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

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
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// POSSIBILITY OF SUCH DAMAGE.
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// 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