testMatrix.cpp

/****************************************************************************
 *
 * 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 some vpMatrix functionalities.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/core/vpGEMM.h>

#include <stdlib.h>
#include <stdio.h>

bool test(const std::string &s, const vpMatrix &M, const std::vector<double> &bench)
{
  static unsigned int cpt = 0;
  std::cout << "** Test " << ++cpt << std::endl;
  std::cout << s << "(" << M.getRows() << "," << M.getCols() << ") = \n" << M << std::endl;
  if(bench.size() != M.size()) {
    std::cout << "Test fails: bad size wrt bench" << std::endl;
    return false;
  }
  for (unsigned int i=0; i<M.size(); i++) {
    if (std::fabs(M.data[i]-bench[i]) > std::fabs(M.data[i])*std::numeric_limits<double>::epsilon()) {
      std::cout << "Test fails: bad content" << std::endl;
      return false;
    }
  }

  return true;
}

int
main()
{
  try {
    int err = 1;
    {
      vpColVector c(6, 1);
      vpRowVector r(6, 1);
      std::vector<double> bench(6, 1);
      vpMatrix M1(c);
      if (test("M1", M1, bench) == false)
        return err;
      vpMatrix M2(r);
      if (test("M2", M2, bench) == false)
        return err;
    }
    {
      vpMatrix M(4,5);
      int val = 0;
      for(unsigned int i=0; i<M.getRows(); i++) {
        for(unsigned int j=0; j<M.getCols(); j++) {
          M[i][j] = val++;
        }
      }
      std::cout <<"M ";
      M.print (std::cout, 4);

      vpMatrix N;
      N.init(M, 0, 1, 2, 3);
      std::cout <<"N ";
      N.print (std::cout, 4);
      std::string header("My 4-by-5 matrix\nwith a second line");

      // Save matrix in text format
      if (vpMatrix::saveMatrix("matrix.mat", M, false, header.c_str()))
        std::cout << "Matrix saved in matrix.mat file" << std::endl;
      else
        return err;

      // Load matrix in text format
      vpMatrix M1;
      char header_[100];
      if (vpMatrix::loadMatrix("matrix.mat", M1, false, header_))
        std::cout << "Matrix loaded from matrix.mat file with header \"" << header_ << "\": \n" << M1 << std::endl;
      else
        return err;
      if (header != std::string(header_)) {
        std::cout << "Bad header in matrix.mat" << std::endl;
        return err;
      }

      // Save matrix in binary format
      if (vpMatrix::saveMatrix("matrix.bin", M, true, header.c_str()))
        std::cout << "Matrix saved in matrix.bin file" << std::endl;
      else
        return err;

      // Load matrix in binary format
      if (vpMatrix::loadMatrix("matrix.bin", M1, true, header_))
        std::cout << "Matrix loaded from matrix.bin file with header \"" << header_ << "\": \n" << M1 << std::endl;
      else
        return err;
      if (header != std::string(header_)) {
        std::cout << "Bad header in matrix.bin" << std::endl;
        return err;
      }

      // Save matrix in YAML format
      if (vpMatrix::saveMatrixYAML("matrix.yml", M, header.c_str()))
        std::cout << "Matrix saved in matrix.yml file" << std::endl;
      else
        return err;

      // Read matrix in YAML format
      vpMatrix M2;
      if (vpMatrix::loadMatrixYAML("matrix.yml", M2, header_))
        std::cout << "Matrix loaded from matrix.yml file with header \"" << header_ << "\": \n" << M2 << std::endl;
      else
        return err;
      if (header != std::string(header_)) {
        std::cout << "Bad header in matrix.mat" << std::endl;
        return err;
      }
    }

    {
      vpRotationMatrix R(vpMath::rad(10), vpMath::rad(20), vpMath::rad(30));
      std::cout << "R: \n" << R << std::endl;
      vpMatrix M1(R);
      std::cout << "M1: \n" << M1 << std::endl;
      vpMatrix M2(M1);
      std::cout << "M2: \n" << M2 << std::endl;
      vpMatrix M3 = R;
      std::cout << "M3: \n" << M3 << std::endl;
      vpMatrix M4 = M1;
      std::cout << "M4: \n" << M4 << std::endl;
    }
    {

      std::cout << "------------------------" << std::endl;
      std::cout << "--- TEST PRETTY PRINT---" << std::endl;
      std::cout << "------------------------" << std::endl;
      vpMatrix M ;
      M.eye(4);

      std::cout << "call std::cout << M;" << std::endl;
      std::cout << M << std::endl;

      std::cout << "call M.print (std::cout, 4);" << std::endl;
      M.print (std::cout, 4);

      std::cout << "------------------------" << std::endl;
      M.resize(3,3) ;
      M.eye(3);
      M[1][0]=1.235;
      M[1][1]=12.345;
      M[1][2]=.12345;
      std::cout << "call std::cout << M;" << std::endl;
      std::cout << M;
      std::cout << "call M.print (std::cout, 6);" << std::endl;
      M.print (std::cout, 6);
      std::cout << std::endl;

      std::cout << "------------------------" << std::endl;
      M[0][0]=-1.235;
      M[1][0]=-12.235;

      std::cout << "call std::cout << M;" << std::endl;
      std::cout << M << std::endl;

      std::cout << "call M.print (std::cout, 10);" << std::endl;
      M.print (std::cout, 10);
      std::cout << std::endl;

      std::cout << "call M.print (std::cout, 2);" << std::endl;
      M.print (std::cout, 2);
      std::cout << std::endl;

      std::cout << "------------------------" << std::endl;
      M.resize(3,3) ;
      M.eye(3);
      M[0][2]=-0.0000000876;
      std::cout << "call std::cout << M;" << std::endl;
      std::cout << M << std::endl;

      std::cout << "call M.print (std::cout, 4);" << std::endl;
      M.print (std::cout, 4);
      std::cout << std::endl;
      std::cout << "call M.print (std::cout, 10, \"M\");" << std::endl;
      M.print (std::cout, 10, "M");
      std::cout << std::endl;
      std::cout << "call M.print (std::cout, 20, \"M\");" << std::endl;
      M.print (std::cout, 20, "M");
      std::cout << std::endl;


      std::cout << "------------------------" << std::endl;
      std::cout << "--- TEST RESIZE --------" << std::endl;
      std::cout << "------------------------" << std::endl;
      std::cout <<  "5x5" << std::endl;
      M.resize(5,5,false);
      std::cout << M << std::endl;
      std::cout << "3x2" << std::endl;
      M.resize(3,2,false);
      std::cout << M << std::endl;
      std::cout << "2x2" << std::endl;
      M.resize(2,2,false);
      std::cout << M << std::endl;
      std::cout << "------------------------" << std::endl;

      vpVelocityTwistMatrix vMe;
      vpMatrix A(1,6),B;

      A=1.0;
      //vMe=1.0;
      B=A*vMe;

      std::cout << "------------------------" << std::endl;
      std::cout << "--- TEST vpRowVector * vpColVector" << std::endl;
      std::cout << "------------------------" << std::endl;
      vpRowVector r(3);
      r[0] = 2;
      r[1] = 3;
      r[2] = 4;

      vpColVector c(3);
      c[0] = 1;
      c[1] = 2;
      c[2] = -1;

      double rc = r * c;

      r.print(std::cout, 2, "r");
      c.print(std::cout, 2, "c");
      std::cout << "r * c = " << rc << std::endl;

      std::cout << "------------------------" << std::endl;
      std::cout << "--- TEST vpRowVector * vpMatrix" << std::endl;
      std::cout << "------------------------" << std::endl;
      M.resize(3,3) ;
      M.eye(3);

      M[1][0] = 1.5;
      M[2][0] = 2.3;

      vpRowVector rM = r * M;

      r.print(std::cout, 2, "r");
      M.print(std::cout, 10, "M");
      std::cout << "r * M = " << rM << std::endl;

      std::cout << "------------------------" << std::endl;
      std::cout << "--- TEST vpGEMM " << std::endl;
      std::cout << "------------------------" << std::endl;
      M.resize(3,3) ;
      M.eye(3);
      vpMatrix N(3, 3);
      N[0][0] = 2;
      N[1][0] = 1.2;
      N[1][2] = 0.6;
      N[2][2] = 0.25;

      vpMatrix C(3, 3);
      C.eye(3);

      vpMatrix D;

      //realise the operation D = 2 * M^T * N + 3 C
      vpGEMM(M, N, 2, C, 3, D, VP_GEMM_A_T);
      std::cout << D << std::endl;

      std::cout << "All tests succeed" << std::endl;
      return 0;
    }
  }
  catch(vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}