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Diffstat (limited to 'internal/ceres/visibility_test.cc')
| -rw-r--r-- | internal/ceres/visibility_test.cc | 203 |
1 files changed, 203 insertions, 0 deletions
diff --git a/internal/ceres/visibility_test.cc b/internal/ceres/visibility_test.cc new file mode 100644 index 0000000..793a19d --- /dev/null +++ b/internal/ceres/visibility_test.cc @@ -0,0 +1,203 @@ +// 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: kushalav@google.com (Avanish Kushal) +// sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/visibility.h" + +#include <set> +#include <vector> +#include "ceres/block_structure.h" +#include "ceres/graph.h" +#include "ceres/internal/scoped_ptr.h" +#include "glog/logging.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +class VisibilityTest : public ::testing::Test { +}; + +TEST(VisibilityTest, SimpleMatrix) { + // A = [1 0 0 0 0 1 + // 1 0 0 1 0 0 + // 0 1 1 0 0 0 + // 0 1 0 0 1 0] + + int num_cols = 6; + int num_eliminate_blocks = 2; + CompressedRowBlockStructure bs; + + // Row 1 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 0; + row.cells.push_back(Cell(0, 0)); + row.cells.push_back(Cell(5, 0)); + } + + // Row 2 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 2; + row.cells.push_back(Cell(0, 1)); + row.cells.push_back(Cell(3, 1)); + } + + // Row 3 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 4; + row.cells.push_back(Cell(1, 2)); + row.cells.push_back(Cell(2, 2)); + } + + // Row 4 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 6; + row.cells.push_back(Cell(1, 3)); + row.cells.push_back(Cell(4, 3)); + } + bs.cols.resize(num_cols); + + vector< set<int> > visibility; + ComputeVisibility(bs, num_eliminate_blocks, &visibility); + ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks); + for (int i = 0; i < visibility.size(); ++i) { + ASSERT_EQ(visibility[i].size(), 1); + } + + scoped_ptr<Graph<int> > graph(CreateSchurComplementGraph(visibility)); + EXPECT_EQ(graph->vertices().size(), visibility.size()); + for (int i = 0; i < visibility.size(); ++i) { + EXPECT_EQ(graph->VertexWeight(i), 1.0); + } + + for (int i = 0; i < visibility.size(); ++i) { + for (int j = i; j < visibility.size(); ++j) { + double edge_weight = 0.0; + if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) { + edge_weight = 1.0; + } + + EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight) + << "Edge: " << i << " " << j + << " weight: " << graph->EdgeWeight(i, j) + << " expected weight: " << edge_weight; + } + } +} + + +TEST(VisibilityTest, NoEBlocks) { + // A = [1 0 0 0 0 0 + // 1 0 0 0 0 0 + // 0 1 0 0 0 0 + // 0 1 0 0 0 0] + + int num_cols = 6; + int num_eliminate_blocks = 2; + CompressedRowBlockStructure bs; + + // Row 1 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 0; + row.cells.push_back(Cell(0, 0)); + } + + // Row 2 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 2; + row.cells.push_back(Cell(0, 1)); + } + + // Row 3 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 4; + row.cells.push_back(Cell(1, 2)); + } + + // Row 4 + { + bs.rows.push_back(CompressedRow()); + CompressedRow& row = bs.rows.back(); + row.block.size = 2; + row.block.position = 6; + row.cells.push_back(Cell(1, 3)); + } + bs.cols.resize(num_cols); + + vector<set<int> > visibility; + ComputeVisibility(bs, num_eliminate_blocks, &visibility); + ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks); + for (int i = 0; i < visibility.size(); ++i) { + ASSERT_EQ(visibility[i].size(), 0); + } + + scoped_ptr<Graph<int> > graph(CreateSchurComplementGraph(visibility)); + EXPECT_EQ(graph->vertices().size(), visibility.size()); + for (int i = 0; i < visibility.size(); ++i) { + EXPECT_EQ(graph->VertexWeight(i), 1.0); + } + + for (int i = 0; i < visibility.size(); ++i) { + for (int j = i; j < visibility.size(); ++j) { + double edge_weight = 0.0; + if (i == j) { + edge_weight = 1.0; + } + EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight) + << "Edge: " << i << " " << j + << " weight: " << graph->EdgeWeight(i, j) + << " expected weight: " << edge_weight; + } + } +} + +} // namespace internal +} // namespace ceres |