mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
f86a3bdbea
Previously some matrices used Block to keep track of row/column block sizes and some would just use ints, and then compute the position of each row and column from it. By uniformly using Block everywhere, we reduce duplicate computation and data copies. I also cleaned up a bunch of c++17 related stuff as I edited these files. Change-Id: I4c86b1593fd4c91f9057fbb38314f62f303e0477
110 lines
3.9 KiB
C++
110 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::internal {
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TEST(BlockRandomAccessDenseMatrix, GetCell) {
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std::vector<Block> blocks;
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blocks.emplace_back(3, 0);
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blocks.emplace_back(4, 3);
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blocks.emplace_back(5, 7);
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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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for (int i = 0; i < blocks.size(); ++i) {
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const int row_idx = blocks[i].position;
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for (int j = 0; j < blocks.size(); ++j) {
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const int col_idx = blocks[j].position;
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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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}
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}
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}
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TEST(BlockRandomAccessDenseMatrix, WriteCell) {
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std::vector<Block> blocks;
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blocks.emplace_back(3, 0);
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blocks.emplace_back(4, 3);
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blocks.emplace_back(5, 7);
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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].size, blocks[j].size) =
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(i + 1) * (j + 1) * Matrix::Ones(blocks[i].size, blocks[j].size);
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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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for (int i = 0; i < blocks.size(); ++i) {
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const int row_idx = blocks[i].position;
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for (int j = 0; j < blocks.size(); ++j) {
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const int col_idx = blocks[j].position;
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// Check the values of this block.
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for (int r = 0; r < blocks[i].size; ++r) {
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for (int c = 0; c < blocks[j].size; ++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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}
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}
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}
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} // namespace ceres::internal
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