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/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include <limits>
32 #include <vector>
33 #include "ceres/block_random_access_sparse_matrix.h"
34 #include "ceres/internal/eigen.h"
35 #include "glog/logging.h"
36 #include "gtest/gtest.h"
37
38 namespace ceres {
39 namespace internal {
40
TEST(BlockRandomAccessSparseMatrix,GetCell)41 TEST(BlockRandomAccessSparseMatrix, GetCell) {
42 vector<int> blocks;
43 blocks.push_back(3);
44 blocks.push_back(4);
45 blocks.push_back(5);
46 const int num_rows = 3 + 4 + 5;
47
48 set< pair<int, int> > block_pairs;
49 int num_nonzeros = 0;
50 block_pairs.insert(make_pair(0, 0));
51 num_nonzeros += blocks[0] * blocks[0];
52
53 block_pairs.insert(make_pair(1, 1));
54 num_nonzeros += blocks[1] * blocks[1];
55
56 block_pairs.insert(make_pair(1, 2));
57 num_nonzeros += blocks[1] * blocks[2];
58
59 block_pairs.insert(make_pair(2, 0));
60 num_nonzeros += blocks[2] * blocks[0];
61
62 BlockRandomAccessSparseMatrix m(blocks, block_pairs);
63 EXPECT_EQ(m.num_rows(), num_rows);
64 EXPECT_EQ(m.num_cols(), num_rows);
65
66 for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
67 it != block_pairs.end();
68 ++it) {
69 const int row_block_id = it->first;
70 const int col_block_id = it->second;
71 int row;
72 int col;
73 int row_stride;
74 int col_stride;
75 CellInfo* cell = m.GetCell(row_block_id, col_block_id,
76 &row, &col,
77 &row_stride, &col_stride);
78 EXPECT_TRUE(cell != NULL);
79 EXPECT_EQ(row, 0);
80 EXPECT_EQ(col, 0);
81 EXPECT_EQ(row_stride, blocks[row_block_id]);
82 EXPECT_EQ(col_stride, blocks[col_block_id]);
83
84 // Write into the block
85 MatrixRef(cell->values, row_stride, col_stride).block(
86 row, col, blocks[row_block_id], blocks[col_block_id]) =
87 (row_block_id + 1) * (col_block_id +1) *
88 Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
89 }
90
91 const TripletSparseMatrix* tsm = m.matrix();
92 EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
93 EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
94
95 Matrix dense;
96 tsm->ToDenseMatrix(&dense);
97
98 double kTolerance = 1e-14;
99
100 // (0,0)
101 EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
102 0.0,
103 kTolerance);
104 // (1,1)
105 EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
106 0.0,
107 kTolerance);
108 // (1,2)
109 EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
110 0.0,
111 kTolerance);
112 // (2,0)
113 EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(),
114 0.0,
115 kTolerance);
116
117 // There is nothing else in the matrix besides these four blocks.
118 EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
119 kTolerance);
120 }
121
122 // IntPairToLong is private, thus this fixture is needed to access and
123 // test it.
124 class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
125 public:
SetUp()126 virtual void SetUp() {
127 vector<int> blocks;
128 blocks.push_back(1);
129 set< pair<int, int> > block_pairs;
130 block_pairs.insert(make_pair(0, 0));
131 m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
132 }
133
CheckIntPair(int a,int b)134 void CheckIntPair(int a, int b) {
135 int64 value = m_->IntPairToLong(a, b);
136 EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
137 EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
138 EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
139 }
140
141 private:
142 scoped_ptr<BlockRandomAccessSparseMatrix> m_;
143 };
144
TEST_F(BlockRandomAccessSparseMatrixTest,IntPairToLongOverflow)145 TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
146 CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max());
147 }
148
149 } // namespace internal
150 } // namespace ceres
151