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testSvd.cpp

Test various svd decompositions.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test various svd decompositions.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpTime.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpColVector.h>
#include <vector>
#include <algorithm>
#include <stdlib.h>
#include <stdio.h>
bool testSvdOpenCvGSLCoherence(double epsilon);
#ifdef VISP_HAVE_GSL
bool testRandom(double epsilon);
#endif
#define abs(x) ((x) < 0 ? - (x) : (x))
#ifdef VISP_HAVE_GSL
bool testRandom(double epsilon)
{
vpMatrix L0(6,6);
vpMatrix L1(6,6);
for (unsigned int i=0 ; i < L0.getRows() ; i++)
for (unsigned int j=0 ; j < L0.getCols() ; j++)
L1[i][j] = L0[i][j] = (double)rand()/(double)RAND_MAX;
vpColVector W0(L0.getCols()) ;
vpMatrix V0(L0.getCols(), L0.getCols()) ;
vpColVector W1(L1.getCols()) ;
vpMatrix V1(L1.getCols(), L1.getCols()) ;
L0.svdNr(W0,V0);
L1.svdGsl(W1,V1);
vpColVector diff = _W0-_W1;
double error=-1.0;
for(unsigned int i=0;i<6;i++)
error=std::max(abs(diff[i]),error);
return error<epsilon;
}
#endif
bool testSvdOpenCvGSLCoherence(double epsilon)
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) && defined (VISP_HAVE_GSL) // Require opencv >= 2.1.1
A.resize(6,6);
B.resize(6,6);
vA.resize(6,6);
vB.resize(6,6);
wA.resize(6);
wB.resize(6);
for (unsigned int i=0 ; i < A.getRows() ; i++)
for (unsigned int j=0 ; j < A.getCols() ; j++)
B[i][j] = A[i][j] = (double)rand()/(double)RAND_MAX;
A.svdOpenCV(wA,vA);
B.svdGsl(wB,vB);
bool error=false;
for (unsigned int i=0 ; i < A.getRows() ; i++){
error = error | (abs(wA[i]-wB[i])>epsilon);
}
return !error;
#else
(void)epsilon;
return true;
#endif
}
int
main()
{
try {
vpMatrix L(60000,6), Ls ;
for (unsigned int i=0 ; i < L.getRows() ; i++)
for (unsigned int j=0 ; j < L.getCols() ; j++)
L[i][j] = 2*i+j + cos((double)(i+j))+((double)(i)) ;
// std::cout << L << std::endl ;
Ls = L ;
std::cout << "--------------------------------------"<<std::endl ;
vpColVector W(L.getCols()) ;
vpMatrix V(L.getCols(), L.getCols()) ;
double t = vpTime::measureTimeMs() ;
L.svdNr(W,V) ;
std::cout <<"svdNr Numerical recipes \n time " <<t << std::endl;
std::cout << W.t() ;
std::cout << "--------------------------------------"<<std::endl ;
#ifdef VISP_HAVE_GSL
L = Ls ;
L.svdGsl(W,V) ;
std::cout <<"svdGsl_mod \n time " <<t << std::endl;
std::cout << W.t() ;
std::cout << "--------------------------------------"<<std::endl ;
std::cout << "TESTING RANDOM MATRICES:" ;
bool ret = true;
for(unsigned int i=0;i<2000;i++)
ret = ret & testRandom(0.00001);
if(ret)
std:: cout << "Success"<< std:: endl;
else
std:: cout << "Fail"<< std:: endl;
std::cout << "--------------------------------------"<<std::endl ;
#endif
std::cout << "--------------------------------------"<<std::endl ;
std::cout << "TESTING OPENCV-GSL coherence:" ;
bool ret2 = true;
for(unsigned int i=0;i<1;i++)
ret2 = ret2 & testSvdOpenCvGSLCoherence(0.00001);
if(ret2)
std:: cout << "Success"<< std:: endl;
else
std:: cout << "Fail"<< std:: endl;
std::cout << "--------------------------------------"<<std::endl ;
L = Ls ;
L.svdFlake(W,V) ;
std::cout <<"svdFlake\n time " <<t << std::endl;
std::cout << W.t() ;
return 0;
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}