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

295 lines
8.3 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
// 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 "Eigen/Core"
#include "glog/logging.h"
#include "gtest/gtest.h"
#include "ceres/block_structure.h"
#include "ceres/detect_structure.h"
namespace ceres {
namespace internal {
TEST(DetectStructure, EverythingStatic) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = 4;
CompressedRowBlockStructure bs;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 7;
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(1, 0));
}
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(2, 0));
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(bs,
num_eliminate_blocks,
&row_block_size,
&e_block_size,
&f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicRow) {
const int expected_row_block_size = Eigen::Dynamic;
const int expected_e_block_size = 3;
const int expected_f_block_size = 4;
CompressedRowBlockStructure bs;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 7;
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(1, 0));
}
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 1;
row.block.position = 2;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(2, 0));
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(bs,
num_eliminate_blocks,
&row_block_size,
&e_block_size,
&f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicFBlockDifferentRows) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = Eigen::Dynamic;
CompressedRowBlockStructure bs;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(1, 0));
}
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(2, 0));
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(bs,
num_eliminate_blocks,
&row_block_size,
&e_block_size,
&f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicEBlock) {
const int expected_row_block_size = 2;
const int expected_e_block_size = Eigen::Dynamic;
const int expected_f_block_size = 3;
CompressedRowBlockStructure bs;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(2, 0));
}
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 2;
row.cells.push_back(Cell(1, 0));
row.cells.push_back(Cell(2, 0));
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 2;
DetectStructure(bs,
num_eliminate_blocks,
&row_block_size,
&e_block_size,
&f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
TEST(DetectStructure, DynamicFBlockSameRow) {
const int expected_row_block_size = 2;
const int expected_e_block_size = 3;
const int expected_f_block_size = Eigen::Dynamic;
CompressedRowBlockStructure bs;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 0;
bs.cols.push_back(Block());
bs.cols.back().size = 4;
bs.cols.back().position = 3;
bs.cols.push_back(Block());
bs.cols.back().size = 3;
bs.cols.back().position = 7;
{
bs.rows.push_back(CompressedRow());
CompressedRow& row = bs.rows.back();
row.block.size = 2;
row.block.position = 0;
row.cells.push_back(Cell(0, 0));
row.cells.push_back(Cell(1, 0));
row.cells.push_back(Cell(2, 0));
}
int row_block_size = 0;
int e_block_size = 0;
int f_block_size = 0;
const int num_eliminate_blocks = 1;
DetectStructure(bs,
num_eliminate_blocks,
&row_block_size,
&e_block_size,
&f_block_size);
EXPECT_EQ(row_block_size, expected_row_block_size);
EXPECT_EQ(e_block_size, expected_e_block_size);
EXPECT_EQ(f_block_size, expected_f_block_size);
}
} // namespace internal
} // namespace ceres