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A number of changes to BlockSparseMatrix.

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1. Add BlockSparseMatrix::CreateDiagonalMatrix
2. Add BlockSparseMatrix::AppendRows
3. Add BlockSparseMatrix::DeleteRowBlocks
4. Add BlockSparseMatrix::CreateRandomMatrix
5. Add a non-default constructor to Compressedlist.

Change-Id: I7cc7656616d059cef4471335f6d5b636807953e6
This commit is contained in:
Sameer Agarwal
2017-06-11 16:25:47 -07:00
parent 15dc18a532
commit ef31944726
4 changed files with 302 additions and 1 deletions
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internal/ceres/block_sparse_matrix_test.cc
+106
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@@ -108,5 +108,111 @@ TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) {
EXPECT_LT((m_a - m_b).norm(), 1e-12);
}
TEST_F(BlockSparseMatrixTest, AppendRows) {
scoped_ptr<LinearLeastSquaresProblem> problem(
CreateLinearLeastSquaresProblemFromId(2));
scoped_ptr<BlockSparseMatrix> m(
down_cast<BlockSparseMatrix*>(problem->A.release()));
A_->AppendRows(*m);
EXPECT_EQ(A_->num_rows(), 2 * m->num_rows());
EXPECT_EQ(A_->num_cols(), m->num_cols());
problem.reset(CreateLinearLeastSquaresProblemFromId(1));
scoped_ptr<TripletSparseMatrix> m2(
down_cast<TripletSparseMatrix*>(problem->A.release()));
B_->AppendRows(*m2);
Vector y_a = Vector::Zero(A_->num_rows());
Vector y_b = Vector::Zero(A_->num_rows());
for (int i = 0; i < A_->num_cols(); ++i) {
Vector x = Vector::Zero(A_->num_cols());
x[i] = 1.0;
y_a.setZero();
y_b.setZero();
A_->RightMultiply(x.data(), y_a.data());
B_->RightMultiply(x.data(), y_b.data());
EXPECT_LT((y_a - y_b).norm(), 1e-12);
}
}
TEST_F(BlockSparseMatrixTest, AppendAndDeleteBlockDiagonalMatrix) {
const std::vector<Block>& column_blocks = A_->block_structure()->cols;
const int num_cols =
column_blocks.back().size + column_blocks.back().position;
Vector diagonal(num_cols);
for (int i = 0; i < num_cols; ++i) {
diagonal(i) = 2 * i * i + 1;
}
scoped_ptr<BlockSparseMatrix> appendage(
BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
A_->AppendRows(*appendage);
Vector y_a, y_b;
y_a.resize(A_->num_rows());
y_b.resize(A_->num_rows());
for (int i = 0; i < A_->num_cols(); ++i) {
Vector x = Vector::Zero(A_->num_cols());
x[i] = 1.0;
y_a.setZero();
y_b.setZero();
A_->RightMultiply(x.data(), y_a.data());
B_->RightMultiply(x.data(), y_b.data());
EXPECT_LT((y_a.head(B_->num_rows()) - y_b.head(B_->num_rows())).norm(), 1e-12);
Vector expected_tail = Vector::Zero(A_->num_cols());
expected_tail(i) = diagonal(i);
EXPECT_LT((y_a.tail(A_->num_cols()) - expected_tail).norm(), 1e-12);
}
A_->DeleteRowBlocks(column_blocks.size());
EXPECT_EQ(A_->num_rows(), B_->num_rows());
EXPECT_EQ(A_->num_cols(), B_->num_cols());
y_a.resize(A_->num_rows());
y_b.resize(A_->num_rows());
for (int i = 0; i < A_->num_cols(); ++i) {
Vector x = Vector::Zero(A_->num_cols());
x[i] = 1.0;
y_a.setZero();
y_b.setZero();
A_->RightMultiply(x.data(), y_a.data());
B_->RightMultiply(x.data(), y_b.data());
EXPECT_LT((y_a - y_b).norm(), 1e-12);
}
}
TEST(BlockSparseMatrix, CreateDiagonalMatrix) {
std::vector<Block> column_blocks;
column_blocks.push_back(Block(2, 0));
column_blocks.push_back(Block(1, 2));
column_blocks.push_back(Block(3, 3));
const int num_cols =
column_blocks.back().size + column_blocks.back().position;
Vector diagonal(num_cols);
for (int i = 0; i < num_cols; ++i) {
diagonal(i) = 2 * i * i + 1;
}
scoped_ptr<BlockSparseMatrix> m(
BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
const CompressedRowBlockStructure* bs = m->block_structure();
EXPECT_EQ(bs->cols.size(), column_blocks.size());
for (int i = 0; i < column_blocks.size(); ++i) {
EXPECT_EQ(bs->cols[i].size, column_blocks[i].size);
EXPECT_EQ(bs->cols[i].position, column_blocks[i].position);
}
EXPECT_EQ(m->num_rows(), m->num_cols());
Vector x = Vector::Ones(num_cols);
Vector y = Vector::Zero(num_cols);
m->RightMultiply(x.data(), y.data());
for (int i = 0; i < num_cols; ++i) {
EXPECT_NEAR(y[i], diagonal[i], std::numeric_limits<double>::epsilon());
}
}
} // namespace internal
} // namespace ceres