Visual Servoing Platform  version 3.2.0 under development (2018-08-16)
testRobust.cpp

Test some vpMath functionalities.

/****************************************************************************
*
* 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 some vpMath functionalities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <fstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpRobust.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdho:"
void usage(const char *name, const char *badparam, std::string ofilename);
bool getOptions(int argc, const char **argv, std::string &ofilename);
void usage(const char *name, const char *badparam, std::string ofilename)
{
fprintf(stdout, "\n\
Test some vpMath functionalities. Compute weights and print\n\
them in an output file.\n\
\n\
Using gnuplot the content of the output file can be printed by:\n\
set style data line\n\
set ylabel \"weight\"\n\
set yr [0:1.19]\n\
set xlabel \"Normalized residuals\"\n\
plot '%s' title \"Tukey Estimator\" lw 2, 1 title \"Least-Squares\" lw 2\n\
\n\
\n\
SYNOPSIS\n\
%s [-o <output filename>] [-h]\n", ofilename.c_str(), name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-o <output filename> %s\n\
Name and path of the file containing computed \n\
weights.\n\
\n\
-h\n\
Print the help.\n", ofilename.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ofilename)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'o':
ofilename = optarg_;
break;
case 'h':
usage(argv[0], NULL, ofilename);
return false;
break;
case 'c':
case 'd':
break;
default:
usage(argv[0], optarg_, ofilename);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ofilename);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string ofilename;
std::string username;
// Set the default output filename
#if defined(_WIN32)
ofilename = "C:/temp";
#else
ofilename = "/tmp";
#endif
// Get the user login name
// Append to the output filename string, the login name of the user
ofilename = ofilename + "/" + username;
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(ofilename) == false) {
try {
// Create the dirname
} catch (...) {
usage(argv[0], NULL, ofilename);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << ofilename << std::endl;
std::cerr << " Check your -o " << ofilename << " option " << std::endl;
exit(-1);
}
}
// Append to the output filename string, the name of the file
ofilename = ofilename + "/w.dat";
// Read the command line options
if (getOptions(argc, argv, ofilename) == false) {
exit(-1);
}
double sig = 1;
double w;
std::ofstream f;
std::cout << "Create file: " << ofilename << std::endl;
f.open(ofilename.c_str());
if (f.fail()) {
usage(argv[0], NULL, ofilename);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create the file: " << ofilename << std::endl;
std::cerr << " Check your -o " << ofilename << " option " << std::endl;
exit(-1);
}
double x = -10;
while (x < 10) {
if (fabs(x / sig) <= (4.6851)) {
w = vpMath::sqr(1 - vpMath::sqr(x / (sig * 4.6851)));
} else {
w = 0;
}
f << x << " " << w << std::endl;
x += 0.01;
}
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}