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// 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
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