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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#pragma once
#include <Eigen/Core>
#include <iomanip>
#include <iostream>
#include <vector>
namespace open3d {
namespace tests {
// tab size used for formatting ref data.
static const int TAB_SIZE = 4;
// Print a Matrix<T, M, N>.
template <class T, int M, int N>
void Print(const Eigen::Matrix<T, M, N>& matrix,
const int& tabs = 1,
const char& terminator = ';') {
int precision = 0;
int width = 5;
if (std::is_floating_point<T>::value) {
precision = 6;
width = 12;
std::cout << std::fixed;
std::cout << std::setprecision(precision);
}
std::cout << std::setw(tabs * TAB_SIZE) << "{";
for (int m = 0; m < M; m++) {
std::cout << std::endl;
std::cout << std::setw((tabs + 1) * TAB_SIZE) << "";
for (int n = 0; n < N; n++) {
std::cout << std::setw(width) << matrix(m, n);
if (m != (M - 1) || n != (N - 1)) std::cout << ",";
}
}
std::cout << std::endl;
std::cout << std::setw(tabs * TAB_SIZE) << "}";
if (';' == terminator || ',' == terminator) std::cout << terminator;
if (',' != terminator) std::cout << std::endl;
}
// Print a vector of Matrix<T, M, N>.
template <class T, int M, int N>
void Print(const std::vector<Eigen::Matrix<T, M, N>>& v,
const int& tabs = 1,
const char& terminator = ';') {
std::cout << std::setw(tabs * TAB_SIZE) << "{";
std::cout << std::endl;
for (size_t i = 0; i < v.size(); i++) {
if (i == (v.size() - 1))
Print(v[i], tabs + 1, '0');
else
Print(v[i], tabs + 1, ',');
std::cout << std::endl;
}
std::cout << std::setw(tabs * TAB_SIZE) << "}";
if (';' == terminator || ',' == terminator) std::cout << terminator;
if (',' != terminator) std::cout << std::endl;
}
// Print a vector of Matrix<T, M, N> that uses the Eigen::aligned_allocator.
template <class T, int M, int N>
void Print(
const std::vector<Eigen::Matrix<T, M, N>,
Eigen::aligned_allocator<Eigen::Matrix<T, M, N>>>& v,
const int& tabs = 1,
const char& terminator = ';') {
std::cout << std::setw(tabs * TAB_SIZE) << "{";
std::cout << std::endl;
for (size_t i = 0; i < v.size(); i++) {
if (i == (v.size() - 1))
Print(v[i], tabs + 1, '0');
else
Print(v[i], tabs + 1, ',');
std::cout << std::endl;
}
std::cout << std::setw(tabs * TAB_SIZE) << "}";
if (';' == terminator || ',' == terminator) std::cout << terminator;
if (',' != terminator) std::cout << std::endl;
}
// Print an array.
template <class T>
void Print(const T* const v, const size_t& size, const int& width = 12) {
// only attempt for uint8_t, int, float, double and the like
if (!std::is_fundamental<T>::value) return;
int precision = 6;
// from 80 cols subtract indentation and array separator
size_t cols = (80 - 2 * TAB_SIZE - 1) / (width + 1);
size_t rows = (size % cols) == 0 ? (size / cols) : (size / cols) + 1;
if (std::is_floating_point<T>::value) {
precision = 6;
std::cout << std::fixed;
std::cout << std::setprecision(precision);
}
std::cout << std::setw(TAB_SIZE) << "{";
std::cout << std::endl;
for (size_t r = 0; r < rows; r++) {
std::cout << std::setw(TAB_SIZE) << "";
std::cout << std::setw(TAB_SIZE) << "";
for (size_t c = 0; c < cols; c++) {
size_t i = r * cols + c;
std::cout << std::setw(width) << v[i];
if (i < (size - 1))
std::cout << ",";
else
break;
}
std::cout << std::endl;
}
std::cout << std::setw(TAB_SIZE) << "};";
std::cout << std::endl;
}
// Print a vector.
template <class T>
void Print(const std::vector<T>& v, const int& width = 12) {
Print(&v[0], v.size(), width);
}
} // namespace tests
} // namespace open3d
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