1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
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6 // modification, are permitted provided that the following conditions are met:
7 //
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9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
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14 // used to endorse or promote products derived from this software without
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16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/block_sparse_matrix.h"
32
33 #include <string>
34 #include "ceres/casts.h"
35 #include "ceres/internal/eigen.h"
36 #include "ceres/internal/scoped_ptr.h"
37 #include "ceres/linear_least_squares_problems.h"
38 #include "ceres/matrix_proto.h"
39 #include "ceres/triplet_sparse_matrix.h"
40 #include "glog/logging.h"
41 #include "gtest/gtest.h"
42
43 namespace ceres {
44 namespace internal {
45
46 class BlockSparseMatrixTest : public ::testing::Test {
47 protected :
SetUp()48 virtual void SetUp() {
49 scoped_ptr<LinearLeastSquaresProblem> problem(
50 CreateLinearLeastSquaresProblemFromId(2));
51 CHECK_NOTNULL(problem.get());
52 A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
53
54 problem.reset(CreateLinearLeastSquaresProblemFromId(1));
55 CHECK_NOTNULL(problem.get());
56 B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
57
58 CHECK_EQ(A_->num_rows(), B_->num_rows());
59 CHECK_EQ(A_->num_cols(), B_->num_cols());
60 CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros());
61 }
62
63 scoped_ptr<BlockSparseMatrix> A_;
64 scoped_ptr<TripletSparseMatrix> B_;
65 };
66
TEST_F(BlockSparseMatrixTest,SetZeroTest)67 TEST_F(BlockSparseMatrixTest, SetZeroTest) {
68 A_->SetZero();
69 EXPECT_EQ(13, A_->num_nonzeros());
70 }
71
TEST_F(BlockSparseMatrixTest,RightMultiplyTest)72 TEST_F(BlockSparseMatrixTest, RightMultiplyTest) {
73 Vector y_a = Vector::Zero(A_->num_rows());
74 Vector y_b = Vector::Zero(A_->num_rows());
75 for (int i = 0; i < A_->num_cols(); ++i) {
76 Vector x = Vector::Zero(A_->num_cols());
77 x[i] = 1.0;
78 A_->RightMultiply(x.data(), y_a.data());
79 B_->RightMultiply(x.data(), y_b.data());
80 EXPECT_LT((y_a - y_b).norm(), 1e-12);
81 }
82 }
83
TEST_F(BlockSparseMatrixTest,LeftMultiplyTest)84 TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) {
85 Vector y_a = Vector::Zero(A_->num_cols());
86 Vector y_b = Vector::Zero(A_->num_cols());
87 for (int i = 0; i < A_->num_rows(); ++i) {
88 Vector x = Vector::Zero(A_->num_rows());
89 x[i] = 1.0;
90 A_->LeftMultiply(x.data(), y_a.data());
91 B_->LeftMultiply(x.data(), y_b.data());
92 EXPECT_LT((y_a - y_b).norm(), 1e-12);
93 }
94 }
95
TEST_F(BlockSparseMatrixTest,SquaredColumnNormTest)96 TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) {
97 Vector y_a = Vector::Zero(A_->num_cols());
98 Vector y_b = Vector::Zero(A_->num_cols());
99 A_->SquaredColumnNorm(y_a.data());
100 B_->SquaredColumnNorm(y_b.data());
101 EXPECT_LT((y_a - y_b).norm(), 1e-12);
102 }
103
TEST_F(BlockSparseMatrixTest,ToDenseMatrixTest)104 TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) {
105 Matrix m_a;
106 Matrix m_b;
107 A_->ToDenseMatrix(&m_a);
108 B_->ToDenseMatrix(&m_b);
109 EXPECT_LT((m_a - m_b).norm(), 1e-12);
110 }
111
112 #ifndef CERES_NO_PROTOCOL_BUFFERS
TEST_F(BlockSparseMatrixTest,Serialization)113 TEST_F(BlockSparseMatrixTest, Serialization) {
114 // Roundtrip through serialization and check for equality.
115 SparseMatrixProto proto;
116 A_->ToProto(&proto);
117
118 LOG(INFO) << proto.DebugString();
119
120 BlockSparseMatrix A2(proto);
121
122 Matrix m_a;
123 Matrix m_b;
124 A_->ToDenseMatrix(&m_a);
125 A2.ToDenseMatrix(&m_b);
126
127 LOG(INFO) << "\n" << m_a;
128 LOG(INFO) << "\n" << m_b;
129
130 EXPECT_LT((m_a - m_b).norm(), 1e-12);
131 }
132 #endif
133
134 } // namespace internal
135 } // namespace ceres
136