214 lines
6.1 KiB
C++
214 lines
6.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: kushalav@google.com (Avanish Kushal)
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// sameeragarwal@google.com (Sameer Agarwal)
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// This include must come before any #ifndef check on Ceres compile options.
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#include "ceres/internal/port.h"
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#ifndef CERES_NO_SUITESPARSE
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#include "ceres/visibility.h"
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#include <set>
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#include <vector>
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#include "ceres/block_structure.h"
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#include "ceres/graph.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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using std::set;
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using std::vector;
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class VisibilityTest : public ::testing::Test {
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};
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TEST(VisibilityTest, SimpleMatrix) {
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// A = [1 0 0 0 0 1
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// 1 0 0 1 0 0
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// 0 1 1 0 0 0
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// 0 1 0 0 1 0]
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int num_cols = 6;
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int num_eliminate_blocks = 2;
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CompressedRowBlockStructure bs;
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// Row 1
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.push_back(Cell(0, 0));
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row.cells.push_back(Cell(5, 0));
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}
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// Row 2
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 2;
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row.cells.push_back(Cell(0, 1));
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row.cells.push_back(Cell(3, 1));
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}
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// Row 3
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 4;
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row.cells.push_back(Cell(1, 2));
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row.cells.push_back(Cell(2, 2));
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}
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// Row 4
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 6;
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row.cells.push_back(Cell(1, 3));
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row.cells.push_back(Cell(4, 3));
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}
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bs.cols.resize(num_cols);
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vector< set<int> > visibility;
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ComputeVisibility(bs, num_eliminate_blocks, &visibility);
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ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
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for (int i = 0; i < visibility.size(); ++i) {
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ASSERT_EQ(visibility[i].size(), 1);
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}
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scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
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EXPECT_EQ(graph->vertices().size(), visibility.size());
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for (int i = 0; i < visibility.size(); ++i) {
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EXPECT_EQ(graph->VertexWeight(i), 1.0);
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}
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for (int i = 0; i < visibility.size(); ++i) {
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for (int j = i; j < visibility.size(); ++j) {
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double edge_weight = 0.0;
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if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) {
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edge_weight = 1.0;
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}
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EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
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<< "Edge: " << i << " " << j
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<< " weight: " << graph->EdgeWeight(i, j)
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<< " expected weight: " << edge_weight;
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}
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}
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}
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TEST(VisibilityTest, NoEBlocks) {
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// A = [1 0 0 0 0 0
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// 1 0 0 0 0 0
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// 0 1 0 0 0 0
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// 0 1 0 0 0 0]
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int num_cols = 6;
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int num_eliminate_blocks = 2;
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CompressedRowBlockStructure bs;
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// Row 1
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.push_back(Cell(0, 0));
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}
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// Row 2
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 2;
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row.cells.push_back(Cell(0, 1));
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}
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// Row 3
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 4;
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row.cells.push_back(Cell(1, 2));
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}
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// Row 4
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{
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bs.rows.push_back(CompressedRow());
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 6;
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row.cells.push_back(Cell(1, 3));
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}
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bs.cols.resize(num_cols);
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vector<set<int> > visibility;
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ComputeVisibility(bs, num_eliminate_blocks, &visibility);
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ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
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for (int i = 0; i < visibility.size(); ++i) {
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ASSERT_EQ(visibility[i].size(), 0);
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}
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scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
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EXPECT_EQ(graph->vertices().size(), visibility.size());
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for (int i = 0; i < visibility.size(); ++i) {
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EXPECT_EQ(graph->VertexWeight(i), 1.0);
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}
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for (int i = 0; i < visibility.size(); ++i) {
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for (int j = i; j < visibility.size(); ++j) {
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double edge_weight = 0.0;
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if (i == j) {
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edge_weight = 1.0;
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}
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EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
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<< "Edge: " << i << " " << j
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<< " weight: " << graph->EdgeWeight(i, j)
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<< " expected weight: " << edge_weight;
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}
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}
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}
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} // namespace internal
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} // namespace ceres
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#endif // CERES_NO_SUITESPARSE
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