Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testMatrixConvolution.cpp
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31  * Description:
32  * Test matrix convolution.
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34 *****************************************************************************/
35 
41 #include <visp3/core/vpMatrix.h>
42 #include <visp3/core/vpTime.h>
43 
44 namespace
45 {
46 bool compareMatrix(const vpMatrix &m, const double *const array)
47 {
48  for (unsigned int i = 0; i < m.getRows(); i++) {
49  for (unsigned int j = 0; j < m.getCols(); j++) {
50  if (!vpMath::equal(m[i][j], array[i * m.getCols() + j], std::numeric_limits<double>::epsilon()))
51  return false;
52  }
53  }
54 
55  return true;
56 }
57 } // namespace
58 
59 int main()
60 {
61  try {
62  {
63  vpMatrix A(4, 4);
64  A[0][0] = 16;
65  A[0][1] = 2;
66  A[0][2] = 3;
67  A[0][3] = 13;
68  A[1][0] = 5;
69  A[1][1] = 11;
70  A[1][2] = 10;
71  A[1][3] = 8;
72  A[2][0] = 9;
73  A[2][1] = 7;
74  A[2][2] = 6;
75  A[2][3] = 12;
76  A[3][0] = 4;
77  A[3][1] = 14;
78  A[3][2] = 15;
79  A[3][3] = 1;
80 
81  vpMatrix B(2, 2);
82  B[0][0] = 1;
83  B[0][1] = 3;
84  B[1][0] = 4;
85  B[1][1] = 2;
86 
87  {
88  vpMatrix res = vpMatrix::conv2(A, B, "full");
89  double ground_truth[5 * 5] = {16, 50, 9, 22, 39, 69, 66, 59, 96, 50, 29, 88, 89,
90  82, 52, 40, 72, 95, 106, 27, 16, 64, 88, 34, 2};
91 
92  std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
93 
94  if (res.getRows() != 5 || res.getCols() != 5 || !compareMatrix(res, ground_truth)) {
95  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
96  }
97  }
98  {
99  vpMatrix res = vpMatrix::conv2(A, B, "same");
100  double ground_truth[4 * 4] = {66, 59, 96, 50, 88, 89, 82, 52, 72, 95, 106, 27, 64, 88, 34, 2};
101 
102  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
103 
104  if (res.getRows() != 4 || res.getCols() != 4 || !compareMatrix(res, ground_truth)) {
105  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
106  }
107  }
108  {
109  vpMatrix res = vpMatrix::conv2(A, B, "valid");
110  double ground_truth[3 * 3] = {66, 59, 96, 88, 89, 82, 72, 95, 106};
111 
112  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
113 
114  if (res.getRows() != 3 || res.getCols() != 3 || !compareMatrix(res, ground_truth)) {
115  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
116  }
117  }
118  }
119 
120  {
121  vpMatrix A(2, 6);
122  for (unsigned int i = 0; i < A.getRows(); i++)
123  for (unsigned int j = 0; j < A.getCols(); j++)
124  A[i][j] = i * A.getCols() + j;
125 
126  vpMatrix B(4, 2);
127  for (unsigned int i = 0; i < B.getRows(); i++)
128  for (unsigned int j = 0; j < B.getCols(); j++)
129  B[i][j] = i * B.getCols() + j;
130 
131  {
132  vpMatrix res = vpMatrix::conv2(A, B, "full");
133  double ground_truth[5 * 7] = {0, 0, 1, 2, 3, 4, 5, 0, 8, 14, 20, 26, 32, 26, 12, 36, 50, 64,
134  78, 92, 58, 24, 64, 86, 108, 130, 152, 90, 36, 84, 97, 110, 123, 136, 77};
135 
136  std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
137 
138  if (res.getRows() != 5 || res.getCols() != 7 || !compareMatrix(res, ground_truth)) {
139  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
140  }
141  }
142  {
143  vpMatrix res = vpMatrix::conv2(A, B, "same");
144  double ground_truth[2 * 6] = {36, 50, 64, 78, 92, 58, 64, 86, 108, 130, 152, 90};
145 
146  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
147 
148  if (res.getRows() != 2 || res.getCols() != 6 || !compareMatrix(res, ground_truth)) {
149  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
150  }
151  }
152  {
153  vpMatrix res = vpMatrix::conv2(A, B, "valid");
154 
155  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
156 
157  if (res.getRows() != 0 || res.getCols() != 0) {
158  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
159  }
160  }
161 
162  {
163  vpMatrix res = vpMatrix::conv2(B, A, "full");
164  double ground_truth[5 * 7] = {0, 0, 1, 2, 3, 4, 5, 0, 8, 14, 20, 26, 32, 26, 12, 36, 50, 64,
165  78, 92, 58, 24, 64, 86, 108, 130, 152, 90, 36, 84, 97, 110, 123, 136, 77};
166 
167  std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, full):\n" << res << std::endl;
168 
169  if (res.getRows() != 5 || res.getCols() != 7 || !compareMatrix(res, ground_truth)) {
170  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
171  }
172  }
173  {
174  vpMatrix res = vpMatrix::conv2(B, A, "same");
175  double ground_truth[4 * 2] = {20, 26, 64, 78, 108, 130, 110, 123};
176 
177  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, same):\n" << res << std::endl;
178 
179  if (res.getRows() != 4 || res.getCols() != 2 || !compareMatrix(res, ground_truth)) {
180  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
181  }
182  }
183  {
184  vpMatrix res = vpMatrix::conv2(B, A, "valid");
185 
186  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(B, A, valid):\n" << res << std::endl;
187 
188  if (res.getRows() != 0 || res.getCols() != 0) {
189  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
190  }
191  }
192  }
193 
194  {
195  vpMatrix A(4, 4);
196  A[0][0] = 16;
197  A[0][1] = 2;
198  A[0][2] = 3;
199  A[0][3] = 13;
200  A[1][0] = 5;
201  A[1][1] = 11;
202  A[1][2] = 10;
203  A[1][3] = 8;
204  A[2][0] = 9;
205  A[2][1] = 7;
206  A[2][2] = 6;
207  A[2][3] = 12;
208  A[3][0] = 4;
209  A[3][1] = 14;
210  A[3][2] = 15;
211  A[3][3] = 1;
212 
213  vpMatrix B(3, 3);
214  B[0][0] = 8;
215  B[0][1] = 1;
216  B[0][2] = 6;
217  B[1][0] = 3;
218  B[1][1] = 5;
219  B[1][2] = 7;
220  B[2][0] = 4;
221  B[2][1] = 9;
222  B[2][2] = 2;
223 
224  {
225  vpMatrix res = vpMatrix::conv2(A, B, "full");
226  double ground_truth[6 * 6] = {128, 32, 122, 119, 31, 78, 88, 179, 252, 208, 154, 139,
227  151, 275, 291, 378, 281, 154, 79, 271, 423, 366, 285, 106,
228  48, 171, 248, 292, 230, 31, 16, 92, 194, 167, 39, 2};
229 
230  std::cout << "A:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, full):\n" << res << std::endl;
231 
232  if (res.getRows() != 6 || res.getCols() != 6 || !compareMatrix(res, ground_truth)) {
233  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
234  }
235  }
236  {
237  vpMatrix res = vpMatrix::conv2(A, B, "same");
238  double ground_truth[4 * 4] = {179, 252, 208, 154, 275, 291, 378, 281, 271, 423, 366, 285, 171, 248, 292, 230};
239 
240  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, same):\n" << res << std::endl;
241 
242  if (res.getRows() != 4 || res.getCols() != 4 || !compareMatrix(res, ground_truth)) {
243  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
244  }
245  }
246  {
247  vpMatrix res = vpMatrix::conv2(A, B, "valid");
248  double ground_truth[2 * 2] = {291, 378, 423, 366};
249 
250  std::cout << "\nA:\n" << A << "\nB:\n" << B << "\nvpMatrix::conv2(A, B, valid):\n" << res << std::endl;
251 
252  if (res.getRows() != 2 || res.getCols() != 2 || !compareMatrix(res, ground_truth)) {
253  throw vpException(vpException::badValue, "Issue with vpMatrix::conv2()");
254  }
255  }
256  }
257  } catch (const vpException &e) {
258  std::cout << "Catch an exception: " << e.what() << std::endl;
259  return EXIT_FAILURE;
260  }
261 }
unsigned int getCols() const
Definition: vpArray2D.h:274
static vpArray2D< double > conv2(const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)
Definition: vpArray2D.h:1066
unsigned int getRows() const
Definition: vpArray2D.h:284
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ badValue
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:85
const char * what() const
Definition: vpException.cpp:70
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