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 <vector> 32 #include "gtest/gtest.h" 33 #include "ceres/block_random_access_dense_matrix.h" 34 #include "ceres/internal/eigen.h" 35 36 namespace ceres { 37 namespace internal { 38 39 TEST(BlockRandomAccessDenseMatrix, GetCell) { 40 vector<int> blocks; 41 blocks.push_back(3); 42 blocks.push_back(4); 43 blocks.push_back(5); 44 const int num_rows = 3 + 4 + 5; 45 BlockRandomAccessDenseMatrix m(blocks); 46 EXPECT_EQ(m.num_rows(), num_rows); 47 EXPECT_EQ(m.num_cols(), num_rows); 48 49 int row_idx = 0; 50 for (int i = 0; i < blocks.size(); ++i) { 51 int col_idx = 0; 52 for (int j = 0; j < blocks.size(); ++j) { 53 int row; 54 int col; 55 int row_stride; 56 int col_stride; 57 CellInfo* cell = 58 m.GetCell(i, j, &row, &col, &row_stride, &col_stride); 59 60 EXPECT_TRUE(cell != NULL); 61 EXPECT_EQ(row, row_idx); 62 EXPECT_EQ(col, col_idx); 63 EXPECT_EQ(row_stride, 3 + 4 + 5); 64 EXPECT_EQ(col_stride, 3 + 4 + 5); 65 col_idx += blocks[j]; 66 } 67 row_idx += blocks[i]; 68 } 69 } 70 71 TEST(BlockRandomAccessDenseMatrix, WriteCell) { 72 vector<int> blocks; 73 blocks.push_back(3); 74 blocks.push_back(4); 75 blocks.push_back(5); 76 const int num_rows = 3 + 4 + 5; 77 78 BlockRandomAccessDenseMatrix m(blocks); 79 80 // Fill the cell (i,j) with (i + 1) * (j + 1) 81 for (int i = 0; i < blocks.size(); ++i) { 82 for (int j = 0; j < blocks.size(); ++j) { 83 int row; 84 int col; 85 int row_stride; 86 int col_stride; 87 CellInfo* cell = m.GetCell( 88 i, j, &row, &col, &row_stride, &col_stride); 89 MatrixRef(cell->values, row_stride, col_stride).block( 90 row, col, blocks[i], blocks[j]) = 91 (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]); 92 } 93 } 94 95 // Check the values in the array are correct by going over the 96 // entries of each block manually. 97 int row_idx = 0; 98 for (int i = 0; i < blocks.size(); ++i) { 99 int col_idx = 0; 100 for (int j = 0; j < blocks.size(); ++j) { 101 // Check the values of this block. 102 for (int r = 0; r < blocks[i]; ++r) { 103 for (int c = 0; c < blocks[j]; ++c) { 104 int pos = row_idx * num_rows + col_idx; 105 EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1)); 106 } 107 } 108 col_idx += blocks[j]; 109 } 110 row_idx += blocks[i]; 111 } 112 } 113 114 } // namespace internal 115 } // namespace ceres 116
