179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Ceres Solver - A fast non-linear least squares minimizer 279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Copyright 2013 Google Inc. All rights reserved. 379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// http://code.google.com/p/ceres-solver/ 479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Redistribution and use in source and binary forms, with or without 679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// modification, are permitted provided that the following conditions are met: 779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Redistributions of source code must retain the above copyright notice, 979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// this list of conditions and the following disclaimer. 1079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Redistributions in binary form must reproduce the above copyright notice, 1179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// this list of conditions and the following disclaimer in the documentation 1279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// and/or other materials provided with the distribution. 1379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Neither the name of Google Inc. nor the names of its contributors may be 1479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// used to endorse or promote products derived from this software without 1579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// specific prior written permission. 1679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 1779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 1879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 1979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 2079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 2179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 2279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 2379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 2479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 2579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 2679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 2779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// POSSIBILITY OF SUCH DAMAGE. 2879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 2979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Author: Sameer Agarwal (sameeragarwal@google.com) 3079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// This include must come before any #ifndef check on Ceres compile options. 3279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/internal/port.h" 3379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#ifndef CERES_NO_SUITESPARSE 3579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/single_linkage_clustering.h" 3779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/collections_port.h" 3979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/graph.h" 4079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "gtest/gtest.h" 4179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 4279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandeznamespace ceres { 4379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandeznamespace internal { 4479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 4579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(SingleLinkageClustering, GraphHasTwoComponents) { 4679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Graph<int> graph; 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int kNumVertices = 6; 4879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < kNumVertices; ++i) { 4979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddVertex(i); 5079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 5179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // Graph structure: 5279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 5379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 0-1-2-3 4-5 5479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(0, 1, 1.0); 5579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(1, 2, 1.0); 5679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(2, 3, 1.0); 5779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(4, 5, 1.0); 5879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 5979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SingleLinkageClusteringOptions options; 6079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez HashMap<int, int> membership; 6179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ComputeSingleLinkageClustering(options, graph, &membership); 6279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership.size(), kNumVertices); 6379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 6479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[1], membership[0]); 6579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[2], membership[0]); 6679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[3], membership[0]); 6779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_NE(membership[4], membership[0]); 6879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_NE(membership[5], membership[0]); 6979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[4], membership[5]); 7079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 7179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 7279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(SingleLinkageClustering, ComponentWithWeakLink) { 7379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Graph<int> graph; 7479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int kNumVertices = 6; 7579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < kNumVertices; ++i) { 7679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddVertex(i); 7779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 7879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // Graph structure: 7979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 8079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 0-1-2-3 4-5 8179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(0, 1, 1.0); 8279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(1, 2, 1.0); 8379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(2, 3, 1.0); 8479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // This component should break up into two. 8679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(4, 5, 0.5); 8779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SingleLinkageClusteringOptions options; 8979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez HashMap<int, int> membership; 9079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ComputeSingleLinkageClustering(options, graph, &membership); 9179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership.size(), kNumVertices); 9279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 9379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[1], membership[0]); 9479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[2], membership[0]); 9579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[3], membership[0]); 9679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_NE(membership[4], membership[0]); 9779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_NE(membership[5], membership[0]); 9879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_NE(membership[4], membership[5]); 9979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 10079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 10179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(SingleLinkageClustering, ComponentWithWeakLinkAndStrongLink) { 10279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Graph<int> graph; 10379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int kNumVertices = 6; 10479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < kNumVertices; ++i) { 10579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddVertex(i); 10679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 10779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // Graph structure: 10879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 10979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // 0-1-2-3 4-5 11079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(0, 1, 1.0); 11179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(1, 2, 1.0); 11279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(2, 3, 0.5); // Weak link 11379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(0, 3, 1.0); 11479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 11579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // This component should break up into two. 11679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez graph.AddEdge(4, 5, 1.0); 11779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 11879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SingleLinkageClusteringOptions options; 11979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez HashMap<int, int> membership; 12079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ComputeSingleLinkageClustering(options, graph, &membership); 12179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership.size(), kNumVertices); 12279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 12379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[1], membership[0]); 12479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[2], membership[0]); 12579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[3], membership[0]); 12679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(membership[4], membership[5]); 12779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 12879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 12979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} // namespace internal 13079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} // namespace ceres 13179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 13279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#endif // CERES_NO_SUITESPARSE 133