xref: /external/ceres-solver/internal/ceres/reorder_program_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2014 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/reorder_program.h"

#include "ceres/parameter_block.h"
#include "ceres/problem_impl.h"
#include "ceres/program.h"
#include "ceres/sized_cost_function.h"
#include "ceres/solver.h"

#include "gtest/gtest.h"

namespace ceres {
namespace internal {

// Templated base class for the CostFunction signatures.
template <int kNumResiduals, int N0, int N1, int N2>
class MockCostFunctionBase : public
SizedCostFunction<kNumResiduals, N0, N1, N2> {
 public:
  virtual bool Evaluate(double const* const* parameters,
                        double* residuals,
                        double** jacobians) const {
    // Do nothing. This is never called.
    return true;
  }
};

class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};

TEST(_, ReorderResidualBlockNormalFunction) {
  ProblemImpl problem;
  double x;
  double y;
  double z;

  problem.AddParameterBlock(&x, 1);
  problem.AddParameterBlock(&y, 1);
  problem.AddParameterBlock(&z, 1);

  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x);
  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &z);
  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);

  ParameterBlockOrdering* linear_solver_ordering = new ParameterBlockOrdering;
  linear_solver_ordering->AddElementToGroup(&x, 0);
  linear_solver_ordering->AddElementToGroup(&y, 0);
  linear_solver_ordering->AddElementToGroup(&z, 1);

  Solver::Options options;
  options.linear_solver_type = DENSE_SCHUR;
  options.linear_solver_ordering.reset(linear_solver_ordering);

  const vector<ResidualBlock*>& residual_blocks =
      problem.program().residual_blocks();

  vector<ResidualBlock*> expected_residual_blocks;

  // This is a bit fragile, but it serves the purpose. We know the
  // bucketing algorithm that the reordering function uses, so we
  // expect the order for residual blocks for each e_block to be
  // filled in reverse.
  expected_residual_blocks.push_back(residual_blocks[4]);
  expected_residual_blocks.push_back(residual_blocks[1]);
  expected_residual_blocks.push_back(residual_blocks[0]);
  expected_residual_blocks.push_back(residual_blocks[5]);
  expected_residual_blocks.push_back(residual_blocks[2]);
  expected_residual_blocks.push_back(residual_blocks[3]);

  Program* program = problem.mutable_program();
  program->SetParameterOffsetsAndIndex();

  string message;
  EXPECT_TRUE(LexicographicallyOrderResidualBlocks(
                  2,
                  problem.mutable_program(),
                  &message));
  EXPECT_EQ(residual_blocks.size(), expected_residual_blocks.size());
  for (int i = 0; i < expected_residual_blocks.size(); ++i) {
    EXPECT_EQ(residual_blocks[i], expected_residual_blocks[i]);
  }
}

TEST(_, ApplyOrderingOrderingTooSmall) {
  ProblemImpl problem;
  double x;
  double y;
  double z;

  problem.AddParameterBlock(&x, 1);
  problem.AddParameterBlock(&y, 1);
  problem.AddParameterBlock(&z, 1);

  ParameterBlockOrdering linear_solver_ordering;
  linear_solver_ordering.AddElementToGroup(&x, 0);
  linear_solver_ordering.AddElementToGroup(&y, 1);

  Program program(problem.program());
  string message;
  EXPECT_FALSE(ApplyOrdering(problem.parameter_map(),
                             linear_solver_ordering,
                             &program,
                             &message));
}

TEST(_, ApplyOrderingNormal) {
  ProblemImpl problem;
  double x;
  double y;
  double z;

  problem.AddParameterBlock(&x, 1);
  problem.AddParameterBlock(&y, 1);
  problem.AddParameterBlock(&z, 1);

  ParameterBlockOrdering linear_solver_ordering;
  linear_solver_ordering.AddElementToGroup(&x, 0);
  linear_solver_ordering.AddElementToGroup(&y, 2);
  linear_solver_ordering.AddElementToGroup(&z, 1);

  Program* program = problem.mutable_program();
  string message;

  EXPECT_TRUE(ApplyOrdering(problem.parameter_map(),
                            linear_solver_ordering,
                            program,
                            &message));
  const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();

  EXPECT_EQ(parameter_blocks.size(), 3);
  EXPECT_EQ(parameter_blocks[0]->user_state(), &x);
  EXPECT_EQ(parameter_blocks[1]->user_state(), &z);
  EXPECT_EQ(parameter_blocks[2]->user_state(), &y);
}

}  // namespace internal
}  // namespace ceres