Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testColVector.cpp
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31  * Description:
32  * Test some vpColVector functionalities.
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35 
42 #include <stdio.h>
43 #include <stdlib.h>
44 
45 #include <visp3/core/vpColVector.h>
46 #include <visp3/core/vpGaussRand.h>
47 #include <visp3/core/vpMath.h>
48 
49 namespace
50 {
51 bool test(const std::string &s, const vpColVector &v, const std::vector<double> &bench)
52 {
53  static unsigned int cpt = 0;
54  std::cout << "** Test " << ++cpt << std::endl;
55  std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v.t() << "]^T" << std::endl;
56  if (bench.size() != v.size()) {
57  std::cout << "Test fails: bad size wrt bench" << std::endl;
58  return false;
59  }
60  for (unsigned int i = 0; i < v.size(); i++) {
61  if (std::fabs(v[i] - bench[i]) > std::fabs(v[i]) * std::numeric_limits<double>::epsilon()) {
62  std::cout << "Test fails: bad content" << std::endl;
63  return false;
64  }
65  }
66 
67  return true;
68 }
69 
70 double getRandomValues(double min, double max) { return (max - min) * ((double)rand() / (double)RAND_MAX) + min; }
71 } // namespace
72 
73 int main()
74 {
75  {
76  vpColVector v1(7, 0.1), v2;
77  if (v1 == v2) {
78  std::cerr << "Issue with vpColVector comparison operator." << std::endl;
79  return EXIT_FAILURE;
80  }
81  v2 = v1;
82  if (v1 != v2) {
83  std::cerr << "Issue with vpColVector comparison operator." << std::endl;
84  return EXIT_FAILURE;
85  }
86  v2[3] = 0.2;
87  if (v1 == v2) {
88  std::cerr << "Issue with vpColVector comparison operator." << std::endl;
89  return EXIT_FAILURE;
90  }
91  }
92  {
93  vpColVector v;
94 
95  v.resize(4);
96  v = 3;
97  std::vector<double> bench1(4, 3);
98  if (test("v", v, bench1) == false)
99  return EXIT_FAILURE;
100  std::vector<double> bench2(4, 3. / 6);
101  v.normalize();
102  if (test("v", v, bench2) == false)
103  return EXIT_FAILURE;
104 
105  v.resize(5, 1, true);
106  std::vector<double> bench3(5, 0);
107  if (test("v", v, bench3) == false)
108  return EXIT_FAILURE;
109  }
110 
111  {
112  vpColVector v(4);
113  std::vector<double> bench1(4);
114  for (unsigned int i = 0; i < v.size(); i++) {
115  v[i] = (double)i;
116  bench1[i] = (double)i;
117  }
118  if (test("v", v, bench1) == false)
119  return EXIT_FAILURE;
120 
121  vpColVector w;
122  w.init(v, 0, 2);
123  std::vector<double> bench2;
124  bench2.push_back(0);
125  bench2.push_back(1);
126  if (test("w", w, bench2) == false)
127  return EXIT_FAILURE;
128 
129  std::vector<double> bench3;
130  bench3.push_back(1);
131  bench3.push_back(2);
132  bench3.push_back(3);
133 
134  vpColVector r1;
135  for (size_t i = 0; i < 4; i++)
136  r1.stack((double)i);
137 
138  vpColVector r2 = r1.extract(1, 3);
139  if (test("r2", r2, bench3) == false)
140  return EXIT_FAILURE;
141  }
142 
143  {
144  vpMatrix M(4, 1);
145  std::vector<double> bench(4);
146  for (unsigned int i = 0; i < M.getRows(); i++) {
147  M[i][0] = i;
148  bench[i] = i;
149  }
150  if (test("M", M, bench) == false)
151  return EXIT_FAILURE;
152  vpColVector v;
153  v = M;
154  if (test("v", v, bench) == false)
155  return EXIT_FAILURE;
156  vpColVector w(M);
157  if (test("w", w, bench) == false)
158  return EXIT_FAILURE;
159  vpColVector z1(bench);
160  if (test("z1", z1, bench) == false)
161  return EXIT_FAILURE;
162  vpColVector z2 = bench;
163  if (test("z2", z2, bench) == false)
164  return EXIT_FAILURE;
165  }
166 
167  {
168  vpColVector v(3);
169  v[0] = 1;
170  v[1] = 2;
171  v[2] = 3;
172  std::vector<double> bench1;
173  bench1.push_back(3);
174  bench1.push_back(6);
175  bench1.push_back(9);
176 
177  vpColVector w = v * 3;
178  // v is unchanged
179  // w is now equal to : [3 6 9]
180  if (test("w", w, bench1) == false)
181  return EXIT_FAILURE;
182 
183  vpColVector x(w);
184  if (test("x", x, bench1) == false)
185  return EXIT_FAILURE;
186 
187  std::vector<float> bench2;
188  bench2.push_back(3);
189  bench2.push_back(6);
190  bench2.push_back(9);
191  vpColVector y1(bench2);
192  if (test("y1", y1, bench1) == false)
193  return EXIT_FAILURE;
194  vpColVector y2 = bench2;
195  if (test("y2", y2, bench1) == false)
196  return EXIT_FAILURE;
197  }
198 
199  {
200  vpColVector r1(3, 1);
201  vpColVector r2 = -r1;
202  std::vector<double> bench(3, -1);
203  // v contains [-1 -1 -1]
204  if (test("r2", r2, bench) == false)
205  return EXIT_FAILURE;
206  r2.stack(-2);
207  bench.push_back(-2);
208  if (test("r2", r2, bench) == false)
209  return EXIT_FAILURE;
210  vpColVector r3 = vpColVector::stack(r1, r2);
211  std::vector<double> bench3(7, 1);
212  bench3[3] = bench3[4] = bench3[5] = -1;
213  bench3[6] = -2;
214  if (test("r3", r3, bench3) == false)
215  return EXIT_FAILURE;
216 
217  r1.stack(r2);
218  if (test("r1", r1, bench3) == false)
219  return EXIT_FAILURE;
220  }
221 
222  {
223  vpColVector r1(3, 2);
224  vpColVector r2(3, 4);
225  std::cout << "test r1: " << r1 << std::endl;
226  std::cout << "test r2: " << r2 << std::endl;
227  vpColVector r = r1 + r2;
228  std::cout << "test r1+r2: " << r1 + r2 << std::endl;
229  std::cout << "test r: " << r << std::endl;
230  std::vector<double> bench(3, 6);
231  if (test("r", r, bench) == false)
232  return EXIT_FAILURE;
233  r1 += r2;
234  if (test("r1", r1, bench) == false)
235  return EXIT_FAILURE;
236  }
237 
238  {
239  vpColVector r1(3, 2);
240  vpColVector r2(3, 4);
241  vpColVector r = r1 - r2;
242  std::vector<double> bench(3, -2);
243  if (test("r", r, bench) == false)
244  return EXIT_FAILURE;
245  r1 -= r2;
246  if (test("r1", r1, bench) == false)
247  return EXIT_FAILURE;
248  }
249 
250  {
251  vpColVector r(5, 1);
252  r.clear();
253  r.resize(5);
254  r = 5;
255  std::vector<double> bench(5, 5);
256  if (test("r", r, bench) == false)
257  return EXIT_FAILURE;
258  }
259 
260  {
261  // Test mean, median and standard deviation against Matlab with rng(0) and
262  // rand(10,1)*10
263  vpColVector r(10);
264  r[0] = 8.1472;
265  r[1] = 9.0579;
266  r[2] = 1.2699;
267  r[3] = 9.1338;
268  r[4] = 6.3236;
269  r[5] = 0.9754;
270  r[6] = 2.7850;
271  r[7] = 5.4688;
272  r[8] = 9.5751;
273  r[9] = 9.6489;
274 
275  std::cout << "** Test mean" << std::endl;
276  double res = vpColVector::mean(r);
277  if (!vpMath::equal(res, 6.2386, 0.001)) {
278  std::cout << "Test fails: bad mean " << res << std::endl;
279  return EXIT_FAILURE;
280  }
281 
282  std::cout << "** Test stdev" << std::endl;
283  res = vpColVector::stdev(r);
284  if (!vpMath::equal(res, 3.2810, 0.001)) {
285  std::cout << "Test fails: bad stdev " << res << std::endl;
286  return EXIT_FAILURE;
287  }
288 
289  std::cout << "** Test stdev(bessel)" << std::endl;
290  res = vpColVector::stdev(r, true);
291  if (!vpMath::equal(res, 3.4585, 0.001)) {
292  std::cout << "Test fails: bad stdev(bessel) " << res << std::endl;
293  return EXIT_FAILURE;
294  }
295 
296  std::cout << "** Test median" << std::endl;
297  res = vpColVector::median(r);
298  if (!vpMath::equal(res, 7.2354, 0.001)) {
299  std::cout << "Test fails: bad median " << res << std::endl;
300  return EXIT_FAILURE;
301  }
302 
303  // Test median with odd number of elements
304  std::cout << "** Test median (odd)" << std::endl;
305  r.stack(1.5761);
306  res = vpColVector::median(r);
307  if (!vpMath::equal(res, 6.3236, 0.001)) {
308  std::cout << "Test fails: bad median (odd) " << res << std::endl;
309  return EXIT_FAILURE;
310  }
311  std::cout << "r: [" << r << "]^T" << std::endl;
312  r.print(std::cout, 8, "r");
313  }
314 
315  {
316  // Test insert with big vector
317  unsigned int nb = 1000;
318  const unsigned int size = 10000;
319  std::vector<vpColVector> vec(nb);
320 
321  for (size_t i = 0; i < nb; i++) {
322  vpColVector v(size);
323  for (unsigned int j = 0; j < size; j++) {
324  v[j] = getRandomValues(-100.0, 100.0);
325  }
326  vec[i] = v;
327  }
328 
329  vpColVector v_big(nb * size);
330  double t = vpTime::measureTimeMs();
331  for (unsigned int i = 0; i < nb; i++) {
332  v_big.insert(i * size, vec[(size_t)i]);
333  }
334  t = vpTime::measureTimeMs() - t;
335  std::cout << "\nBig insert: " << t << " ms" << std::endl;
336 
337  for (unsigned int i = 0; i < nb; i++) {
338  for (unsigned int j = 0; j < size; j++) {
339  if (!vpMath::equal(v_big[i * size + j], vec[(size_t)i][j], std::numeric_limits<double>::epsilon())) {
340  std::cerr << "Problem in vpColVector insert()!" << std::endl;
341  return EXIT_FAILURE;
342  }
343  }
344  }
345 
346  // Try to insert empty vpColVector
347  vpColVector v1(2), v2, v3;
348  v1.insert(0, v2);
349  v3.insert(0, v2);
350 
351  std::cout << "Insert empty vectors:" << std::endl;
352  std::cout << "v1: " << v1.t() << std::endl;
353  std::cout << "v2: " << v2.t() << std::endl;
354  std::cout << "v3: " << v3.t() << std::endl;
355  }
356 
357  {
358  std::cout << "** Test conversion to/from std::vector" << std::endl;
359  std::vector<double> std_vector(5);
360  for (size_t i = 0; i < std_vector.size(); i++) {
361  std_vector[i] = (double)i;
362  }
363  vpColVector v(std_vector);
364  if (test("v", v, std_vector) == false)
365  return EXIT_FAILURE;
366 
367  std_vector.clear();
368  std_vector = v.toStdVector();
369  if (test("v", v, std_vector) == false)
370  return EXIT_FAILURE;
371  }
372 
373  {
374  std::cout << "** Test operator == and operator !=" << std::endl;
375  vpColVector v(3, 1.);
376  double val = 1.;
377  std::cout << "v: " << v.t() << " != " << val << std::endl;
378  if (v != val)
379  return EXIT_FAILURE;
380  val = 0.;
381  std::cout << "v: " << v.t() << " == " << val << std::endl;
382  if (v == val)
383  return EXIT_FAILURE;
384  v[1] = val;
385  std::cout << "v: " << v.t() << " == " << val << std::endl;
386  if (v == val)
387  return EXIT_FAILURE;
388  }
389  std::cout << "\nAll tests succeed" << std::endl;
390  return EXIT_SUCCESS;
391 }
unsigned int getCols() const
Definition: vpArray2D.h:274
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:286
unsigned int getRows() const
Definition: vpArray2D.h:284
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
vpColVector extract(unsigned int r, unsigned int colsize) const
Definition: vpColVector.h:367
vpColVector & normalize()
static double median(const vpColVector &v)
int print(std::ostream &s, unsigned int length, char const *intro=0) const
void init(const vpColVector &v, unsigned int r, unsigned int nrows)
void stack(double d)
std::vector< double > toStdVector() const
static double mean(const vpColVector &v)
vpRowVector t() const
void clear()
Definition: vpColVector.h:262
static double stdev(const vpColVector &v, bool useBesselCorrection=false)
void insert(unsigned int i, const vpColVector &v)
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:1056
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:449
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
VISP_EXPORT double measureTimeMs()