1// Ceres Solver - A fast non-linear least squares minimizer
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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
38namespace ceres {
39namespace internal {
40
41TEST(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.
124class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
125 public:
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
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
145TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
146  CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max());
147}
148
149}  // namespace internal
150}  // namespace ceres
151