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author | Carlos Hernandez <chernand@google.com> | 2014-08-07 17:51:38 -0700 |
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committer | Carlos Hernandez <chernand@google.com> | 2014-08-11 20:38:34 +0000 |
commit | 79397c21138f54fcff6ec067b44b847f1f7e0e98 (patch) | |
tree | b2c33877af479b37f082fcbcaf50a24a49b69415 /internal/ceres/block_random_access_diagonal_matrix_test.cc | |
parent | ad78e589f893a53da23bbdf41274d89dae656f54 (diff) | |
download | ceres-solver-74d2994a0aecffa33cbf3fb45e40c0a627131708.tar.gz |
Update ceres to the latest version in g3android-wear-5.0.0_r1android-cts-5.1_r9android-cts-5.1_r8android-cts-5.1_r7android-cts-5.1_r6android-cts-5.1_r5android-cts-5.1_r4android-cts-5.1_r3android-cts-5.1_r28android-cts-5.1_r27android-cts-5.1_r26android-cts-5.1_r25android-cts-5.1_r24android-cts-5.1_r23android-cts-5.1_r22android-cts-5.1_r21android-cts-5.1_r20android-cts-5.1_r2android-cts-5.1_r19android-cts-5.1_r18android-cts-5.1_r17android-cts-5.1_r16android-cts-5.1_r15android-cts-5.1_r14android-cts-5.1_r13android-cts-5.1_r10android-cts-5.1_r1android-cts-5.0_r9android-cts-5.0_r8android-cts-5.0_r7android-cts-5.0_r6android-cts-5.0_r5android-cts-5.0_r4android-cts-5.0_r3android-5.1.1_r9android-5.1.1_r8android-5.1.1_r7android-5.1.1_r6android-5.1.1_r5android-5.1.1_r4android-5.1.1_r38android-5.1.1_r37android-5.1.1_r36android-5.1.1_r35android-5.1.1_r34android-5.1.1_r33android-5.1.1_r30android-5.1.1_r3android-5.1.1_r29android-5.1.1_r28android-5.1.1_r26android-5.1.1_r25android-5.1.1_r24android-5.1.1_r23android-5.1.1_r22android-5.1.1_r20android-5.1.1_r2android-5.1.1_r19android-5.1.1_r18android-5.1.1_r17android-5.1.1_r16android-5.1.1_r15android-5.1.1_r14android-5.1.1_r13android-5.1.1_r12android-5.1.1_r10android-5.1.1_r1android-5.1.0_r5android-5.1.0_r4android-5.1.0_r3android-5.1.0_r1android-5.0.2_r3android-5.0.2_r1android-5.0.1_r1android-5.0.0_r7android-5.0.0_r6android-5.0.0_r5.1android-5.0.0_r5android-5.0.0_r4android-5.0.0_r3android-5.0.0_r2android-5.0.0_r1lollipop-wear-releaselollipop-releaselollipop-mr1-wfc-releaselollipop-mr1-releaselollipop-mr1-fi-releaselollipop-mr1-devlollipop-mr1-cts-releaselollipop-devlollipop-cts-release
Please pay special attention to the changes in Android.mk.
They are the only real changes I had to make.
Bug: 16953678
Change-Id: I44a644358e779aaff99a2ea822387fe49ac26888
Diffstat (limited to 'internal/ceres/block_random_access_diagonal_matrix_test.cc')
-rw-r--r-- | internal/ceres/block_random_access_diagonal_matrix_test.cc | 116 |
1 files changed, 116 insertions, 0 deletions
diff --git a/internal/ceres/block_random_access_diagonal_matrix_test.cc b/internal/ceres/block_random_access_diagonal_matrix_test.cc new file mode 100644 index 0000000..e19268b --- /dev/null +++ b/internal/ceres/block_random_access_diagonal_matrix_test.cc @@ -0,0 +1,116 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal) + +#include <limits> +#include <vector> + +#include "ceres/block_random_access_diagonal_matrix.h" +#include "ceres/internal/eigen.h" +#include "glog/logging.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +TEST(BlockRandomAccessDiagonalMatrix, GetCell) { + vector<int> blocks; + blocks.push_back(3); + blocks.push_back(4); + blocks.push_back(5); + const int num_rows = 3 + 4 + 5; + const int num_nonzeros = 3 * 3 + 4 * 4 + 5 * 5; + + BlockRandomAccessDiagonalMatrix m(blocks); + EXPECT_EQ(m.num_rows(), num_rows); + EXPECT_EQ(m.num_cols(), num_rows); + + for (int i = 0; i < blocks.size(); ++i) { + const int row_block_id = i; + int col_block_id; + int row; + int col; + int row_stride; + int col_stride; + + for (int j = 0; j < blocks.size(); ++j) { + col_block_id = j; + CellInfo* cell = m.GetCell(row_block_id, col_block_id, + &row, &col, + &row_stride, &col_stride); + // Off diagonal entries are not present. + if (i != j) { + EXPECT_TRUE(cell == NULL); + continue; + } + + EXPECT_TRUE(cell != NULL); + EXPECT_EQ(row, 0); + EXPECT_EQ(col, 0); + EXPECT_EQ(row_stride, blocks[row_block_id]); + EXPECT_EQ(col_stride, blocks[col_block_id]); + + // Write into the block + MatrixRef(cell->values, row_stride, col_stride).block( + row, col, blocks[row_block_id], blocks[col_block_id]) = + (row_block_id + 1) * (col_block_id +1) * + Matrix::Ones(blocks[row_block_id], blocks[col_block_id]); + } + } + + const TripletSparseMatrix* tsm = m.matrix(); + EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros); + EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros); + + Matrix dense; + tsm->ToDenseMatrix(&dense); + + double kTolerance = 1e-14; + + // (0,0) + EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(), + 0.0, + kTolerance); + + // (1,1) + EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(), + 0.0, + kTolerance); + + // (1,1) + EXPECT_NEAR((dense.block(7, 7, 5, 5) - 3 * 3 * Matrix::Ones(5, 5)).norm(), + 0.0, + kTolerance); + + // There is nothing else in the matrix besides these four blocks. + EXPECT_NEAR(dense.norm(), sqrt(9.0 + 16. * 16. + 81.0 * 25.), kTolerance); +} + +} // namespace internal +} // namespace ceres |