mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
39b7cbaa5d
This reduces pre-processor time when finding an
ordering automatically substantially.
Before:
ComputeStableSchurOrdering
Delta Cumulative
CreateHessianGraph : 0.50324 0.50324
Preordering : 0.00692 0.51017
StableIndependentSet : 0.26341 0.77358
ConstantParameterBlocks : 0.00095 0.77453
Total : 0.23978 1.01431
After:
ComputeStableSchurOrdering
Delta Cumulative
CreateHessianGraph : 0.17183 0.17183
Preordering : 0.00226 0.17409
StableIndependentSet : 0.12510 0.29919
ConstantParameterBlocks : 0.00073 0.29991
Total : 0.01638 0.31629
Change-Id: I50bbac69f8b3f19240a61a218913cebf34da0db5
124 lines
4.2 KiB
C++
124 lines
4.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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: Sameer Agarwal (sameeragarwal@google.com)
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#include "ceres/single_linkage_clustering.h"
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#include "absl/container/flat_hash_map.h"
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#include "ceres/graph.h"
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#include "gtest/gtest.h"
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namespace ceres::internal {
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TEST(SingleLinkageClustering, GraphHasTwoComponents) {
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WeightedGraph<int> graph;
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const int kNumVertices = 6;
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for (int i = 0; i < kNumVertices; ++i) {
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graph.AddVertex(i);
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}
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// Graph structure:
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//
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// 0-1-2-3 4-5
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graph.AddEdge(0, 1, 1.0);
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graph.AddEdge(1, 2, 1.0);
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graph.AddEdge(2, 3, 1.0);
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graph.AddEdge(4, 5, 1.0);
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SingleLinkageClusteringOptions options;
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absl::flat_hash_map<int, int> membership;
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ComputeSingleLinkageClustering(options, graph, &membership);
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EXPECT_EQ(membership.size(), kNumVertices);
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EXPECT_EQ(membership[1], membership[0]);
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EXPECT_EQ(membership[2], membership[0]);
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EXPECT_EQ(membership[3], membership[0]);
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EXPECT_NE(membership[4], membership[0]);
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EXPECT_NE(membership[5], membership[0]);
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EXPECT_EQ(membership[4], membership[5]);
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}
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TEST(SingleLinkageClustering, ComponentWithWeakLink) {
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WeightedGraph<int> graph;
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const int kNumVertices = 6;
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for (int i = 0; i < kNumVertices; ++i) {
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graph.AddVertex(i);
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}
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// Graph structure:
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//
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// 0-1-2-3 4-5
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graph.AddEdge(0, 1, 1.0);
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graph.AddEdge(1, 2, 1.0);
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graph.AddEdge(2, 3, 1.0);
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// This component should break up into two.
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graph.AddEdge(4, 5, 0.5);
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SingleLinkageClusteringOptions options;
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absl::flat_hash_map<int, int> membership;
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ComputeSingleLinkageClustering(options, graph, &membership);
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EXPECT_EQ(membership.size(), kNumVertices);
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EXPECT_EQ(membership[1], membership[0]);
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EXPECT_EQ(membership[2], membership[0]);
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EXPECT_EQ(membership[3], membership[0]);
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EXPECT_NE(membership[4], membership[0]);
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EXPECT_NE(membership[5], membership[0]);
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EXPECT_NE(membership[4], membership[5]);
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}
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TEST(SingleLinkageClustering, ComponentWithWeakLinkAndStrongLink) {
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WeightedGraph<int> graph;
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const int kNumVertices = 6;
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for (int i = 0; i < kNumVertices; ++i) {
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graph.AddVertex(i);
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}
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// Graph structure:
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//
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// 0-1-2-3 4-5
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graph.AddEdge(0, 1, 1.0);
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graph.AddEdge(1, 2, 1.0);
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graph.AddEdge(2, 3, 0.5); // Weak link
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graph.AddEdge(0, 3, 1.0);
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// This component should break up into two.
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graph.AddEdge(4, 5, 1.0);
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SingleLinkageClusteringOptions options;
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absl::flat_hash_map<int, int> membership;
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ComputeSingleLinkageClustering(options, graph, &membership);
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EXPECT_EQ(membership.size(), kNumVertices);
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EXPECT_EQ(membership[1], membership[0]);
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EXPECT_EQ(membership[2], membership[0]);
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EXPECT_EQ(membership[3], membership[0]);
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EXPECT_EQ(membership[4], membership[5]);
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}
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} // namespace ceres::internal
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