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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include <glog/logging.h>
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#include "gtest/gtest.h"
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#include "ceres/block_random_access_sparse_matrix.h"
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#include "ceres/internal/eigen.h"
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TEST(BlockRandomAccessSparseMatrix, GetCell) {
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const int num_rows = 3 + 4 + 5;
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set< pair<int, int> > block_pairs;
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block_pairs.insert(make_pair(0, 0));
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num_nonzeros += blocks[0] * blocks[0];
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block_pairs.insert(make_pair(1, 1));
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num_nonzeros += blocks[1] * blocks[1];
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block_pairs.insert(make_pair(1, 2));
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num_nonzeros += blocks[1] * blocks[2];
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block_pairs.insert(make_pair(2, 0));
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num_nonzeros += blocks[2] * blocks[0];
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BlockRandomAccessSparseMatrix m(blocks, block_pairs);
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EXPECT_EQ(m.num_rows(), num_rows);
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EXPECT_EQ(m.num_cols(), num_rows);
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for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
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it != block_pairs.end();
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const int row_block_id = it->first;
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const int col_block_id = it->second;
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CellInfo* cell = m.GetCell(row_block_id, col_block_id,
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&row_stride, &col_stride);
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EXPECT_TRUE(cell != NULL);
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EXPECT_EQ(row_stride, blocks[row_block_id]);
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EXPECT_EQ(col_stride, blocks[col_block_id]);
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// Write into the block
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MatrixRef(cell->values, row_stride, col_stride).block(
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row, col, blocks[row_block_id], blocks[col_block_id]) =
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(row_block_id + 1) * (col_block_id +1) *
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Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
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const TripletSparseMatrix* tsm = m.matrix();
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EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
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EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
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tsm->ToDenseMatrix(&dense);
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double kTolerance = 1e-14;
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EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
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EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
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EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
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EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(),
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// There is nothing else in the matrix besides these four blocks.
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EXPECT_NEAR(dense.norm(), sqrt(9 + 16 * 16 + 36 * 20 + 9 * 15), kTolerance);
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} // namespace internal