1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
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29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include <vector>
32#include "gtest/gtest.h"
33#include "ceres/block_random_access_dense_matrix.h"
34#include "ceres/internal/eigen.h"
35
36namespace ceres {
37namespace internal {
38
39TEST(BlockRandomAccessDenseMatrix, GetCell) {
40  vector<int> blocks;
41  blocks.push_back(3);
42  blocks.push_back(4);
43  blocks.push_back(5);
44  const int num_rows = 3 + 4 + 5;
45  BlockRandomAccessDenseMatrix m(blocks);
46  EXPECT_EQ(m.num_rows(), num_rows);
47  EXPECT_EQ(m.num_cols(), num_rows);
48
49  int row_idx = 0;
50  for (int i = 0; i < blocks.size(); ++i) {
51    int col_idx = 0;
52    for (int j = 0; j < blocks.size(); ++j) {
53      int row;
54      int col;
55      int row_stride;
56      int col_stride;
57      CellInfo* cell =
58          m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
59
60      EXPECT_TRUE(cell != NULL);
61      EXPECT_EQ(row, row_idx);
62      EXPECT_EQ(col, col_idx);
63      EXPECT_EQ(row_stride, 3 + 4 + 5);
64      EXPECT_EQ(col_stride, 3 + 4 + 5);
65      col_idx += blocks[j];
66    }
67    row_idx += blocks[i];
68  }
69}
70
71TEST(BlockRandomAccessDenseMatrix, WriteCell) {
72  vector<int> blocks;
73  blocks.push_back(3);
74  blocks.push_back(4);
75  blocks.push_back(5);
76  const int num_rows = 3 + 4 + 5;
77
78  BlockRandomAccessDenseMatrix m(blocks);
79
80  // Fill the cell (i,j) with (i + 1) * (j + 1)
81  for (int i = 0; i < blocks.size(); ++i) {
82    for (int j = 0; j < blocks.size(); ++j) {
83      int row;
84      int col;
85      int row_stride;
86      int col_stride;
87      CellInfo* cell = m.GetCell(
88          i, j, &row, &col, &row_stride, &col_stride);
89      MatrixRef(cell->values, row_stride, col_stride).block(
90          row, col, blocks[i], blocks[j]) =
91          (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
92    }
93  }
94
95  // Check the values in the array are correct by going over the
96  // entries of each block manually.
97  int row_idx = 0;
98  for (int i = 0; i < blocks.size(); ++i) {
99    int col_idx = 0;
100    for (int j = 0; j < blocks.size(); ++j) {
101      // Check the values of this block.
102      for (int r = 0; r < blocks[i]; ++r) {
103        for (int c = 0; c < blocks[j]; ++c) {
104          int pos = row_idx * num_rows + col_idx;
105          EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
106        }
107      }
108      col_idx += blocks[j];
109    }
110    row_idx += blocks[i];
111  }
112}
113
114}  // namespace internal
115}  // namespace ceres
116