mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
ae65219e04
1. NULL -> nullptr 2. foo.reset(new Bar) -> = foo = std::make_unique<Bar>() 3. Missing std library includes & prefixes Change-Id: I260b261b484554be681ee5a7398126fdb3b3a789
116 lines
3.9 KiB
C++
116 lines
3.9 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/block_random_access_dense_matrix.h"
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#include <vector>
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#include "ceres/internal/eigen.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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TEST(BlockRandomAccessDenseMatrix, GetCell) {
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std::vector<int> blocks;
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blocks.push_back(3);
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blocks.push_back(4);
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blocks.push_back(5);
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const int num_rows = 3 + 4 + 5;
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BlockRandomAccessDenseMatrix m(blocks);
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EXPECT_EQ(m.num_rows(), num_rows);
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EXPECT_EQ(m.num_cols(), num_rows);
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int row_idx = 0;
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for (int i = 0; i < blocks.size(); ++i) {
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int col_idx = 0;
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for (int j = 0; j < blocks.size(); ++j) {
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int row;
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int col;
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int row_stride;
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int col_stride;
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CellInfo* cell = m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
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EXPECT_TRUE(cell != nullptr);
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EXPECT_EQ(row, row_idx);
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EXPECT_EQ(col, col_idx);
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EXPECT_EQ(row_stride, 3 + 4 + 5);
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EXPECT_EQ(col_stride, 3 + 4 + 5);
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col_idx += blocks[j];
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}
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row_idx += blocks[i];
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}
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}
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TEST(BlockRandomAccessDenseMatrix, WriteCell) {
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std::vector<int> blocks;
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blocks.push_back(3);
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blocks.push_back(4);
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blocks.push_back(5);
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const int num_rows = 3 + 4 + 5;
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BlockRandomAccessDenseMatrix m(blocks);
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// Fill the cell (i,j) with (i + 1) * (j + 1)
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for (int i = 0; i < blocks.size(); ++i) {
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for (int j = 0; j < blocks.size(); ++j) {
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int row;
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int col;
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int row_stride;
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int col_stride;
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CellInfo* cell = m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
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MatrixRef(cell->values, row_stride, col_stride)
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.block(row, col, blocks[i], blocks[j]) =
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(i + 1) * (j + 1) * Matrix::Ones(blocks[i], blocks[j]);
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}
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}
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// Check the values in the array are correct by going over the
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// entries of each block manually.
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int row_idx = 0;
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for (int i = 0; i < blocks.size(); ++i) {
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int col_idx = 0;
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for (int j = 0; j < blocks.size(); ++j) {
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// Check the values of this block.
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for (int r = 0; r < blocks[i]; ++r) {
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for (int c = 0; c < blocks[j]; ++c) {
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int pos = row_idx * num_rows + col_idx;
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EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
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}
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}
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col_idx += blocks[j];
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}
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row_idx += blocks[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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