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 _W0 = vpColVector::sort(W0);
  vpColVector _W1 = vpColVector::sort(W1);

  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
  vpMatrix A;
  vpMatrix vA;
  vpColVector wA;
  vpMatrix B;
  vpMatrix vB;
  vpColVector wB;
  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) ;
    t = vpTime::measureTimeMs() -t ;

    std::cout <<"svdNr Numerical recipes \n time " <<t << std::endl;
    std::cout << W.t() ;
    std::cout << "--------------------------------------"<<std::endl ;


#ifdef VISP_HAVE_GSL
    L = Ls ;
    t = vpTime::measureTimeMs() ;
    L.svdGsl(W,V) ;
    t = vpTime::measureTimeMs() -t ;
    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 ;
    t = vpTime::measureTimeMs() ;
    L.svdFlake(W,V) ;
    t = vpTime::measureTimeMs() -t ;
    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;
  }
}