/**
* See if passing in a matrix or not providing one to getQ and getR functions has the same result
*/
@Test
public void checkGetNullVersusNot() {
int width = 5;
int height = 10;
QRDecomposition<DenseMatrix64F> alg = createQRDecomposition();
SimpleMatrix A = new SimpleMatrix(height, width);
RandomMatrices.setRandom(A.getMatrix(), rand);
alg.decompose(A.getMatrix());
// get the results from a provided matrix
DenseMatrix64F Q_provided = RandomMatrices.createRandom(height, height, rand);
DenseMatrix64F R_provided = RandomMatrices.createRandom(height, width, rand);
assertTrue(R_provided == alg.getR(R_provided, false));
assertTrue(Q_provided == alg.getQ(Q_provided, false));
// get the results when no matrix is provided
DenseMatrix64F Q_null = alg.getQ(null, false);
DenseMatrix64F R_null = alg.getR(null, false);
// see if they are the same
assertTrue(MatrixFeatures.isEquals(Q_provided, Q_null));
assertTrue(MatrixFeatures.isEquals(R_provided, R_null));
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testConstrainedSimple() {
int objectiveSize = 3;
int solutionSize = 3;
int constraintSize = 1;
DenseMatrix64F a = new DenseMatrix64F(objectiveSize, solutionSize);
CommonOps.setIdentity(a);
DenseMatrix64F b = new DenseMatrix64F(objectiveSize, 1);
b.zero();
DenseMatrix64F c = new DenseMatrix64F(constraintSize, solutionSize);
CommonOps.setIdentity(c);
DenseMatrix64F d = new DenseMatrix64F(constraintSize, 1);
d.set(0, 0, -1.0);
QuadraticProgram quadraticProgram = new QuadraticProgram(a, b, c, d);
DenseMatrix64F initialGuess = new DenseMatrix64F(solutionSize, 1);
initialGuess.set(0, 0, -10.0);
initialGuess.set(1, 0, -10.0);
initialGuess.set(2, 0, -10.0);
ActiveSearchSolutionInfo solutionInfo = solve(quadraticProgram, initialGuess);
assertTrue(solutionInfo.isConverged());
DenseMatrix64F expectedResult = new DenseMatrix64F(solutionSize, 1);
expectedResult.set(0, 0, d.get(0, 0));
expectedResult.set(1, 0, 0.0);
expectedResult.set(2, 0, 0.0);
assertTrue(MatrixFeatures.isEquals(expectedResult, solutionInfo.getSolution(), 1e-12));
}
/**
* Checks to see if the matrix is or is not modified as according to the modified flag.
*
* @param decomp
*/
public static void checkModifiedInput(DecompositionInterface decomp) {
DenseMatrix64F A = RandomMatrices.createSymmPosDef(4, new Random(0x434));
DenseMatrix64F A_orig = A.copy();
assertTrue(decomp.decompose(A));
boolean modified = !MatrixFeatures.isEquals(A, A_orig);
assertTrue(modified + " " + decomp.inputModified(), decomp.inputModified() == modified);
}
@Test
public void perfectInput() {
init(30, false);
// compute true essential matrix
DenseMatrix64F E = MultiViewOps.createEssential(worldToCamera.getR(), worldToCamera.getT());
ModelFitter<DenseMatrix64F, AssociatedPair> alg = createAlgorithm();
// give it the perfect matrix and see if it screwed it up
assertTrue(alg.fitModel(pairs, E, found));
// normalize so that they are the same
CommonOps.divide(E.get(2, 2), E);
CommonOps.divide(found.get(2, 2), found);
assertTrue(MatrixFeatures.isEquals(E, found, 1e-8));
}
