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Diffstat (limited to 'internal/ceres/ordered_groups_test.cc')
-rw-r--r-- | internal/ceres/ordered_groups_test.cc | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/internal/ceres/ordered_groups_test.cc b/internal/ceres/ordered_groups_test.cc new file mode 100644 index 0000000..700e788 --- /dev/null +++ b/internal/ceres/ordered_groups_test.cc @@ -0,0 +1,163 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 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/ordered_groups.h" + +#include <cstddef> +#include <vector> +#include "gtest/gtest.h" +#include "ceres/collections_port.h" + +namespace ceres { +namespace internal { + +TEST(OrderedGroup, EmptyOrderedGroupBehavesCorrectly) { + ParameterBlockOrdering ordering; + EXPECT_EQ(ordering.NumGroups(), 0); + EXPECT_EQ(ordering.NumElements(), 0); + EXPECT_EQ(ordering.GroupSize(1), 0); + double x; + EXPECT_EQ(ordering.GroupId(&x), -1); + EXPECT_FALSE(ordering.Remove(&x)); +} + +TEST(OrderedGroup, EverythingInOneGroup) { + ParameterBlockOrdering ordering; + double x[3]; + ordering.AddElementToGroup(x, 1); + ordering.AddElementToGroup(x + 1, 1); + ordering.AddElementToGroup(x + 2, 1); + ordering.AddElementToGroup(x, 1); + + EXPECT_EQ(ordering.NumGroups(), 1); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 3); + EXPECT_EQ(ordering.GroupSize(0), 0); + EXPECT_EQ(ordering.GroupId(x), 1); + EXPECT_EQ(ordering.GroupId(x + 1), 1); + EXPECT_EQ(ordering.GroupId(x + 2), 1); + + ordering.Remove(x); + EXPECT_EQ(ordering.NumGroups(), 1); + EXPECT_EQ(ordering.NumElements(), 2); + EXPECT_EQ(ordering.GroupSize(1), 2); + EXPECT_EQ(ordering.GroupSize(0), 0); + + EXPECT_EQ(ordering.GroupId(x), -1); + EXPECT_EQ(ordering.GroupId(x + 1), 1); + EXPECT_EQ(ordering.GroupId(x + 2), 1); +} + +TEST(OrderedGroup, StartInOneGroupAndThenSplit) { + ParameterBlockOrdering ordering; + double x[3]; + ordering.AddElementToGroup(x, 1); + ordering.AddElementToGroup(x + 1, 1); + ordering.AddElementToGroup(x + 2, 1); + ordering.AddElementToGroup(x, 1); + + EXPECT_EQ(ordering.NumGroups(), 1); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 3); + EXPECT_EQ(ordering.GroupSize(0), 0); + EXPECT_EQ(ordering.GroupId(x), 1); + EXPECT_EQ(ordering.GroupId(x + 1), 1); + EXPECT_EQ(ordering.GroupId(x + 2), 1); + + ordering.AddElementToGroup(x, 5); + EXPECT_EQ(ordering.NumGroups(), 2); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 2); + EXPECT_EQ(ordering.GroupSize(5), 1); + EXPECT_EQ(ordering.GroupSize(0), 0); + + EXPECT_EQ(ordering.GroupId(x), 5); + EXPECT_EQ(ordering.GroupId(x + 1), 1); + EXPECT_EQ(ordering.GroupId(x + 2), 1); +} + +TEST(OrderedGroup, AddAndRemoveEveryThingFromOneGroup) { + ParameterBlockOrdering ordering; + double x[3]; + ordering.AddElementToGroup(x, 1); + ordering.AddElementToGroup(x + 1, 1); + ordering.AddElementToGroup(x + 2, 1); + ordering.AddElementToGroup(x, 1); + + EXPECT_EQ(ordering.NumGroups(), 1); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 3); + EXPECT_EQ(ordering.GroupSize(0), 0); + EXPECT_EQ(ordering.GroupId(x), 1); + EXPECT_EQ(ordering.GroupId(x + 1), 1); + EXPECT_EQ(ordering.GroupId(x + 2), 1); + + ordering.AddElementToGroup(x, 5); + ordering.AddElementToGroup(x + 1, 5); + ordering.AddElementToGroup(x + 2, 5); + EXPECT_EQ(ordering.NumGroups(), 1); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 0); + EXPECT_EQ(ordering.GroupSize(5), 3); + EXPECT_EQ(ordering.GroupSize(0), 0); + + EXPECT_EQ(ordering.GroupId(x), 5); + EXPECT_EQ(ordering.GroupId(x + 1), 5); + EXPECT_EQ(ordering.GroupId(x + 2), 5); +} + +TEST(OrderedGroup, ReverseOrdering) { + ParameterBlockOrdering ordering; + double x[3]; + ordering.AddElementToGroup(x, 1); + ordering.AddElementToGroup(x + 1, 2); + ordering.AddElementToGroup(x + 2, 2); + + EXPECT_EQ(ordering.NumGroups(), 2); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(1), 1); + EXPECT_EQ(ordering.GroupSize(2), 2); + EXPECT_EQ(ordering.GroupId(x), 1); + EXPECT_EQ(ordering.GroupId(x + 1), 2); + EXPECT_EQ(ordering.GroupId(x + 2), 2); + + ordering.Reverse(); + + EXPECT_EQ(ordering.NumGroups(), 2); + EXPECT_EQ(ordering.NumElements(), 3); + EXPECT_EQ(ordering.GroupSize(3), 1); + EXPECT_EQ(ordering.GroupSize(2), 2); + EXPECT_EQ(ordering.GroupId(x), 3); + EXPECT_EQ(ordering.GroupId(x + 1), 2); + EXPECT_EQ(ordering.GroupId(x + 2), 2); +} + +} // namespace internal +} // namespace ceres |