1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 31 #include "ceres/block_sparse_matrix.h" 32 33 #include <string> 34 #include "ceres/casts.h" 35 #include "ceres/internal/eigen.h" 36 #include "ceres/internal/scoped_ptr.h" 37 #include "ceres/linear_least_squares_problems.h" 38 #include "ceres/matrix_proto.h" 39 #include "ceres/triplet_sparse_matrix.h" 40 #include "glog/logging.h" 41 #include "gtest/gtest.h" 42 43 namespace ceres { 44 namespace internal { 45 46 class BlockSparseMatrixTest : public ::testing::Test { 47 protected : 48 virtual void SetUp() { 49 scoped_ptr<LinearLeastSquaresProblem> problem( 50 CreateLinearLeastSquaresProblemFromId(2)); 51 CHECK_NOTNULL(problem.get()); 52 A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release())); 53 54 problem.reset(CreateLinearLeastSquaresProblemFromId(1)); 55 CHECK_NOTNULL(problem.get()); 56 B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release())); 57 58 CHECK_EQ(A_->num_rows(), B_->num_rows()); 59 CHECK_EQ(A_->num_cols(), B_->num_cols()); 60 CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros()); 61 } 62 63 scoped_ptr<BlockSparseMatrix> A_; 64 scoped_ptr<TripletSparseMatrix> B_; 65 }; 66 67 TEST_F(BlockSparseMatrixTest, SetZeroTest) { 68 A_->SetZero(); 69 EXPECT_EQ(13, A_->num_nonzeros()); 70 } 71 72 TEST_F(BlockSparseMatrixTest, RightMultiplyTest) { 73 Vector y_a = Vector::Zero(A_->num_rows()); 74 Vector y_b = Vector::Zero(A_->num_rows()); 75 for (int i = 0; i < A_->num_cols(); ++i) { 76 Vector x = Vector::Zero(A_->num_cols()); 77 x[i] = 1.0; 78 A_->RightMultiply(x.data(), y_a.data()); 79 B_->RightMultiply(x.data(), y_b.data()); 80 EXPECT_LT((y_a - y_b).norm(), 1e-12); 81 } 82 } 83 84 TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) { 85 Vector y_a = Vector::Zero(A_->num_cols()); 86 Vector y_b = Vector::Zero(A_->num_cols()); 87 for (int i = 0; i < A_->num_rows(); ++i) { 88 Vector x = Vector::Zero(A_->num_rows()); 89 x[i] = 1.0; 90 A_->LeftMultiply(x.data(), y_a.data()); 91 B_->LeftMultiply(x.data(), y_b.data()); 92 EXPECT_LT((y_a - y_b).norm(), 1e-12); 93 } 94 } 95 96 TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) { 97 Vector y_a = Vector::Zero(A_->num_cols()); 98 Vector y_b = Vector::Zero(A_->num_cols()); 99 A_->SquaredColumnNorm(y_a.data()); 100 B_->SquaredColumnNorm(y_b.data()); 101 EXPECT_LT((y_a - y_b).norm(), 1e-12); 102 } 103 104 TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) { 105 Matrix m_a; 106 Matrix m_b; 107 A_->ToDenseMatrix(&m_a); 108 B_->ToDenseMatrix(&m_b); 109 EXPECT_LT((m_a - m_b).norm(), 1e-12); 110 } 111 112 #ifndef CERES_NO_PROTOCOL_BUFFERS 113 TEST_F(BlockSparseMatrixTest, Serialization) { 114 // Roundtrip through serialization and check for equality. 115 SparseMatrixProto proto; 116 A_->ToProto(&proto); 117 118 LOG(INFO) << proto.DebugString(); 119 120 BlockSparseMatrix A2(proto); 121 122 Matrix m_a; 123 Matrix m_b; 124 A_->ToDenseMatrix(&m_a); 125 A2.ToDenseMatrix(&m_b); 126 127 LOG(INFO) << "\n" << m_a; 128 LOG(INFO) << "\n" << m_b; 129 130 EXPECT_LT((m_a - m_b).norm(), 1e-12); 131 } 132 #endif 133 134 } // namespace internal 135 } // namespace ceres 136