10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: Sameer Agarwal (sameeragarwal@google.com) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// David Gallup (dgallup@google.com) 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 321d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#ifndef CERES_NO_SUITESPARSE 331d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/canonical_views_clustering.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/collections_port.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/graph.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongconst int kVertexIds[] = {0, 1, 2, 3}; 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass CanonicalViewsTest : public ::testing::Test { 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong protected: 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void SetUp() { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The graph structure is as follows. 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Vertex weights: 0 2 2 0 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // V0-----V1-----V2-----V3 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Edge weights: 0.8 0.9 0.3 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const double kVertexWeights[] = {0.0, 2.0, 2.0, -1.0}; 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < 4; ++i) { 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph_.AddVertex(i, kVertexWeights[i]); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create self edges. 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // CanonicalViews requires that every view "sees" itself. 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < 4; ++i) { 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph_.AddEdge(i, i, 1.0); 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create three edges. 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const double kEdgeWeights[] = {0.8, 0.9, 0.3}; 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < 3; ++i) { 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The graph interface is directed, so remember to create both 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // edges. 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph_.AddEdge(kVertexIds[i], kVertexIds[i + 1], kEdgeWeights[i]); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void ComputeClustering() { 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeCanonicalViewsClustering(graph_, options_, ¢ers_, &membership_); 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph_; 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CanonicalViewsClusteringOptions options_; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> centers_; 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong HashMap<int, int> membership_; 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(CanonicalViewsTest, ComputeCanonicalViewsTest) { 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.min_views = 0; 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.size_penalty_weight = 0.5; 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.similarity_penalty_weight = 0.0; 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.view_score_weight = 0.0; 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeClustering(); 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 2 canonical views. 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_.size(), 2); 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[0], kVertexIds[1]); 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[1], kVertexIds[3]); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Check cluster membership. 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(FindOrDie(membership_, kVertexIds[0]), 0); 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(FindOrDie(membership_, kVertexIds[1]), 0); 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(FindOrDie(membership_, kVertexIds[2]), 0); 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(FindOrDie(membership_, kVertexIds[3]), 1); 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Increases size penalty so the second canonical view won't be 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// chosen. 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(CanonicalViewsTest, SizePenaltyTest) { 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.min_views = 0; 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.size_penalty_weight = 2.0; 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.similarity_penalty_weight = 0.0; 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.view_score_weight = 0.0; 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeClustering(); 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 1 canonical view. 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_.size(), 1); 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[0], kVertexIds[1]); 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Increases view score weight so vertex 2 will be chosen. 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(CanonicalViewsTest, ViewScoreTest) { 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.min_views = 0; 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.size_penalty_weight = 0.5; 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.similarity_penalty_weight = 0.0; 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.view_score_weight = 1.0; 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeClustering(); 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 2 canonical views. 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_.size(), 2); 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[0], kVertexIds[1]); 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[1], kVertexIds[2]); 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Increases similarity penalty so vertex 2 won't be chosen despite 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// it's view score. 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(CanonicalViewsTest, SimilarityPenaltyTest) { 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.min_views = 0; 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.size_penalty_weight = 0.5; 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.similarity_penalty_weight = 3.0; 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options_.view_score_weight = 1.0; 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeClustering(); 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 2 canonical views. 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_.size(), 1); 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(centers_[0], kVertexIds[1]); 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 1461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#endif // CERES_NO_SUITESPARSE 148