num_sc_cols);
x.setZero();
x(i) = 1.0;
Vector y(num_sc_cols);
y = lhs * x;
Vector z(num_sc_cols);
isc.RightMultiply(x.data(), z.data());
// The i^th column of the implicit schur complement is the same as
// the explicit schur complement.
if ((y - z).norm() > kEpsilon) {
return testing::AssertionFailure()
<< "Explicit and Implicit SchurComplements differ in "
<< "column " << i << ". explicit: " << y.transpose()
<< " implicit: " << z.transpose();
}
}
// Compare the rhs of the reduced linear system
if ((isc.rhs() - rhs).norm() > kEpsilon) {
return testing::AssertionFailure()
<< "Explicit and Implicit SchurComplements differ in "
<< "rhs. explicit: " << rhs.transpose()
<< " implicit: " << isc.rhs().transpose();
}
// Reference solution to the f_block.
const Vector reference_f_sol =
lhs.selfadjointView<Eigen::Upper>().llt().solve(rhs);
// Backsubstituted solution from the implicit schur solver using the
// reference solution to the f_block.
Vector sol(num_cols_);
isc.BackSubstitute(reference_f_sol.data(), sol.data());
if ((sol - reference_solution).norm() > kEpsilon) {
return testing::AssertionFailure()
<< "Explicit and Implicit SchurComplements solutions differ. "
<< "explicit: " << reference_solution.transpose()
<< " implicit: " << sol.transpose();
}
return testing::AssertionSuccess();
}
int num_rows_;
int num_cols_;
int num_eliminate_blocks_;
scoped_ptr<BlockSparseMatrix> A_;
scoped_array<double> b_;
scoped_array<double> D_;
};
// Verify that the Schur Complement matrix implied by the
// ImplicitSchurComplement class matches the one explicitly computed
// by the SchurComplement solver.
//
// We do this with and without regularization to check that the
// support for the LM diagonal is correct.
TEST_F(ImplicitSchurComplementTest, SchurMatrixValuesTest) {
EXPECT_TRUE(TestImplicitSchurComplement(NULL));
EXPECT_TRUE(TestImplicitSchurComplement(D_.get()));
}
} // namespace internal
} // namespace ceres