diff options
Diffstat (limited to 'internal/ceres/block_sparse_matrix_test.cc')
| -rw-r--r-- | internal/ceres/block_sparse_matrix_test.cc | 135 |
1 files changed, 135 insertions, 0 deletions
diff --git a/internal/ceres/block_sparse_matrix_test.cc b/internal/ceres/block_sparse_matrix_test.cc new file mode 100644 index 0000000..457a2fb --- /dev/null +++ b/internal/ceres/block_sparse_matrix_test.cc @@ -0,0 +1,135 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 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 "ceres/block_sparse_matrix.h" + +#include <string> +#include "ceres/casts.h" +#include "ceres/internal/eigen.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/linear_least_squares_problems.h" +#include "ceres/matrix_proto.h" +#include "ceres/triplet_sparse_matrix.h" +#include "glog/logging.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +class BlockSparseMatrixTest : public ::testing::Test { + protected : + virtual void SetUp() { + scoped_ptr<LinearLeastSquaresProblem> problem( + CreateLinearLeastSquaresProblemFromId(2)); + CHECK_NOTNULL(problem.get()); + A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release())); + + problem.reset(CreateLinearLeastSquaresProblemFromId(1)); + CHECK_NOTNULL(problem.get()); + B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release())); + + CHECK_EQ(A_->num_rows(), B_->num_rows()); + CHECK_EQ(A_->num_cols(), B_->num_cols()); + CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros()); + } + + scoped_ptr<BlockSparseMatrix> A_; + scoped_ptr<TripletSparseMatrix> B_; +}; + +TEST_F(BlockSparseMatrixTest, SetZeroTest) { + A_->SetZero(); + EXPECT_EQ(13, A_->num_nonzeros()); +} + +TEST_F(BlockSparseMatrixTest, RightMultiplyTest) { + Vector y_a = Vector::Zero(A_->num_rows()); + Vector y_b = Vector::Zero(A_->num_rows()); + for (int i = 0; i < A_->num_cols(); ++i) { + Vector x = Vector::Zero(A_->num_cols()); + x[i] = 1.0; + A_->RightMultiply(x.data(), y_a.data()); + B_->RightMultiply(x.data(), y_b.data()); + EXPECT_LT((y_a - y_b).norm(), 1e-12); + } +} + +TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) { + Vector y_a = Vector::Zero(A_->num_cols()); + Vector y_b = Vector::Zero(A_->num_cols()); + for (int i = 0; i < A_->num_rows(); ++i) { + Vector x = Vector::Zero(A_->num_rows()); + x[i] = 1.0; + A_->LeftMultiply(x.data(), y_a.data()); + B_->LeftMultiply(x.data(), y_b.data()); + EXPECT_LT((y_a - y_b).norm(), 1e-12); + } +} + +TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) { + Vector y_a = Vector::Zero(A_->num_cols()); + Vector y_b = Vector::Zero(A_->num_cols()); + A_->SquaredColumnNorm(y_a.data()); + B_->SquaredColumnNorm(y_b.data()); + EXPECT_LT((y_a - y_b).norm(), 1e-12); +} + +TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) { + Matrix m_a; + Matrix m_b; + A_->ToDenseMatrix(&m_a); + B_->ToDenseMatrix(&m_b); + EXPECT_LT((m_a - m_b).norm(), 1e-12); +} + +#ifndef CERES_NO_PROTOCOL_BUFFERS +TEST_F(BlockSparseMatrixTest, Serialization) { + // Roundtrip through serialization and check for equality. + SparseMatrixProto proto; + A_->ToProto(&proto); + + LOG(INFO) << proto.DebugString(); + + BlockSparseMatrix A2(proto); + + Matrix m_a; + Matrix m_b; + A_->ToDenseMatrix(&m_a); + A2.ToDenseMatrix(&m_b); + + LOG(INFO) << "\n" << m_a; + LOG(INFO) << "\n" << m_b; + + EXPECT_LT((m_a - m_b).norm(), 1e-12); +} +#endif + +} // namespace internal +} // namespace ceres |