Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
testMatrixConvolution.cpp

Test matrix convolution.

/****************************************************************************
*
* 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 as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* 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 matrix convolution.
*
*****************************************************************************/
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpTime.h>
namespace {
bool compareMatrix(const vpMatrix &m, const double * const array) {
for (unsigned int i = 0; i < m.getRows(); i++) {
for (unsigned int j = 0; j < m.getCols(); j++) {
if (!vpMath::equal(m[i][j], array[i*m.getCols()+j], std::numeric_limits<double>::epsilon()))
return false;
}
}
return true;
}
}
int main()
{
try {
{
vpMatrix A(4,4);
A[0][0] = 16; A[0][1] = 2; A[0][2] = 3; A[0][3] = 13;
A[1][0] = 5; A[1][1] = 11; A[1][2] = 10; A[1][3] = 8;
A[2][0] = 9; A[2][1] = 7; A[2][2] = 6; A[2][3] = 12;
A[3][0] = 4; A[3][1] = 14; A[3][2] = 15; A[3][3] = 1;
vpMatrix B(2,2);
B[0][0] = 1; B[0][1] = 3;
B[1][0] = 4; B[1][1] = 2;
{
vpMatrix res = vpMatrix::conv2(A, B, "full");
double ground_truth[5*5] = {16, 50, 9, 22, 39,
69, 66, 59, 96, 50,
29, 88, 89, 82, 52,
40, 72, 95, 106, 27,
16, 64, 88, 34, 2};
std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
if (res.getRows() != 5 || res.getCols() != 5 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "same");
double ground_truth[4*4] = { 66, 59, 96, 50,
88, 89, 82, 52,
72, 95, 106, 27,
64, 88, 34, 2};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
if (res.getRows() != 4 || res.getCols() != 4 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "valid");
double ground_truth[3*3] = { 66, 59, 96,
88, 89, 82,
72, 95, 106};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
if (res.getRows() != 3 || res.getCols() != 3 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
}
{
vpMatrix A(2,6);
for (unsigned int i = 0; i < A.getRows(); i++)
for (unsigned int j = 0; j < A.getCols(); j++)
A[i][j] = i*A.getCols()+j;
vpMatrix B(4,2);
for (unsigned int i = 0; i < B.getRows(); i++)
for (unsigned int j = 0; j < B.getCols(); j++)
B[i][j] = i*B.getCols()+j;
{
vpMatrix res = vpMatrix::conv2(A, B, "full");
double ground_truth[5*7] = { 0, 0, 1, 2, 3, 4, 5,
0, 8, 14, 20, 26, 32, 26,
12, 36, 50, 64, 78, 92, 58,
24, 64, 86, 108, 130, 152, 90,
36, 84, 97, 110, 123, 136, 77};
std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
if (res.getRows() != 5 || res.getCols() != 7 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "same");
double ground_truth[2*6] = { 36, 50, 64, 78, 92, 58,
64, 86, 108, 130, 152, 90};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
if (res.getRows() != 2 || res.getCols() != 6 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "valid");
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
if (res.getRows() != 0 || res.getCols() != 0) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(B, A, "full");
double ground_truth[5*7] = { 0, 0, 1, 2, 3, 4, 5,
0, 8, 14, 20, 26, 32, 26,
12, 36, 50, 64, 78, 92, 58,
24, 64, 86, 108, 130, 152, 90,
36, 84, 97, 110, 123, 136, 77};
std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, full):\n" << res << std::endl;
if (res.getRows() != 5 || res.getCols() != 7 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(B, A, "same");
double ground_truth[4*2] = { 20, 26,
64, 78,
108, 130,
110, 123};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, same):\n" << res << std::endl;
if (res.getRows() != 4 || res.getCols() != 2 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(B, A, "valid");
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, valid):\n" << res << std::endl;
if (res.getRows() != 0 || res.getCols() != 0) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
}
{
vpMatrix A(4,4);
A[0][0] = 16; A[0][1] = 2; A[0][2] = 3; A[0][3] = 13;
A[1][0] = 5; A[1][1] = 11; A[1][2] = 10; A[1][3] = 8;
A[2][0] = 9; A[2][1] = 7; A[2][2] = 6; A[2][3] = 12;
A[3][0] = 4; A[3][1] = 14; A[3][2] = 15; A[3][3] = 1;
vpMatrix B(3,3);
B[0][0] = 8; B[0][1] = 1; B[0][2] = 6;
B[1][0] = 3; B[1][1] = 5; B[1][2] = 7;
B[2][0] = 4; B[2][1] = 9; B[2][2] = 2;
{
vpMatrix res = vpMatrix::conv2(A, B, "full");
double ground_truth[6*6] = { 128, 32, 122, 119, 31, 78,
88, 179, 252, 208, 154, 139,
151, 275, 291, 378, 281, 154,
79, 271, 423, 366, 285, 106,
48, 171, 248, 292, 230, 31,
16, 92, 194, 167, 39, 2};
std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
if (res.getRows() != 6 || res.getCols() != 6 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "same");
double ground_truth[4*4] = { 179, 252, 208, 154,
275, 291, 378, 281,
271, 423, 366, 285,
171, 248, 292, 230};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
if (res.getRows() != 4 || res.getCols() != 4 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
{
vpMatrix res = vpMatrix::conv2(A, B, "valid");
double ground_truth[2*2] = { 291, 378,
423, 366};
std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
if (res.getRows() != 2 || res.getCols() != 2 || !compareMatrix(res, ground_truth)) {
throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
}
}
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
}