Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/ordered_groups_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/ordered_groups.h"

#include <cstddef>
#include <vector>

#include "gtest/gtest.h"

namespace ceres::internal {

TEST(OrderedGroups, EmptyOrderedGroupBehavesCorrectly) {
  ParameterBlockOrdering ordering;
  EXPECT_EQ(ordering.NumGroups(), 0);
  EXPECT_EQ(ordering.NumElements(), 0);
  EXPECT_EQ(ordering.GroupSize(1), 0);
  double x;
  EXPECT_EQ(ordering.GroupId(&x), -1);
  EXPECT_FALSE(ordering.Remove(&x));
}

TEST(OrderedGroups, EverythingInOneGroup) {
  ParameterBlockOrdering ordering;
  double x[3];
  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 1);
  ordering.AddElementToGroup(x + 2, 1);
  ordering.AddElementToGroup(x, 1);

  EXPECT_EQ(ordering.NumGroups(), 1);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 3);
  EXPECT_EQ(ordering.GroupSize(0), 0);
  EXPECT_EQ(ordering.GroupId(x), 1);
  EXPECT_EQ(ordering.GroupId(x + 1), 1);
  EXPECT_EQ(ordering.GroupId(x + 2), 1);

  ordering.Remove(x);
  EXPECT_EQ(ordering.NumGroups(), 1);
  EXPECT_EQ(ordering.NumElements(), 2);
  EXPECT_EQ(ordering.GroupSize(1), 2);
  EXPECT_EQ(ordering.GroupSize(0), 0);

  EXPECT_EQ(ordering.GroupId(x), -1);
  EXPECT_EQ(ordering.GroupId(x + 1), 1);
  EXPECT_EQ(ordering.GroupId(x + 2), 1);
}

TEST(OrderedGroups, StartInOneGroupAndThenSplit) {
  ParameterBlockOrdering ordering;
  double x[3];
  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 1);
  ordering.AddElementToGroup(x + 2, 1);
  ordering.AddElementToGroup(x, 1);

  EXPECT_EQ(ordering.NumGroups(), 1);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 3);
  EXPECT_EQ(ordering.GroupSize(0), 0);
  EXPECT_EQ(ordering.GroupId(x), 1);
  EXPECT_EQ(ordering.GroupId(x + 1), 1);
  EXPECT_EQ(ordering.GroupId(x + 2), 1);

  ordering.AddElementToGroup(x, 5);
  EXPECT_EQ(ordering.NumGroups(), 2);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 2);
  EXPECT_EQ(ordering.GroupSize(5), 1);
  EXPECT_EQ(ordering.GroupSize(0), 0);

  EXPECT_EQ(ordering.GroupId(x), 5);
  EXPECT_EQ(ordering.GroupId(x + 1), 1);
  EXPECT_EQ(ordering.GroupId(x + 2), 1);
}

TEST(OrderedGroups, AddAndRemoveEveryThingFromOneGroup) {
  ParameterBlockOrdering ordering;
  double x[3];
  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 1);
  ordering.AddElementToGroup(x + 2, 1);
  ordering.AddElementToGroup(x, 1);

  EXPECT_EQ(ordering.NumGroups(), 1);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 3);
  EXPECT_EQ(ordering.GroupSize(0), 0);
  EXPECT_EQ(ordering.GroupId(x), 1);
  EXPECT_EQ(ordering.GroupId(x + 1), 1);
  EXPECT_EQ(ordering.GroupId(x + 2), 1);

  ordering.AddElementToGroup(x, 5);
  ordering.AddElementToGroup(x + 1, 5);
  ordering.AddElementToGroup(x + 2, 5);
  EXPECT_EQ(ordering.NumGroups(), 1);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 0);
  EXPECT_EQ(ordering.GroupSize(5), 3);
  EXPECT_EQ(ordering.GroupSize(0), 0);

  EXPECT_EQ(ordering.GroupId(x), 5);
  EXPECT_EQ(ordering.GroupId(x + 1), 5);
  EXPECT_EQ(ordering.GroupId(x + 2), 5);
}

TEST(OrderedGroups, ReverseOrdering) {
  ParameterBlockOrdering ordering;
  double x[3];
  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 2);
  ordering.AddElementToGroup(x + 2, 2);

  EXPECT_EQ(ordering.NumGroups(), 2);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(1), 1);
  EXPECT_EQ(ordering.GroupSize(2), 2);
  EXPECT_EQ(ordering.GroupId(x), 1);
  EXPECT_EQ(ordering.GroupId(x + 1), 2);
  EXPECT_EQ(ordering.GroupId(x + 2), 2);

  ordering.Reverse();

  EXPECT_EQ(ordering.NumGroups(), 2);
  EXPECT_EQ(ordering.NumElements(), 3);
  EXPECT_EQ(ordering.GroupSize(3), 1);
  EXPECT_EQ(ordering.GroupSize(2), 2);
  EXPECT_EQ(ordering.GroupId(x), 3);
  EXPECT_EQ(ordering.GroupId(x + 1), 2);
  EXPECT_EQ(ordering.GroupId(x + 2), 2);
}

TEST(OrderedGroups, ReverseOrderingWithEmptyOrderedGroups) {
  ParameterBlockOrdering ordering;
  // This should be a no-op.
  ordering.Reverse();

  // Ensure the properties of an empty OrderedGroups still hold after Reverse().
  EXPECT_EQ(ordering.NumGroups(), 0);
  EXPECT_EQ(ordering.NumElements(), 0);
  EXPECT_EQ(ordering.GroupSize(1), 0);
  double x;
  EXPECT_EQ(ordering.GroupId(&x), -1);
  EXPECT_FALSE(ordering.Remove(&x));
}

TEST(OrderedGroups, BulkRemove) {
  ParameterBlockOrdering ordering;
  double x[3];
  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 2);
  ordering.AddElementToGroup(x + 2, 2);

  std::vector<double*> elements_to_remove;
  elements_to_remove.push_back(x);
  elements_to_remove.push_back(x + 2);

  EXPECT_EQ(ordering.Remove(elements_to_remove), 2);
  EXPECT_EQ(ordering.NumElements(), 1);
  EXPECT_EQ(ordering.GroupId(x), -1);
  EXPECT_EQ(ordering.GroupId(x + 1), 2);
  EXPECT_EQ(ordering.GroupId(x + 2), -1);
}

TEST(OrderedGroups, BulkRemoveWithNoElements) {
  ParameterBlockOrdering ordering;

  double x[3];
  std::vector<double*> elements_to_remove;
  elements_to_remove.push_back(x);
  elements_to_remove.push_back(x + 2);

  EXPECT_EQ(ordering.Remove(elements_to_remove), 0);

  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 2);
  ordering.AddElementToGroup(x + 2, 2);

  elements_to_remove.clear();
  EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
}

TEST(OrderedGroups, MinNonZeroGroup) {
  ParameterBlockOrdering ordering;
  double x[3];

  ordering.AddElementToGroup(x, 1);
  ordering.AddElementToGroup(x + 1, 1);
  ordering.AddElementToGroup(x + 2, 2);

  EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
  ordering.Remove(x);

  EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
  ordering.Remove(x + 1);

  EXPECT_EQ(ordering.MinNonZeroGroup(), 2);
  ordering.Remove(x + 2);

  // No non-zero groups left.
  EXPECT_DEATH_IF_SUPPORTED(ordering.MinNonZeroGroup(), "NumGroups");
}
}  // namespace ceres::internal