mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
320 lines
8.6 KiB
C++
320 lines
8.6 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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/triplet_sparse_matrix.h"
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#include "gtest/gtest.h"
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) {
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TripletSparseMatrix m;
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EXPECT_EQ(m.num_rows(), 0);
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EXPECT_EQ(m.num_cols(), 0);
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EXPECT_EQ(m.num_nonzeros(), 0);
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EXPECT_EQ(m.max_num_nonzeros(), 0);
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}
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TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) {
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// Build a matrix
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TripletSparseMatrix m(2, 5, 4);
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EXPECT_EQ(m.num_rows(), 2);
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EXPECT_EQ(m.num_cols(), 5);
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EXPECT_EQ(m.num_nonzeros(), 0);
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EXPECT_EQ(m.max_num_nonzeros(), 4);
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m.mutable_rows()[0] = 0;
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m.mutable_cols()[0] = 1;
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m.mutable_values()[0] = 2.5;
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m.mutable_rows()[1] = 1;
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m.mutable_cols()[1] = 4;
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m.mutable_values()[1] = 5.2;
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m.set_num_nonzeros(2);
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EXPECT_EQ(m.num_nonzeros(), 2);
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ASSERT_TRUE(m.AllTripletsWithinBounds());
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// We should never be able resize and lose data
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EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss");
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// We should be able to resize while preserving data
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m.Reserve(50);
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EXPECT_EQ(m.max_num_nonzeros(), 50);
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m.Reserve(3);
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EXPECT_EQ(m.max_num_nonzeros(), 50); // The space is already reserved.
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EXPECT_EQ(m.rows()[0], 0);
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EXPECT_EQ(m.rows()[1], 1);
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EXPECT_EQ(m.cols()[0], 1);
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EXPECT_EQ(m.cols()[1], 4);
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EXPECT_DOUBLE_EQ(m.values()[0], 2.5);
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EXPECT_DOUBLE_EQ(m.values()[1], 5.2);
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// Bounds check should fail
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m.mutable_rows()[0] = 10;
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EXPECT_FALSE(m.AllTripletsWithinBounds());
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m.mutable_rows()[0] = 1;
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m.mutable_cols()[0] = 100;
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EXPECT_FALSE(m.AllTripletsWithinBounds());
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// Remove all data and then resize the data store
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m.SetZero();
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EXPECT_EQ(m.num_nonzeros(), 0);
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m.Reserve(1);
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}
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TEST(TripletSparseMatrix, CopyConstructor) {
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TripletSparseMatrix orig(2, 5, 4);
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orig.mutable_rows()[0] = 0;
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orig.mutable_cols()[0] = 1;
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orig.mutable_values()[0] = 2.5;
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orig.mutable_rows()[1] = 1;
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orig.mutable_cols()[1] = 4;
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orig.mutable_values()[1] = 5.2;
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orig.set_num_nonzeros(2);
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TripletSparseMatrix cpy(orig);
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EXPECT_EQ(cpy.num_rows(), 2);
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EXPECT_EQ(cpy.num_cols(), 5);
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ASSERT_EQ(cpy.num_nonzeros(), 2);
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EXPECT_EQ(cpy.max_num_nonzeros(), 4);
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EXPECT_EQ(cpy.rows()[0], 0);
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EXPECT_EQ(cpy.rows()[1], 1);
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EXPECT_EQ(cpy.cols()[0], 1);
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EXPECT_EQ(cpy.cols()[1], 4);
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EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
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EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
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}
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TEST(TripletSparseMatrix, AssignmentOperator) {
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TripletSparseMatrix orig(2, 5, 4);
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orig.mutable_rows()[0] = 0;
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orig.mutable_cols()[0] = 1;
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orig.mutable_values()[0] = 2.5;
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orig.mutable_rows()[1] = 1;
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orig.mutable_cols()[1] = 4;
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orig.mutable_values()[1] = 5.2;
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orig.set_num_nonzeros(2);
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TripletSparseMatrix cpy(3, 50, 40);
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cpy.mutable_rows()[0] = 0;
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cpy.mutable_cols()[0] = 10;
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cpy.mutable_values()[0] = 10.22;
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cpy.mutable_rows()[1] = 2;
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cpy.mutable_cols()[1] = 23;
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cpy.mutable_values()[1] = 34.45;
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cpy.mutable_rows()[0] = 0;
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cpy.mutable_cols()[0] = 10;
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cpy.mutable_values()[0] = 10.22;
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cpy.mutable_rows()[1] = 0;
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cpy.mutable_cols()[1] = 3;
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cpy.mutable_values()[1] = 4.4;
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cpy.set_num_nonzeros(3);
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cpy = orig;
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EXPECT_EQ(cpy.num_rows(), 2);
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EXPECT_EQ(cpy.num_cols(), 5);
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ASSERT_EQ(cpy.num_nonzeros(), 2);
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EXPECT_EQ(cpy.max_num_nonzeros(), 4);
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EXPECT_EQ(cpy.rows()[0], 0);
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EXPECT_EQ(cpy.rows()[1], 1);
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EXPECT_EQ(cpy.cols()[0], 1);
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EXPECT_EQ(cpy.cols()[1], 4);
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EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
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EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
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}
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TEST(TripletSparseMatrix, AppendRows) {
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// Build one matrix.
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TripletSparseMatrix m(2, 5, 4);
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m.mutable_rows()[0] = 0;
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m.mutable_cols()[0] = 1;
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m.mutable_values()[0] = 2.5;
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m.mutable_rows()[1] = 1;
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m.mutable_cols()[1] = 4;
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m.mutable_values()[1] = 5.2;
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m.set_num_nonzeros(2);
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// Build another matrix.
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TripletSparseMatrix a(10, 5, 4);
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a.mutable_rows()[0] = 0;
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a.mutable_cols()[0] = 1;
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a.mutable_values()[0] = 3.5;
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a.mutable_rows()[1] = 1;
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a.mutable_cols()[1] = 4;
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a.mutable_values()[1] = 6.2;
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a.mutable_rows()[2] = 9;
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a.mutable_cols()[2] = 5;
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a.mutable_values()[2] = 1;
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a.set_num_nonzeros(3);
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// Glue the second matrix to the bottom of the first.
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m.AppendRows(a);
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EXPECT_EQ(m.num_rows(), 12);
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EXPECT_EQ(m.num_cols(), 5);
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ASSERT_EQ(m.num_nonzeros(), 5);
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EXPECT_EQ(m.values()[0], 2.5);
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EXPECT_EQ(m.values()[1], 5.2);
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EXPECT_EQ(m.values()[2], 3.5);
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EXPECT_EQ(m.values()[3], 6.2);
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EXPECT_EQ(m.values()[4], 1);
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EXPECT_EQ(m.rows()[0], 0);
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EXPECT_EQ(m.rows()[1], 1);
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EXPECT_EQ(m.rows()[2], 2);
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EXPECT_EQ(m.rows()[3], 3);
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EXPECT_EQ(m.rows()[4], 11);
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EXPECT_EQ(m.cols()[0], 1);
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EXPECT_EQ(m.cols()[1], 4);
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EXPECT_EQ(m.cols()[2], 1);
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EXPECT_EQ(m.cols()[3], 4);
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EXPECT_EQ(m.cols()[4], 5);
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}
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TEST(TripletSparseMatrix, AppendCols) {
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// Build one matrix.
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TripletSparseMatrix m(2, 5, 4);
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m.mutable_rows()[0] = 0;
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m.mutable_cols()[0] = 1;
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m.mutable_values()[0] = 2.5;
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m.mutable_rows()[1] = 1;
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m.mutable_cols()[1] = 4;
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m.mutable_values()[1] = 5.2;
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m.set_num_nonzeros(2);
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// Build another matrix.
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TripletSparseMatrix a(2, 15, 4);
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a.mutable_rows()[0] = 0;
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a.mutable_cols()[0] = 1;
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a.mutable_values()[0] = 3.5;
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a.mutable_rows()[1] = 1;
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a.mutable_cols()[1] = 4;
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a.mutable_values()[1] = 6.2;
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a.mutable_rows()[2] = 0;
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a.mutable_cols()[2] = 10;
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a.mutable_values()[2] = 1;
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a.set_num_nonzeros(3);
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// Glue the second matrix to the left of the first.
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m.AppendCols(a);
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EXPECT_EQ(m.num_rows(), 2);
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EXPECT_EQ(m.num_cols(), 20);
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ASSERT_EQ(m.num_nonzeros(), 5);
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EXPECT_EQ(m.values()[0], 2.5);
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EXPECT_EQ(m.values()[1], 5.2);
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EXPECT_EQ(m.values()[2], 3.5);
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EXPECT_EQ(m.values()[3], 6.2);
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EXPECT_EQ(m.values()[4], 1);
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EXPECT_EQ(m.rows()[0], 0);
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EXPECT_EQ(m.rows()[1], 1);
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EXPECT_EQ(m.rows()[2], 0);
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EXPECT_EQ(m.rows()[3], 1);
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EXPECT_EQ(m.rows()[4], 0);
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EXPECT_EQ(m.cols()[0], 1);
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EXPECT_EQ(m.cols()[1], 4);
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EXPECT_EQ(m.cols()[2], 6);
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EXPECT_EQ(m.cols()[3], 9);
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EXPECT_EQ(m.cols()[4], 15);
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}
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TEST(TripletSparseMatrix, CreateDiagonalMatrix) {
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scoped_array<double> values(new double[10]);
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for (int i = 0; i < 10; ++i)
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values[i] = i;
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scoped_ptr<TripletSparseMatrix> m(
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TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10));
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EXPECT_EQ(m->num_rows(), 10);
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EXPECT_EQ(m->num_cols(), 10);
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ASSERT_EQ(m->num_nonzeros(), 10);
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for (int i = 0; i < 10 ; ++i) {
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EXPECT_EQ(m->rows()[i], i);
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EXPECT_EQ(m->cols()[i], i);
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EXPECT_EQ(m->values()[i], i);
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}
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}
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TEST(TripletSparseMatrix, Resize) {
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TripletSparseMatrix m(10, 20, 200);
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int nnz = 0;
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for (int i = 0; i < 10; ++i) {
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for (int j = 0; j < 20; ++j) {
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m.mutable_rows()[nnz] = i;
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m.mutable_cols()[nnz] = j;
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m.mutable_values()[nnz++] = i+j;
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}
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}
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m.set_num_nonzeros(nnz);
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m.Resize(5, 6);
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EXPECT_EQ(m.num_rows(), 5);
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EXPECT_EQ(m.num_cols(), 6);
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ASSERT_EQ(m.num_nonzeros(), 30);
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for (int i = 0; i < 30; ++i) {
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EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]);
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}
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}
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} // namespace internal
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} // namespace ceres
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