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Diffstat (limited to 'internal/ceres/schur_ordering_test.cc')
-rw-r--r-- | internal/ceres/schur_ordering_test.cc | 177 |
1 files changed, 177 insertions, 0 deletions
diff --git a/internal/ceres/schur_ordering_test.cc b/internal/ceres/schur_ordering_test.cc new file mode 100644 index 0000000..bd74ebb --- /dev/null +++ b/internal/ceres/schur_ordering_test.cc @@ -0,0 +1,177 @@ +// 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/schur_ordering.h" + +#include <cstddef> +#include <vector> +#include "gtest/gtest.h" +#include "ceres/collections_port.h" +#include "ceres/graph.h" +#include "ceres/problem_impl.h" +#include "ceres/program.h" +#include "ceres/stl_util.h" +#include "ceres/cost_function.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/sized_cost_function.h" + +namespace ceres { +namespace internal { + +typedef Graph<ParameterBlock*> HessianGraph; +typedef HashSet<ParameterBlock*> VertexSet; + +template <int M, int N1 = 0, int N2 = 0, int N3 = 0> +class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> { + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + return true; + } +}; + +class SchurOrderingTest : public ::testing::Test { + protected : + virtual void SetUp() { + // The explicit calls to AddParameterBlock are necessary because + // the below tests depend on the specific numbering of the + // parameter blocks. + problem_.AddParameterBlock(x_, 3); + problem_.AddParameterBlock(y_, 4); + problem_.AddParameterBlock(z_, 5); + problem_.AddParameterBlock(w_, 6); + + problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_); + problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_); + problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_); + problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_); + problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL, + z_, x_, w_); + } + + ProblemImpl problem_; + double x_[3], y_[4], z_[5], w_[6]; +}; + +TEST_F(SchurOrderingTest, NoFixed) { + const Program& program = problem_.program(); + const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); + scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); + + const VertexSet& vertices = graph->vertices(); + EXPECT_EQ(vertices.size(), 4); + + for (int i = 0; i < 4; ++i) { + EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]); + EXPECT_EQ(neighbors.size(), 2); + EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); + EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]); + EXPECT_EQ(neighbors.size(), 1); + EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]); + EXPECT_EQ(neighbors.size(), 3); + EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end()); + EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end()); + EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]); + EXPECT_EQ(neighbors.size(), 2); + EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end()); + EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); + } +} + +TEST_F(SchurOrderingTest, AllFixed) { + problem_.SetParameterBlockConstant(x_); + problem_.SetParameterBlockConstant(y_); + problem_.SetParameterBlockConstant(z_); + problem_.SetParameterBlockConstant(w_); + + const Program& program = problem_.program(); + scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); + EXPECT_EQ(graph->vertices().size(), 0); +} + +TEST_F(SchurOrderingTest, OneFixed) { + problem_.SetParameterBlockConstant(x_); + + const Program& program = problem_.program(); + const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); + scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); + + const VertexSet& vertices = graph->vertices(); + + EXPECT_EQ(vertices.size(), 3); + EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end()); + + for (int i = 1; i < 3; ++i) { + EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]); + EXPECT_EQ(neighbors.size(), 1); + EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]); + EXPECT_EQ(neighbors.size(), 2); + EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end()); + EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); + } + + { + const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]); + EXPECT_EQ(neighbors.size(), 1); + EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); + } + + // The constant parameter block is at the end. + vector<ParameterBlock*> ordering; + ComputeSchurOrdering(program, &ordering); + EXPECT_EQ(ordering.back(), parameter_blocks[0]); +} + +} // namespace internal +} // namespace ceres |