Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/detect_structure_test.cc b/internal/ceres/detect_structure_test.cc
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+++ b/internal/ceres/detect_structure_test.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "Eigen/Core"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/block_structure.h"
+#include "ceres/detect_structure.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(DetectStructure, EverythingStatic) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = 4;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicRow) {
+ const int expected_row_block_size = Eigen::Dynamic;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = 4;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockDifferentRows) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = Eigen::Dynamic;
+
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicEBlock) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = Eigen::Dynamic;
+ const int expected_f_block_size = 3;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 2;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockSameRow) {
+ const int expected_row_block_size = 2;
+ const int expected_e_block_size = 3;
+ const int expected_f_block_size = Eigen::Dynamic;
+
+ CompressedRowBlockStructure bs;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 0;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 4;
+ bs.cols.back().position = 3;
+
+ bs.cols.push_back(Block());
+ bs.cols.back().size = 3;
+ bs.cols.back().position = 7;
+
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(1, 0));
+ row.cells.push_back(Cell(2, 0));
+ }
+
+ int row_block_size = 0;
+ int e_block_size = 0;
+ int f_block_size = 0;
+ const int num_eliminate_blocks = 1;
+ DetectStructure(bs,
+ num_eliminate_blocks,
+ &row_block_size,
+ &e_block_size,
+ &f_block_size);
+
+ EXPECT_EQ(row_block_size, expected_row_block_size);
+ EXPECT_EQ(e_block_size, expected_e_block_size);
+ EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+} // namespace internal
+} // namespace ceres