104 lines
3.0 KiB
C++
104 lines
3.0 KiB
C++
/*
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* tensorInterface.h
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* @brief Interfacing tensors template library and gtsam
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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*/
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#pragma once
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#include "tensors.h"
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#include "Matrix.h"
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namespace gtsam {
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/** Reshape rank 2 tensor into Matrix */
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template<class A, class I, class J>
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Matrix reshape(const tensors::Tensor2Expression<A, I, J>& T, int m, int n) {
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if (m * n != I::dim * J::dim) throw std::invalid_argument(
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"reshape: incompatible dimensions");
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Matrix M(m, n);
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size_t t = 0;
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for (int j = 0; j < J::dim; j++)
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for (int i = 0; i < I::dim; i++)
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M.data()[t++] = T(i, j);
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return M;
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}
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/** Reshape 3*3 rank 2 tensor into Vector : TODO 9 ???*/
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template<class A, class I, class J>
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Vector toVector(const tensors::Tensor2Expression<A, I, J>& T) {
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Vector v(I::dim * J::dim);
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size_t t = 0;
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for (int j = 0; j < J::dim; j++)
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for (int i = 0; i < I::dim; i++)
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v(t++) = T(i, j);
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return v;
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}
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/** Reshape Vector into rank 2 tensor */
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template<int N1, int N2>
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tensors::Tensor2<N1, N2> reshape2(const Vector& v) {
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if (v.size() != N1 * N2) throw std::invalid_argument(
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"reshape2: incompatible dimensions");
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double data[N1][N2];
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int t = 0;
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for (int j = 0; j < N2; j++)
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for (int i = 0; i < N1; i++)
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data[j][i] = v(t++);
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return tensors::Tensor2<N1, N2>(data);
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}
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/** Reshape rank 3 tensor into Matrix */
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template<class A, class I, class J, class K>
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Matrix reshape(const tensors::Tensor3Expression<A, I, J, K>& T, int m, int n) {
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if (m * n != I::dim * J::dim * K::dim) throw std::invalid_argument(
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"reshape: incompatible dimensions");
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Matrix M(m, n);
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int t = 0;
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for (int k = 0; k < K::dim; k++)
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for (int j = 0; j < J::dim; j++)
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for (int i = 0; i < I::dim; i++)
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M.data()[t++] = T(i, j, k);
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return M;
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}
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/** Reshape Vector into rank 3 tensor */
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template<int N1, int N2, int N3>
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tensors::Tensor3<N1, N2, N3> reshape3(const Vector& v) {
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if (v.size() != N1 * N2 * N3) throw std::invalid_argument(
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"reshape3: incompatible dimensions");
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double data[N1][N2][N3];
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int t = 0;
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for (int k = 0; k < N3; k++)
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for (int j = 0; j < N2; j++)
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for (int i = 0; i < N1; i++)
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data[k][j][i] = v(t++);
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return tensors::Tensor3<N1, N2, N3>(data);
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}
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/** Reshape rank 5 tensor into Matrix */
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template<class A, class I, class J, class K, class L, class M>
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Matrix reshape(const tensors::Tensor5Expression<A, I, J, K, L, M>& T, int m,
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int n) {
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if (m * n != I::dim * J::dim * K::dim * L::dim * M::dim) throw std::invalid_argument(
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"reshape: incompatible dimensions");
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Matrix R(m, n);
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int t = 0;
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for (int m = 0; m < M::dim; m++)
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for (int l = 0; l < L::dim; l++)
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for (int k = 0; k < K::dim; k++)
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for (int j = 0; j < J::dim; j++)
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for (int i = 0; i < I::dim; i++)
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R.data()[t++] = T(i, j, k, l, m);
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return R;
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}
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/**
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* Find Vector v that minimizes algebraic error A*v
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* Returns rank of A, minimum error, and corresponding eigenvector
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*/
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boost::tuple<int,double,Vector> DLT(const Matrix& A);
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} // namespace gtsam
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