mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
280 lines
7.9 KiB
C++
280 lines
7.9 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 "ceres/detect_structure.h"
|
|
|
|
#include "Eigen/Core"
|
|
#include "ceres/block_structure.h"
|
|
#include "glog/logging.h"
|
|
#include "gtest/gtest.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
|