1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2013 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are met:
7//
8// * Redistributions of source code must retain the above copyright notice,
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
12//   and/or other materials provided with the distribution.
13// * Neither the name of Google Inc. nor the names of its contributors may be
14//   used to endorse or promote products derived from this software without
15//   specific prior written permission.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27// POSSIBILITY OF SUCH DAMAGE.
28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include <limits>
32#include <vector>
33#include "ceres/block_random_access_crs_matrix.h"
34#include "ceres/internal/eigen.h"
35#include "glog/logging.h"
36#include "gtest/gtest.h"
37
38namespace ceres {
39namespace internal {
40
41TEST(BlockRandomAccessCRSMatrix, 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  BlockRandomAccessCRSMatrix 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
82    // Write into the block.
83    MatrixRef(cell->values, row_stride, col_stride).block(
84        row, col, blocks[row_block_id], blocks[col_block_id]) =
85        (row_block_id + 1) * (col_block_id +1) *
86        Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
87  }
88
89  const CompressedRowSparseMatrix* crsm = m.matrix();
90  EXPECT_EQ(crsm->num_nonzeros(), num_nonzeros);
91
92  Matrix dense;
93  crsm->ToDenseMatrix(&dense);
94
95  double kTolerance = 1e-14;
96
97  // (0,0)
98  EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
99              0.0,
100              kTolerance);
101  // (1,1)
102  EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
103              0.0,
104              kTolerance);
105  // (1,2)
106  EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
107              0.0,
108              kTolerance);
109  // (2,0)
110  EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(),
111              0.0,
112              kTolerance);
113
114  // There is nothing else in the matrix besides these four blocks.
115  EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
116              kTolerance);
117}
118
119// IntPairToLong is private, thus this fixture is needed to access and
120// test it.
121class BlockRandomAccessCRSMatrixTest : public ::testing::Test {
122 public:
123  virtual void SetUp() {
124    vector<int> blocks;
125    blocks.push_back(1);
126    set< pair<int, int> > block_pairs;
127    block_pairs.insert(make_pair(0, 0));
128    m_.reset(new BlockRandomAccessCRSMatrix(blocks, block_pairs));
129  }
130
131  void CheckIntPair(int a, int b) {
132    int64 value = m_->IntPairToLong(a, b);
133    EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
134    EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
135    EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
136  }
137
138 private:
139  scoped_ptr<BlockRandomAccessCRSMatrix> m_;
140};
141
142TEST_F(BlockRandomAccessCRSMatrixTest, IntPairToLongOverflow) {
143  CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max());
144}
145
146
147}  // namespace internal
148}  // namespace ceres
149