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more debug code (turns out wrap works quite well)

release/4.3a0
Frank Dellaert 2012-01-20 22:28:29 +00:00
parent bcb1a578d8
commit 1dc669d463
1 changed files with 11 additions and 1 deletions
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12
wrap/matlab.h
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@ -151,11 +151,15 @@ mxArray* wrap<const gtsam::Vector >(const gtsam::Vector& v) {
// wrap a const Eigen MATRIX into a double matrix // wrap a const Eigen MATRIX into a double matrix
mxArray* wrap_Matrix(const gtsam::Matrix& A) { mxArray* wrap_Matrix(const gtsam::Matrix& A) {
int m = A.rows(), n = A.cols(); int m = A.rows(), n = A.cols();
#ifdef DEBUG_WRAP
mexPrintf("wrap_Matrix called with A = \n", m,n);
gtsam::print(A);
#endif
mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL); mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL);
double *data = mxGetPr(result); double *data = mxGetPr(result);
// converts from column-major to row-major // converts from column-major to row-major
for (int j=0;j<n;j++) for (int i=0;i<m;i++,data++) *data = A(i,j); for (int j=0;j<n;j++) for (int i=0;i<m;i++,data++) *data = A(i,j);
return result; return result;
} }
// specialization to Eigen MATRIX -> double matrix // specialization to Eigen MATRIX -> double matrix
@ -243,10 +247,16 @@ template<>
gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) {
if (mxIsDouble(array)==false) error("unwrap<matrix>: not a matrix"); if (mxIsDouble(array)==false) error("unwrap<matrix>: not a matrix");
int m = mxGetM(array), n = mxGetN(array); int m = mxGetM(array), n = mxGetN(array);
#ifdef DEBUG_WRAP
mexPrintf("unwrap< gtsam::Matrix > called with %dx%d argument\n", m,n);
#endif
double* data = (double*)mxGetData(array); double* data = (double*)mxGetData(array);
gtsam::Matrix A(m,n); gtsam::Matrix A(m,n);
// converts from row-major to column-major // converts from row-major to column-major
for (int j=0;j<n;j++) for (int i=0;i<m;i++,data++) A(i,j) = *data; for (int j=0;j<n;j++) for (int i=0;i<m;i++,data++) A(i,j) = *data;
#ifdef DEBUG_WRAP
gtsam::print(A);
#endif
return A; return A;
} }