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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 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 <algorithm>
     32 #include "ceres/internal/port.h"
     33 #include "ceres/suitesparse.h"
     34 #include "ceres/triplet_sparse_matrix.h"
     35 #include "glog/logging.h"
     36 #include "gtest/gtest.h"
     37 
     38 namespace ceres {
     39 namespace internal {
     40 
     41 TEST(SuiteSparse, BlockPermutationToScalarPermutation) {
     42   vector<int> blocks;
     43   //  Block structure
     44   //  0  --1-  ---2---  ---3---  4
     45   // [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
     46   blocks.push_back(1);
     47   blocks.push_back(2);
     48   blocks.push_back(3);
     49   blocks.push_back(3);
     50   blocks.push_back(1);
     51 
     52   // Block ordering
     53   // [1, 0, 2, 4, 5]
     54   vector<int> block_ordering;
     55   block_ordering.push_back(1);
     56   block_ordering.push_back(0);
     57   block_ordering.push_back(2);
     58   block_ordering.push_back(4);
     59   block_ordering.push_back(3);
     60 
     61   // Expected ordering
     62   // [1, 2, 0, 3, 4, 5, 9, 6, 7, 8]
     63   vector<int> expected_scalar_ordering;
     64   expected_scalar_ordering.push_back(1);
     65   expected_scalar_ordering.push_back(2);
     66   expected_scalar_ordering.push_back(0);
     67   expected_scalar_ordering.push_back(3);
     68   expected_scalar_ordering.push_back(4);
     69   expected_scalar_ordering.push_back(5);
     70   expected_scalar_ordering.push_back(9);
     71   expected_scalar_ordering.push_back(6);
     72   expected_scalar_ordering.push_back(7);
     73   expected_scalar_ordering.push_back(8);
     74 
     75   vector<int> scalar_ordering;
     76   SuiteSparse::BlockOrderingToScalarOrdering(blocks,
     77                                              block_ordering,
     78                                              &scalar_ordering);
     79   EXPECT_EQ(scalar_ordering.size(), expected_scalar_ordering.size());
     80   for (int i = 0; i < expected_scalar_ordering.size(); ++i) {
     81     EXPECT_EQ(scalar_ordering[i], expected_scalar_ordering[i]);
     82   }
     83 }
     84 
     85 // Helper function to fill the sparsity pattern of a TripletSparseMatrix.
     86 int FillBlock(const vector<int>& row_blocks,
     87               const vector<int>& col_blocks,
     88               const int row_block_id,
     89               const int col_block_id,
     90               int* rows,
     91               int* cols) {
     92   int row_pos = 0;
     93   for (int i = 0; i < row_block_id; ++i) {
     94     row_pos += row_blocks[i];
     95   }
     96 
     97   int col_pos = 0;
     98   for (int i = 0; i < col_block_id; ++i) {
     99     col_pos += col_blocks[i];
    100   }
    101 
    102   int offset = 0;
    103   for (int r = 0; r < row_blocks[row_block_id]; ++r) {
    104     for (int c = 0; c < col_blocks[col_block_id]; ++c, ++offset) {
    105       rows[offset] = row_pos + r;
    106       cols[offset] = col_pos + c;
    107     }
    108   }
    109   return offset;
    110 }
    111 
    112 TEST(SuiteSparse, ScalarMatrixToBlockMatrix) {
    113   // Block sparsity.
    114   //
    115   //     [1 2 3 2]
    116   // [1]  x   x
    117   // [2]    x   x
    118   // [2]  x x
    119   // num_nonzeros = 1 + 3 + 4 + 4 + 1 + 2 = 15
    120 
    121   vector<int> col_blocks;
    122   col_blocks.push_back(1);
    123   col_blocks.push_back(2);
    124   col_blocks.push_back(3);
    125   col_blocks.push_back(2);
    126 
    127   vector<int> row_blocks;
    128   row_blocks.push_back(1);
    129   row_blocks.push_back(2);
    130   row_blocks.push_back(2);
    131 
    132   TripletSparseMatrix tsm(5, 8, 18);
    133   int* rows = tsm.mutable_rows();
    134   int* cols = tsm.mutable_cols();
    135   fill(tsm.mutable_values(), tsm.mutable_values() + 18, 1.0);
    136   int offset = 0;
    137 
    138 #define CERES_TEST_FILL_BLOCK(row_block_id, col_block_id) \
    139   offset += FillBlock(row_blocks, col_blocks, \
    140                       row_block_id, col_block_id, \
    141                       rows + offset, cols + offset);
    142 
    143   CERES_TEST_FILL_BLOCK(0, 0);
    144   CERES_TEST_FILL_BLOCK(2, 0);
    145   CERES_TEST_FILL_BLOCK(1, 1);
    146   CERES_TEST_FILL_BLOCK(2, 1);
    147   CERES_TEST_FILL_BLOCK(0, 2);
    148   CERES_TEST_FILL_BLOCK(1, 3);
    149 #undef CERES_TEST_FILL_BLOCK
    150 
    151   tsm.set_num_nonzeros(offset);
    152 
    153   SuiteSparse ss;
    154   scoped_ptr<cholmod_sparse> ccsm(ss.CreateSparseMatrix(&tsm));
    155 
    156   vector<int> expected_block_rows;
    157   expected_block_rows.push_back(0);
    158   expected_block_rows.push_back(2);
    159   expected_block_rows.push_back(1);
    160   expected_block_rows.push_back(2);
    161   expected_block_rows.push_back(0);
    162   expected_block_rows.push_back(1);
    163 
    164   vector<int> expected_block_cols;
    165   expected_block_cols.push_back(0);
    166   expected_block_cols.push_back(2);
    167   expected_block_cols.push_back(4);
    168   expected_block_cols.push_back(5);
    169   expected_block_cols.push_back(6);
    170 
    171   vector<int> block_rows;
    172   vector<int> block_cols;
    173   SuiteSparse::ScalarMatrixToBlockMatrix(ccsm.get(),
    174                                          row_blocks,
    175                                          col_blocks,
    176                                          &block_rows,
    177                                          &block_cols);
    178 
    179   EXPECT_EQ(block_cols.size(), expected_block_cols.size());
    180   EXPECT_EQ(block_rows.size(), expected_block_rows.size());
    181 
    182   for (int i = 0; i < expected_block_cols.size(); ++i) {
    183     EXPECT_EQ(block_cols[i], expected_block_cols[i]);
    184   }
    185 
    186   for (int i = 0; i < expected_block_rows.size(); ++i) {
    187     EXPECT_EQ(block_rows[i], expected_block_rows[i]);
    188   }
    189 
    190   ss.Free(ccsm.release());
    191 }
    192 
    193 }  // namespace internal
    194 }  // namespace ceres
    195