mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
0a53aa9054
1. Add abseil-cpp as a submodule. We are tracking the latest LTS release, which is lts_2024_01_16. 2. Replace glog/gflags with absl::log and absl::flags. 3. Remove miniglog 4. Also take a whack at making the bazel build work with abseil-cpp and gtest. There are a number of TODOs in this CL that still need to be resolved. Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
279 lines
7.7 KiB
C++
279 lines
7.7 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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/detect_structure.h"
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#include "Eigen/Core"
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#include "ceres/block_structure.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(DetectStructure, EverythingStatic) {
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const int expected_row_block_size = 2;
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const int expected_e_block_size = 3;
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const int expected_f_block_size = 4;
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CompressedRowBlockStructure bs;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 0;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 3;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 7;
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(1, 0);
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}
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 2;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(2, 0);
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}
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int row_block_size = 0;
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int e_block_size = 0;
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int f_block_size = 0;
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const int num_eliminate_blocks = 1;
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DetectStructure(
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bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
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EXPECT_EQ(row_block_size, expected_row_block_size);
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EXPECT_EQ(e_block_size, expected_e_block_size);
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EXPECT_EQ(f_block_size, expected_f_block_size);
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}
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TEST(DetectStructure, DynamicRow) {
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const int expected_row_block_size = Eigen::Dynamic;
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const int expected_e_block_size = 3;
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const int expected_f_block_size = 4;
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CompressedRowBlockStructure bs;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 0;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 3;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 7;
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(1, 0);
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}
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 1;
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row.block.position = 2;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(2, 0);
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}
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int row_block_size = 0;
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int e_block_size = 0;
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int f_block_size = 0;
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const int num_eliminate_blocks = 1;
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DetectStructure(
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bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
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EXPECT_EQ(row_block_size, expected_row_block_size);
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EXPECT_EQ(e_block_size, expected_e_block_size);
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EXPECT_EQ(f_block_size, expected_f_block_size);
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}
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TEST(DetectStructure, DynamicFBlockDifferentRows) {
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const int expected_row_block_size = 2;
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const int expected_e_block_size = 3;
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const int expected_f_block_size = Eigen::Dynamic;
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CompressedRowBlockStructure bs;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 0;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 3;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 7;
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(1, 0);
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}
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 2;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(2, 0);
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}
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int row_block_size = 0;
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int e_block_size = 0;
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int f_block_size = 0;
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const int num_eliminate_blocks = 1;
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DetectStructure(
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bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
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EXPECT_EQ(row_block_size, expected_row_block_size);
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EXPECT_EQ(e_block_size, expected_e_block_size);
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EXPECT_EQ(f_block_size, expected_f_block_size);
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}
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TEST(DetectStructure, DynamicEBlock) {
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const int expected_row_block_size = 2;
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const int expected_e_block_size = Eigen::Dynamic;
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const int expected_f_block_size = 3;
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CompressedRowBlockStructure bs;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 0;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 3;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 7;
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(2, 0);
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}
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 2;
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row.cells.emplace_back(1, 0);
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row.cells.emplace_back(2, 0);
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}
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int row_block_size = 0;
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int e_block_size = 0;
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int f_block_size = 0;
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const int num_eliminate_blocks = 2;
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DetectStructure(
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bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
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EXPECT_EQ(row_block_size, expected_row_block_size);
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EXPECT_EQ(e_block_size, expected_e_block_size);
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EXPECT_EQ(f_block_size, expected_f_block_size);
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}
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TEST(DetectStructure, DynamicFBlockSameRow) {
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const int expected_row_block_size = 2;
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const int expected_e_block_size = 3;
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const int expected_f_block_size = Eigen::Dynamic;
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CompressedRowBlockStructure bs;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 0;
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bs.cols.emplace_back();
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bs.cols.back().size = 4;
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bs.cols.back().position = 3;
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bs.cols.emplace_back();
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bs.cols.back().size = 3;
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bs.cols.back().position = 7;
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{
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bs.rows.emplace_back();
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CompressedRow& row = bs.rows.back();
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row.block.size = 2;
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row.block.position = 0;
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row.cells.emplace_back(0, 0);
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row.cells.emplace_back(1, 0);
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row.cells.emplace_back(2, 0);
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}
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int row_block_size = 0;
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int e_block_size = 0;
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int f_block_size = 0;
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const int num_eliminate_blocks = 1;
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DetectStructure(
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bs, num_eliminate_blocks, &row_block_size, &e_block_size, &f_block_size);
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EXPECT_EQ(row_block_size, expected_row_block_size);
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EXPECT_EQ(e_block_size, expected_e_block_size);
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EXPECT_EQ(f_block_size, expected_f_block_size);
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}
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} // namespace internal
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} // namespace ceres
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