1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/ordered_groups.h"
32
33 #include <cstddef>
34 #include <vector>
35 #include "gtest/gtest.h"
36 #include "ceres/collections_port.h"
37
38 namespace ceres {
39 namespace internal {
40
TEST(OrderedGroup,EmptyOrderedGroupBehavesCorrectly)41 TEST(OrderedGroup, EmptyOrderedGroupBehavesCorrectly) {
42 ParameterBlockOrdering ordering;
43 EXPECT_EQ(ordering.NumGroups(), 0);
44 EXPECT_EQ(ordering.NumElements(), 0);
45 EXPECT_EQ(ordering.GroupSize(1), 0);
46 double x;
47 EXPECT_EQ(ordering.GroupId(&x), -1);
48 EXPECT_FALSE(ordering.Remove(&x));
49 }
50
TEST(OrderedGroup,EverythingInOneGroup)51 TEST(OrderedGroup, EverythingInOneGroup) {
52 ParameterBlockOrdering ordering;
53 double x[3];
54 ordering.AddElementToGroup(x, 1);
55 ordering.AddElementToGroup(x + 1, 1);
56 ordering.AddElementToGroup(x + 2, 1);
57 ordering.AddElementToGroup(x, 1);
58
59 EXPECT_EQ(ordering.NumGroups(), 1);
60 EXPECT_EQ(ordering.NumElements(), 3);
61 EXPECT_EQ(ordering.GroupSize(1), 3);
62 EXPECT_EQ(ordering.GroupSize(0), 0);
63 EXPECT_EQ(ordering.GroupId(x), 1);
64 EXPECT_EQ(ordering.GroupId(x + 1), 1);
65 EXPECT_EQ(ordering.GroupId(x + 2), 1);
66
67 ordering.Remove(x);
68 EXPECT_EQ(ordering.NumGroups(), 1);
69 EXPECT_EQ(ordering.NumElements(), 2);
70 EXPECT_EQ(ordering.GroupSize(1), 2);
71 EXPECT_EQ(ordering.GroupSize(0), 0);
72
73 EXPECT_EQ(ordering.GroupId(x), -1);
74 EXPECT_EQ(ordering.GroupId(x + 1), 1);
75 EXPECT_EQ(ordering.GroupId(x + 2), 1);
76 }
77
TEST(OrderedGroup,StartInOneGroupAndThenSplit)78 TEST(OrderedGroup, StartInOneGroupAndThenSplit) {
79 ParameterBlockOrdering ordering;
80 double x[3];
81 ordering.AddElementToGroup(x, 1);
82 ordering.AddElementToGroup(x + 1, 1);
83 ordering.AddElementToGroup(x + 2, 1);
84 ordering.AddElementToGroup(x, 1);
85
86 EXPECT_EQ(ordering.NumGroups(), 1);
87 EXPECT_EQ(ordering.NumElements(), 3);
88 EXPECT_EQ(ordering.GroupSize(1), 3);
89 EXPECT_EQ(ordering.GroupSize(0), 0);
90 EXPECT_EQ(ordering.GroupId(x), 1);
91 EXPECT_EQ(ordering.GroupId(x + 1), 1);
92 EXPECT_EQ(ordering.GroupId(x + 2), 1);
93
94 ordering.AddElementToGroup(x, 5);
95 EXPECT_EQ(ordering.NumGroups(), 2);
96 EXPECT_EQ(ordering.NumElements(), 3);
97 EXPECT_EQ(ordering.GroupSize(1), 2);
98 EXPECT_EQ(ordering.GroupSize(5), 1);
99 EXPECT_EQ(ordering.GroupSize(0), 0);
100
101 EXPECT_EQ(ordering.GroupId(x), 5);
102 EXPECT_EQ(ordering.GroupId(x + 1), 1);
103 EXPECT_EQ(ordering.GroupId(x + 2), 1);
104 }
105
TEST(OrderedGroup,AddAndRemoveEveryThingFromOneGroup)106 TEST(OrderedGroup, AddAndRemoveEveryThingFromOneGroup) {
107 ParameterBlockOrdering ordering;
108 double x[3];
109 ordering.AddElementToGroup(x, 1);
110 ordering.AddElementToGroup(x + 1, 1);
111 ordering.AddElementToGroup(x + 2, 1);
112 ordering.AddElementToGroup(x, 1);
113
114 EXPECT_EQ(ordering.NumGroups(), 1);
115 EXPECT_EQ(ordering.NumElements(), 3);
116 EXPECT_EQ(ordering.GroupSize(1), 3);
117 EXPECT_EQ(ordering.GroupSize(0), 0);
118 EXPECT_EQ(ordering.GroupId(x), 1);
119 EXPECT_EQ(ordering.GroupId(x + 1), 1);
120 EXPECT_EQ(ordering.GroupId(x + 2), 1);
121
122 ordering.AddElementToGroup(x, 5);
123 ordering.AddElementToGroup(x + 1, 5);
124 ordering.AddElementToGroup(x + 2, 5);
125 EXPECT_EQ(ordering.NumGroups(), 1);
126 EXPECT_EQ(ordering.NumElements(), 3);
127 EXPECT_EQ(ordering.GroupSize(1), 0);
128 EXPECT_EQ(ordering.GroupSize(5), 3);
129 EXPECT_EQ(ordering.GroupSize(0), 0);
130
131 EXPECT_EQ(ordering.GroupId(x), 5);
132 EXPECT_EQ(ordering.GroupId(x + 1), 5);
133 EXPECT_EQ(ordering.GroupId(x + 2), 5);
134 }
135
TEST(OrderedGroup,ReverseOrdering)136 TEST(OrderedGroup, ReverseOrdering) {
137 ParameterBlockOrdering ordering;
138 double x[3];
139 ordering.AddElementToGroup(x, 1);
140 ordering.AddElementToGroup(x + 1, 2);
141 ordering.AddElementToGroup(x + 2, 2);
142
143 EXPECT_EQ(ordering.NumGroups(), 2);
144 EXPECT_EQ(ordering.NumElements(), 3);
145 EXPECT_EQ(ordering.GroupSize(1), 1);
146 EXPECT_EQ(ordering.GroupSize(2), 2);
147 EXPECT_EQ(ordering.GroupId(x), 1);
148 EXPECT_EQ(ordering.GroupId(x + 1), 2);
149 EXPECT_EQ(ordering.GroupId(x + 2), 2);
150
151 ordering.Reverse();
152
153 EXPECT_EQ(ordering.NumGroups(), 2);
154 EXPECT_EQ(ordering.NumElements(), 3);
155 EXPECT_EQ(ordering.GroupSize(3), 1);
156 EXPECT_EQ(ordering.GroupSize(2), 2);
157 EXPECT_EQ(ordering.GroupId(x), 3);
158 EXPECT_EQ(ordering.GroupId(x + 1), 2);
159 EXPECT_EQ(ordering.GroupId(x + 2), 2);
160 }
161
162 } // namespace internal
163 } // namespace ceres
164