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 "ceres/parameter_block_ordering.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <cstddef> 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/collections_port.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/graph.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/problem_impl.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/program.h" 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/stl_util.h" 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/cost_function.h" 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/sized_cost_function.h" 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongtypedef Graph<ParameterBlock*> HessianGraph; 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongtypedef HashSet<ParameterBlock*> VertexSet; 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongtemplate <int M, int N1 = 0, int N2 = 0, int N3 = 0> 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> { 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual bool Evaluate(double const* const* parameters, 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const { 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass SchurOrderingTest : public ::testing::Test { 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong protected : 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void SetUp() { 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The explicit calls to AddParameterBlock are necessary because 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the below tests depend on the specific numbering of the 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // parameter blocks. 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddParameterBlock(x_, 3); 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddParameterBlock(y_, 4); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddParameterBlock(z_, 5); 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddParameterBlock(w_, 6); 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_); 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_); 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_); 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL, 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong z_, x_, w_); 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ProblemImpl problem_; 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double x_[3], y_[4], z_[5], w_[6]; 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(SchurOrderingTest, NoFixed) { 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Program& program = problem_.program(); 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& vertices = graph->vertices(); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(vertices.size(), 4); 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < 4; ++i) { 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end()); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]); 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 2); 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]); 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 1); 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]); 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 3); 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end()); 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end()); 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]); 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 2); 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end()); 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(SchurOrderingTest, AllFixed) { 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.SetParameterBlockConstant(x_); 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.SetParameterBlockConstant(y_); 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.SetParameterBlockConstant(z_); 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.SetParameterBlockConstant(w_); 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Program& program = problem_.program(); 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph->vertices().size(), 0); 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST_F(SchurOrderingTest, OneFixed) { 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem_.SetParameterBlockConstant(x_); 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Program& program = problem_.program(); 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& vertices = graph->vertices(); 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(vertices.size(), 3); 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end()); 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 1; i < 3; ++i) { 1480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end()); 1490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]); 1530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 1); 1540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); 1550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]); 1590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 2); 1600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end()); 1610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end()); 1620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong { 1650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]); 1660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(neighbors.size(), 1); 1670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end()); 1680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The constant parameter block is at the end. 1710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<ParameterBlock*> ordering; 1720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ComputeSchurOrdering(program, &ordering); 1730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(ordering.back(), parameter_blocks[0]); 1740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 178