1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2014 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
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29// Author: richie.stebbing@gmail.com (Richard Stebbing)
30
31#include "ceres/dynamic_compressed_row_sparse_matrix.h"
32
33#include "ceres/casts.h"
34#include "ceres/compressed_row_sparse_matrix.h"
35#include "ceres/casts.h"
36#include "ceres/internal/eigen.h"
37#include "ceres/internal/scoped_ptr.h"
38#include "ceres/linear_least_squares_problems.h"
39#include "ceres/triplet_sparse_matrix.h"
40#include "gtest/gtest.h"
41
42namespace ceres {
43namespace internal {
44
45class DynamicCompressedRowSparseMatrixTest : public ::testing::Test {
46 protected:
47  virtual void SetUp() {
48    num_rows = 7;
49    num_cols = 4;
50
51    // The number of additional elements reserved when `Finalize` is called
52    // should have no effect on the number of rows, columns or nonzeros.
53    // Set this to some nonzero value to be sure.
54    num_additional_elements = 13;
55
56    expected_num_nonzeros = num_rows * num_cols - min(num_rows, num_cols);
57
58    InitialiseDenseReference();
59    InitialiseSparseMatrixReferences();
60
61    dcrsm.reset(new DynamicCompressedRowSparseMatrix(num_rows,
62                                                     num_cols,
63                                                     0));
64  }
65
66  void Finalize() {
67    dcrsm->Finalize(num_additional_elements);
68  }
69
70  void InitialiseDenseReference() {
71    dense.resize(num_rows, num_cols);
72    dense.setZero();
73    int num_nonzeros = 0;
74    for (int i = 0; i < (num_rows * num_cols); ++i) {
75      const int r = i / num_cols, c = i % num_cols;
76      if (r != c) {
77        dense(r, c) = i + 1;
78        ++num_nonzeros;
79      }
80    }
81    ASSERT_EQ(num_nonzeros, expected_num_nonzeros);
82  }
83
84  void InitialiseSparseMatrixReferences() {
85    std::vector<int> rows, cols;
86    std::vector<double> values;
87    for (int i = 0; i < (num_rows * num_cols); ++i) {
88      const int r = i / num_cols, c = i % num_cols;
89      if (r != c) {
90        rows.push_back(r);
91        cols.push_back(c);
92        values.push_back(i + 1);
93      }
94    }
95    ASSERT_EQ(values.size(), expected_num_nonzeros);
96
97    tsm.reset(new TripletSparseMatrix(num_rows,
98                                      num_cols,
99                                      expected_num_nonzeros));
100    std::copy(rows.begin(), rows.end(), tsm->mutable_rows());
101    std::copy(cols.begin(), cols.end(), tsm->mutable_cols());
102    std::copy(values.begin(), values.end(), tsm->mutable_values());
103    tsm->set_num_nonzeros(values.size());
104
105    Matrix dense_from_tsm;
106    tsm->ToDenseMatrix(&dense_from_tsm);
107    ASSERT_TRUE((dense.array() == dense_from_tsm.array()).all());
108
109    crsm.reset(new CompressedRowSparseMatrix(*tsm));
110    Matrix dense_from_crsm;
111    crsm->ToDenseMatrix(&dense_from_crsm);
112    ASSERT_TRUE((dense.array() == dense_from_crsm.array()).all());
113  }
114
115  void InsertNonZeroEntriesFromDenseReference() {
116    for (int r = 0; r < num_rows; ++r) {
117      for (int c = 0; c < num_cols; ++c) {
118        const double& v = dense(r, c);
119        if (v != 0.0) {
120          dcrsm->InsertEntry(r, c, v);
121        }
122      }
123    }
124  }
125
126  void ExpectEmpty() {
127    EXPECT_EQ(dcrsm->num_rows(), num_rows);
128    EXPECT_EQ(dcrsm->num_cols(), num_cols);
129    EXPECT_EQ(dcrsm->num_nonzeros(), 0);
130
131    Matrix dense_from_dcrsm;
132    dcrsm->ToDenseMatrix(&dense_from_dcrsm);
133    EXPECT_EQ(dense_from_dcrsm.rows(), num_rows);
134    EXPECT_EQ(dense_from_dcrsm.cols(), num_cols);
135    EXPECT_TRUE((dense_from_dcrsm.array() == 0.0).all());
136  }
137
138  void ExpectEqualToDenseReference() {
139    Matrix dense_from_dcrsm;
140    dcrsm->ToDenseMatrix(&dense_from_dcrsm);
141    EXPECT_TRUE((dense.array() == dense_from_dcrsm.array()).all());
142  }
143
144  void ExpectEqualToCompressedRowSparseMatrixReference() {
145    typedef Eigen::Map<const Eigen::VectorXi> ConstIntVectorRef;
146
147    ConstIntVectorRef crsm_rows(crsm->rows(), crsm->num_rows() + 1);
148    ConstIntVectorRef dcrsm_rows(dcrsm->rows(), dcrsm->num_rows() + 1);
149    EXPECT_TRUE((crsm_rows.array() == dcrsm_rows.array()).all());
150
151    ConstIntVectorRef crsm_cols(crsm->cols(), crsm->num_nonzeros());
152    ConstIntVectorRef dcrsm_cols(dcrsm->cols(), dcrsm->num_nonzeros());
153    EXPECT_TRUE((crsm_cols.array() == dcrsm_cols.array()).all());
154
155    ConstVectorRef crsm_values(crsm->values(), crsm->num_nonzeros());
156    ConstVectorRef dcrsm_values(dcrsm->values(), dcrsm->num_nonzeros());
157    EXPECT_TRUE((crsm_values.array() == dcrsm_values.array()).all());
158  }
159
160  int num_rows;
161  int num_cols;
162
163  int num_additional_elements;
164
165  int expected_num_nonzeros;
166
167  Matrix dense;
168  scoped_ptr<TripletSparseMatrix> tsm;
169  scoped_ptr<CompressedRowSparseMatrix> crsm;
170
171  scoped_ptr<DynamicCompressedRowSparseMatrix> dcrsm;
172};
173
174TEST_F(DynamicCompressedRowSparseMatrixTest, Initialization) {
175  ExpectEmpty();
176
177  Finalize();
178  ExpectEmpty();
179}
180
181TEST_F(DynamicCompressedRowSparseMatrixTest, InsertEntryAndFinalize) {
182  InsertNonZeroEntriesFromDenseReference();
183  ExpectEmpty();
184
185  Finalize();
186  ExpectEqualToDenseReference();
187  ExpectEqualToCompressedRowSparseMatrixReference();
188}
189
190TEST_F(DynamicCompressedRowSparseMatrixTest, ClearRows) {
191  InsertNonZeroEntriesFromDenseReference();
192  Finalize();
193  ExpectEqualToDenseReference();
194  ExpectEqualToCompressedRowSparseMatrixReference();
195
196  dcrsm->ClearRows(0, 0);
197  Finalize();
198  ExpectEqualToDenseReference();
199  ExpectEqualToCompressedRowSparseMatrixReference();
200
201  dcrsm->ClearRows(0, num_rows);
202  ExpectEqualToCompressedRowSparseMatrixReference();
203
204  Finalize();
205  ExpectEmpty();
206
207  InsertNonZeroEntriesFromDenseReference();
208  dcrsm->ClearRows(1, 2);
209  Finalize();
210  dense.block(1, 0, 2, num_cols).setZero();
211  ExpectEqualToDenseReference();
212
213  InitialiseDenseReference();
214}
215
216}  // namespace internal
217}  // namespace ceres
218