1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2013 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 <limits> 32 #include <vector> 33 34 #include "ceres/block_random_access_diagonal_matrix.h" 35 #include "ceres/internal/eigen.h" 36 #include "glog/logging.h" 37 #include "gtest/gtest.h" 38 39 namespace ceres { 40 namespace internal { 41 42 TEST(BlockRandomAccessDiagonalMatrix, GetCell) { 43 vector<int> blocks; 44 blocks.push_back(3); 45 blocks.push_back(4); 46 blocks.push_back(5); 47 const int num_rows = 3 + 4 + 5; 48 const int num_nonzeros = 3 * 3 + 4 * 4 + 5 * 5; 49 50 BlockRandomAccessDiagonalMatrix m(blocks); 51 EXPECT_EQ(m.num_rows(), num_rows); 52 EXPECT_EQ(m.num_cols(), num_rows); 53 54 for (int i = 0; i < blocks.size(); ++i) { 55 const int row_block_id = i; 56 int col_block_id; 57 int row; 58 int col; 59 int row_stride; 60 int col_stride; 61 62 for (int j = 0; j < blocks.size(); ++j) { 63 col_block_id = j; 64 CellInfo* cell = m.GetCell(row_block_id, col_block_id, 65 &row, &col, 66 &row_stride, &col_stride); 67 // Off diagonal entries are not present. 68 if (i != j) { 69 EXPECT_TRUE(cell == NULL); 70 continue; 71 } 72 73 EXPECT_TRUE(cell != NULL); 74 EXPECT_EQ(row, 0); 75 EXPECT_EQ(col, 0); 76 EXPECT_EQ(row_stride, blocks[row_block_id]); 77 EXPECT_EQ(col_stride, blocks[col_block_id]); 78 79 // Write into the block 80 MatrixRef(cell->values, row_stride, col_stride).block( 81 row, col, blocks[row_block_id], blocks[col_block_id]) = 82 (row_block_id + 1) * (col_block_id +1) * 83 Matrix::Ones(blocks[row_block_id], blocks[col_block_id]); 84 } 85 } 86 87 const TripletSparseMatrix* tsm = m.matrix(); 88 EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros); 89 EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros); 90 91 Matrix dense; 92 tsm->ToDenseMatrix(&dense); 93 94 double kTolerance = 1e-14; 95 96 // (0,0) 97 EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(), 98 0.0, 99 kTolerance); 100 101 // (1,1) 102 EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(), 103 0.0, 104 kTolerance); 105 106 // (1,1) 107 EXPECT_NEAR((dense.block(7, 7, 5, 5) - 3 * 3 * Matrix::Ones(5, 5)).norm(), 108 0.0, 109 kTolerance); 110 111 // There is nothing else in the matrix besides these four blocks. 112 EXPECT_NEAR(dense.norm(), sqrt(9.0 + 16. * 16. + 81.0 * 25.), kTolerance); 113 } 114 115 } // namespace internal 116 } // namespace ceres 117
