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: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/block_random_access_dense_matrix.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(BlockRandomAccessDenseMatrix, GetCell) { 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> blocks; 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(3); 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(4); 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(5); 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_rows = 3 + 4 + 5; 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong BlockRandomAccessDenseMatrix m(blocks); 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(m.num_rows(), num_rows); 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(m.num_cols(), num_rows); 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row_idx = 0; 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < blocks.size(); ++i) { 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col_idx = 0; 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < blocks.size(); ++j) { 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row; 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col; 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row_stride; 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col_stride; 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CellInfo* cell = 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong m.GetCell(i, j, &row, &col, &row_stride, &col_stride); 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(cell != NULL); 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(row, row_idx); 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(col, col_idx); 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(row_stride, 3 + 4 + 5); 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(col_stride, 3 + 4 + 5); 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong col_idx += blocks[j]; 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong row_idx += blocks[i]; 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(BlockRandomAccessDenseMatrix, WriteCell) { 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> blocks; 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(3); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(4); 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks.push_back(5); 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_rows = 3 + 4 + 5; 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong BlockRandomAccessDenseMatrix m(blocks); 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Fill the cell (i,j) with (i + 1) * (j + 1) 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < blocks.size(); ++i) { 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < blocks.size(); ++j) { 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row; 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col; 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row_stride; 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col_stride; 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CellInfo* cell = m.GetCell( 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong i, j, &row, &col, &row_stride, &col_stride); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong MatrixRef(cell->values, row_stride, col_stride).block( 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong row, col, blocks[i], blocks[j]) = 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]); 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Check the values in the array are correct by going over the 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // entries of each block manually. 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int row_idx = 0; 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < blocks.size(); ++i) { 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col_idx = 0; 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < blocks.size(); ++j) { 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Check the values of this block. 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int r = 0; r < blocks[i]; ++r) { 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int c = 0; c < blocks[j]; ++c) { 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int pos = row_idx * num_rows + col_idx; 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1)); 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong col_idx += blocks[j]; 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong row_idx += blocks[i]; 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 116