mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 09:00:37 +08:00
Darius Rueckert
d82de91b88
Add the function ExpressionGraph::Erase and a test-case for it. Erase removes the given expression from the graph by shifting all later expressions to the front. Indices and references are updated accordingly. Change-Id: Ic0449ccf28b369600fd2959a7e2a919d47f4cbe3
287 lines
9.9 KiB
C++
287 lines
9.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2019 Google Inc. All rights reserved.
|
|
// http://code.google.com/p/ceres-solver/
|
|
//
|
|
// 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: darius.rueckert@fau.de (Darius Rueckert)
|
|
//
|
|
// This file tests the ExpressionGraph class. This test depends on the
|
|
// correctness of Expression.
|
|
//
|
|
#include "ceres/codegen/internal/expression_graph.h"
|
|
|
|
#include "ceres/codegen/internal/expression.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
TEST(ExpressionGraph, Size) {
|
|
ExpressionGraph graph;
|
|
EXPECT_EQ(graph.Size(), 0);
|
|
// Insert 3 NOPs
|
|
graph.InsertBack(Expression());
|
|
graph.InsertBack(Expression());
|
|
graph.InsertBack(Expression());
|
|
EXPECT_EQ(graph.Size(), 3);
|
|
}
|
|
|
|
TEST(ExpressionGraph, Recording) {
|
|
EXPECT_EQ(GetCurrentExpressionGraph(), nullptr);
|
|
StartRecordingExpressions();
|
|
EXPECT_NE(GetCurrentExpressionGraph(), nullptr);
|
|
auto graph = StopRecordingExpressions();
|
|
EXPECT_EQ(graph, ExpressionGraph());
|
|
EXPECT_EQ(GetCurrentExpressionGraph(), nullptr);
|
|
}
|
|
|
|
TEST(ExpressionGraph, InsertBackControl) {
|
|
// Control expression are inserted to the back without any modifications.
|
|
auto expr1 = Expression::CreateIf(ExpressionId(0));
|
|
auto expr2 = Expression::CreateElse();
|
|
auto expr3 = Expression::CreateEndIf();
|
|
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(expr1);
|
|
graph.InsertBack(expr2);
|
|
graph.InsertBack(expr3);
|
|
|
|
EXPECT_EQ(graph.Size(), 3);
|
|
EXPECT_EQ(graph.ExpressionForId(0), expr1);
|
|
EXPECT_EQ(graph.ExpressionForId(1), expr2);
|
|
EXPECT_EQ(graph.ExpressionForId(2), expr3);
|
|
}
|
|
|
|
TEST(ExpressionGraph, InsertBackNewVariable) {
|
|
// If an arithmetic expression with lhs=kinvalidValue is inserted in the back,
|
|
// then a new variable name is created and set to the lhs_id.
|
|
auto expr1 = Expression::CreateCompileTimeConstant(42);
|
|
auto expr2 = Expression::CreateCompileTimeConstant(10);
|
|
auto expr3 =
|
|
Expression::CreateBinaryArithmetic("+", ExpressionId(0), ExpressionId(1));
|
|
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(expr1);
|
|
graph.InsertBack(expr2);
|
|
graph.InsertBack(expr3);
|
|
EXPECT_EQ(graph.Size(), 3);
|
|
|
|
// The ExpressionGraph has a copy of the inserted expression with the correct
|
|
// lhs_ids. We set them here manually for comparision.
|
|
expr1.set_lhs_id(0);
|
|
expr2.set_lhs_id(1);
|
|
expr3.set_lhs_id(2);
|
|
EXPECT_EQ(graph.ExpressionForId(0), expr1);
|
|
EXPECT_EQ(graph.ExpressionForId(1), expr2);
|
|
EXPECT_EQ(graph.ExpressionForId(2), expr3);
|
|
}
|
|
|
|
TEST(ExpressionGraph, InsertBackExistingVariable) {
|
|
auto expr1 = Expression::CreateCompileTimeConstant(42);
|
|
auto expr2 = Expression::CreateCompileTimeConstant(10);
|
|
auto expr3 = Expression::CreateAssignment(1, 0);
|
|
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(expr1);
|
|
graph.InsertBack(expr2);
|
|
graph.InsertBack(expr3);
|
|
EXPECT_EQ(graph.Size(), 3);
|
|
|
|
expr1.set_lhs_id(0);
|
|
expr2.set_lhs_id(1);
|
|
expr3.set_lhs_id(1);
|
|
EXPECT_EQ(graph.ExpressionForId(0), expr1);
|
|
EXPECT_EQ(graph.ExpressionForId(1), expr2);
|
|
EXPECT_EQ(graph.ExpressionForId(2), expr3);
|
|
}
|
|
|
|
TEST(ExpressionGraph, DependsOn) {
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(42));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(10));
|
|
graph.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(0), ExpressionId(1)));
|
|
graph.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(2), ExpressionId(0)));
|
|
|
|
// Code:
|
|
// v_0 = 42
|
|
// v_1 = 10
|
|
// v_2 = v_0 + v_1
|
|
// v_3 = v_2 + v_0
|
|
|
|
// Direct dependencies dependency check
|
|
ASSERT_TRUE(graph.DependsOn(2, 0));
|
|
ASSERT_TRUE(graph.DependsOn(2, 1));
|
|
ASSERT_TRUE(graph.DependsOn(3, 2));
|
|
ASSERT_TRUE(graph.DependsOn(3, 0));
|
|
ASSERT_FALSE(graph.DependsOn(1, 0));
|
|
ASSERT_FALSE(graph.DependsOn(1, 1));
|
|
ASSERT_FALSE(graph.DependsOn(2, 3));
|
|
|
|
// Recursive test
|
|
ASSERT_TRUE(graph.DependsOn(3, 1));
|
|
}
|
|
|
|
TEST(ExpressionGraph, FindMatchingEndif) {
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(1));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(2));
|
|
graph.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateElse());
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateElse());
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateIf(2)); // < if without matching endif
|
|
EXPECT_EQ(graph.Size(), 12);
|
|
|
|
// Code <id>
|
|
// v_0 = 1 0
|
|
// v_1 = 2 1
|
|
// v_2 = v_0 < v_1 2
|
|
// IF (v_2) 3
|
|
// IF (v_2) 4
|
|
// ELSE 5
|
|
// ENDIF 6
|
|
// ELSE 7
|
|
// IF (v_2) 8
|
|
// ENDIF 9
|
|
// ENDIF 10
|
|
// IF(v_2) 11
|
|
|
|
EXPECT_EQ(graph.FindMatchingEndif(3), 10);
|
|
EXPECT_EQ(graph.FindMatchingEndif(4), 6);
|
|
EXPECT_EQ(graph.FindMatchingEndif(8), 9);
|
|
EXPECT_EQ(graph.FindMatchingEndif(11), kInvalidExpressionId);
|
|
}
|
|
|
|
TEST(ExpressionGraph, FindMatchingElse) {
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(1));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(2));
|
|
graph.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateElse());
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateElse());
|
|
graph.InsertBack(Expression::CreateIf(2));
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateEndIf());
|
|
graph.InsertBack(Expression::CreateIf(2)); // < if without matching endif
|
|
EXPECT_EQ(graph.Size(), 12);
|
|
|
|
// Code <id>
|
|
// v_0 = 1 0
|
|
// v_1 = 2 1
|
|
// v_2 = v_0 < v_1 2
|
|
// IF (v_2) 3
|
|
// IF (v_2) 4
|
|
// ELSE 5
|
|
// ENDIF 6
|
|
// ELSE 7
|
|
// IF (v_2) 8
|
|
// ENDIF 9
|
|
// ENDIF 10
|
|
// IF(v_2) 11
|
|
|
|
EXPECT_EQ(graph.FindMatchingElse(3), 7);
|
|
EXPECT_EQ(graph.FindMatchingElse(4), 5);
|
|
EXPECT_EQ(graph.FindMatchingElse(8), kInvalidExpressionId);
|
|
EXPECT_EQ(graph.FindMatchingEndif(11), kInvalidExpressionId);
|
|
}
|
|
|
|
TEST(ExpressionGraph, InsertExpression_UpdateReferences) {
|
|
// This test checks if references to shifted expressions are updated
|
|
// accordingly.
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(42));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(10));
|
|
graph.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(0), ExpressionId(1)));
|
|
// Code:
|
|
// v_0 = 42
|
|
// v_1 = 10
|
|
// v_2 = v_0 + v_1
|
|
|
|
// Insert another compile time constant at the beginning
|
|
graph.Insert(0, Expression::CreateCompileTimeConstant(5));
|
|
// This should shift all indices like this:
|
|
// v_0 = 5
|
|
// v_1 = 42
|
|
// v_2 = 10
|
|
// v_3 = v_1 + v_2
|
|
|
|
// Test by inserting it in the correct order
|
|
ExpressionGraph ref;
|
|
ref.InsertBack(Expression::CreateCompileTimeConstant(5));
|
|
ref.InsertBack(Expression::CreateCompileTimeConstant(42));
|
|
ref.InsertBack(Expression::CreateCompileTimeConstant(10));
|
|
ref.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(1), ExpressionId(2)));
|
|
EXPECT_EQ(graph.Size(), ref.Size());
|
|
EXPECT_EQ(graph, ref);
|
|
}
|
|
|
|
TEST(ExpressionGraph, Erase) {
|
|
// This test checks if references to shifted expressions are updated
|
|
// accordingly.
|
|
ExpressionGraph graph;
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(42));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(10));
|
|
graph.InsertBack(Expression::CreateCompileTimeConstant(3));
|
|
graph.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(0), ExpressionId(2)));
|
|
// Code:
|
|
// v_0 = 42
|
|
// v_1 = 10
|
|
// v_2 = 3
|
|
// v_3 = v_0 + v_2
|
|
|
|
// Erase the unused expression v_1 = 10
|
|
graph.Erase(1);
|
|
// This should shift all indices like this:
|
|
// v_0 = 42
|
|
// v_1 = 3
|
|
// v_2 = v_0 + v_1
|
|
|
|
// Test by inserting it in the correct order
|
|
ExpressionGraph ref;
|
|
ref.InsertBack(Expression::CreateCompileTimeConstant(42));
|
|
ref.InsertBack(Expression::CreateCompileTimeConstant(3));
|
|
ref.InsertBack(Expression::CreateBinaryArithmetic(
|
|
"+", ExpressionId(0), ExpressionId(1)));
|
|
EXPECT_EQ(graph.Size(), ref.Size());
|
|
EXPECT_EQ(graph, ref);
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|