/usr/include/x86_64-linux-gnu/visp3/core/vpArray2D.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* This class implements an 2D array as a template class.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef __vpArray2D_h_
#define __vpArray2D_h_
#include <iostream>
#include <ostream>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <fstream>
#include <sstream>
#include <limits>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
/*!
\class vpArray2D
\ingroup group_core_matrices
\brief Implementation of a generic 2D array used as vase class of matrices and vectors.
This class implements a 2D array as a template class and all the basic functionalities
common to matrices and vectors.
More precisely:
- concerning matrices, vpMatrix but also specific containers such as twist
(vpVelocityTwistMatrix and vpForceTwistMatrix), homogeneous (vpHomogeneousMatrix),
rotation (vpRotationMatrix) and homography (vpHomography) matrices inherit from
vpArray2D<double>.
- concerning vectors, vpColVector, vpRowVector but also specific containers describing
the pose (vpPoseVector) and the rotation (vpRotationVector) inherit also from
vpArray2D<double>.
*/
template<class Type>
class vpArray2D
{
protected:
//! Number of rows in the array
unsigned int rowNum;
//! Number of columns in the array
unsigned int colNum;
//! Address of the first element of each rows
Type **rowPtrs;
//! Current array size (rowNum * colNum)
unsigned int dsize;
public:
//! Address of the first element of the data array
Type *data;
public:
/*!
Basic constructor of a 2D array.
Number of columns and rows are set to zero.
*/
vpArray2D<Type>()
: rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
{}
/*!
Copy constructor of a 2D array.
*/
vpArray2D<Type>(const vpArray2D<Type> & A)
: rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
{
resize(A.rowNum, A.colNum);
memcpy(data, A.data, rowNum*colNum*sizeof(Type));
}
/*!
Constructor that initializes a 2D array with 0.
\param r : Array number of rows.
\param c : Array number of columns.
*/
vpArray2D<Type>(unsigned int r, unsigned int c)
: rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
{
resize(r, c);
}
/*!
Constructor that initialize a 2D array with \e val.
\param r : Array number of rows.
\param c : Array number of columns.
\param val : Each element of the array is set to \e val.
*/
vpArray2D<Type>(unsigned int r, unsigned int c, Type val)
: rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
{
resize(r, c);
*this = val;
}
/*!
Destructor that desallocate memory.
*/
virtual ~vpArray2D<Type>()
{
if (data != NULL ) {
free(data);
data=NULL;
}
if (rowPtrs!=NULL) {
free(rowPtrs);
rowPtrs=NULL ;
}
rowNum = colNum = dsize = 0;
}
/** @name Inherited functionalities from vpArray2D */
//@{
Type getMinValue() const;
Type getMaxValue() const;
//! Return the number of rows of the 2D array
inline unsigned int getRows() const { return rowNum ;}
//! Return the number of columns of the 2D array
inline unsigned int getCols() const { return colNum; }
//! Return the number of elements of the 2D array.
inline unsigned int size() const { return colNum*rowNum; }
/*!
Set the size of the array and initialize all the values to zero.
\param nrows : number of rows.
\param ncols : number of column.
\param flagNullify : if true, then the array is re-initialized to 0
after resize. If false, the initial values from the common part of the
array (common part between old and new version of the array) are kept.
Default value is true.
*/
void resize(const unsigned int nrows, const unsigned int ncols,
const bool flagNullify = true)
{
if ((nrows == rowNum) && (ncols == colNum)) {
if (flagNullify && this->data != NULL) {
memset(this->data, 0, this->dsize*sizeof(Type));
}
}
else {
const bool recopyNeeded = (ncols != this ->colNum);
Type * copyTmp = NULL;
unsigned int rowTmp = 0, colTmp=0;
// Recopy case per case is required if number of cols has changed;
// structure of Type array is not the same in this case.
if (recopyNeeded && this->data != NULL) {
copyTmp = new Type[this->dsize];
memcpy (copyTmp, this ->data, sizeof(Type)*this->dsize);
rowTmp=this->rowNum; colTmp=this->colNum;
}
// Reallocation of this->data array
this->dsize = nrows*ncols;
this->data = (Type*)realloc(this->data, this->dsize*sizeof(Type));
if ((NULL == this->data) && (0 != this->dsize)) {
if (copyTmp != NULL) delete [] copyTmp;
throw(vpException(vpException::memoryAllocationError,
"Memory allocation error when allocating 2D array data")) ;
}
this->rowPtrs = (Type**)realloc (this->rowPtrs, nrows*sizeof(Type*));
if ((NULL == this->rowPtrs) && (0 != this->dsize)) {
if (copyTmp != NULL) delete [] copyTmp;
throw(vpException(vpException::memoryAllocationError,
"Memory allocation error when allocating 2D array rowPtrs")) ;
}
// Update rowPtrs
{
Type **t_= rowPtrs;
for (unsigned int i=0; i<dsize; i+=ncols) {
*t_++ = this->data + i;
}
}
this->rowNum = nrows; this->colNum = ncols;
// Recopy of this->data array values or nullify
if (flagNullify) {
memset(this->data,0,this->dsize*sizeof(Type));
}
else if (recopyNeeded && this->rowPtrs != NULL) {
// Recopy...
const unsigned int minRow = (this->rowNum<rowTmp)?this->rowNum:rowTmp;
const unsigned int minCol = (this->colNum<colTmp)?this->colNum:colTmp;
for (unsigned int i=0; i<this->rowNum; ++i) {
for (unsigned int j=0; j<this->colNum; ++j) {
if ((minRow > i) && (minCol > j)) {
(*this)[i][j] = copyTmp [i*colTmp+j];
}
else {
(*this)[i][j] = 0;
}
}
}
}
if (copyTmp != NULL)
delete [] copyTmp;
}
}
//! Set all the elements of the array to \e x.
vpArray2D<Type> & operator=(Type x)
{
for (unsigned int i=0;i<rowNum;i++)
for(unsigned int j=0;j<colNum;j++)
rowPtrs[i][j] = x;
return *this;
}
/*!
Copy operator of a 2D array.
*/
vpArray2D<Type> & operator=(const vpArray2D<Type> & A)
{
resize(A.rowNum, A.colNum);
memcpy(data, A.data, rowNum*colNum*sizeof(Type));
return *this;
}
//! Set element \f$A_{ij} = x\f$ using A[i][j] = x
inline Type *operator[](unsigned int i) { return rowPtrs[i]; }
//! Get element \f$x = A_{ij}\f$ using x = A[i][j]
inline Type *operator[](unsigned int i) const {return rowPtrs[i];}
/*!
\relates vpArray2D
Writes the given array to the output stream and returns a reference to the output stream.
*/
friend std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)
{
if (A.data == NULL)
return s;
std::ios_base::fmtflags original_flags = s.flags();
s.precision(10) ;
for (unsigned int i=0;i<A.getRows();i++) {
for (unsigned int j=0;j<A.getCols() -1;j++){
s << A[i][j] << " ";
}
// We don't add " " after the last row element
s << A[i][A.getCols() -1];
// We don't add a \n char on the end of the last array line
if (i < A.getRows()-1)
s << std::endl;
}
s.flags(original_flags); // restore s to standard state
return s;
}
//@}
//---------------------------------
// Inherited array I/O Static Public Member Functions
//---------------------------------
/** @name Inherited I/O from vpArray2D with Static Public Member Functions */
//@{
/*!
Load a matrix from a file.
\param filename : Absolute file name.
\param A : Array to be loaded
\param binary : If true the matrix is loaded from a binary file, else from a text file.
\param header : Header of the file is loaded in this parameter.
\return Returns true if success.
\sa save()
*/
static bool load(const std::string &filename, vpArray2D<Type> &A,
const bool binary = false, char *header = NULL)
{
std::fstream file;
if (!binary)
file.open(filename.c_str(), std::fstream::in);
else
file.open(filename.c_str(), std::fstream::in|std::fstream::binary);
if(!file) {
file.close();
return false;
}
else {
if (!binary) {
char c='0';
std::string h;
while ((c != '\0') && (c != '\n')) {
file.read(&c,1);
h+=c;
}
if (header != NULL)
strncpy(header, h.c_str(), h.size() + 1);
unsigned int rows, cols;
file >> rows;
file >> cols;
if (rows > (std::numeric_limits<unsigned int>::max)()
|| cols > (std::numeric_limits<unsigned int>::max)())
throw vpException(vpException::badValue, "Array exceed the max size.");
A.resize(rows,cols);
Type value;
for(unsigned int i = 0; i < rows; i++) {
for(unsigned int j = 0; j < cols; j++) {
file >> value;
A[i][j] = value;
}
}
}
else {
char c='0';
std::string h;
while ((c != '\0') && (c != '\n')) {
file.read(&c,1);
h+=c;
}
if (header != NULL)
strncpy(header, h.c_str(), h.size() + 1);
unsigned int rows, cols;
file.read((char*)&rows,sizeof(unsigned int));
file.read((char*)&cols,sizeof(unsigned int));
A.resize(rows,cols);
Type value;
for(unsigned int i = 0; i < rows; i++) {
for(unsigned int j = 0; j < cols; j++) {
file.read((char*)&value,sizeof(Type));
A[i][j] = value;
}
}
}
}
file.close();
return true;
}
/*!
Load an array from a YAML-formatted file.
\param filename : absolute file name.
\param A : array to be loaded from the file.
\param header : header of the file is loaded in this parameter.
\return Returns true on success.
\sa saveYAML()
*/
static bool loadYAML(const std::string &filename, vpArray2D<Type> &A, char *header = NULL)
{
std::fstream file;
file.open(filename.c_str(), std::fstream::in);
if(!file) {
file.close();
return false;
}
unsigned int rows = 0,cols = 0;
std::string h;
std::string line,subs;
bool inheader = true;
unsigned int i=0, j;
unsigned int lineStart = 0;
while ( getline (file,line) ) {
if(inheader) {
if(rows == 0 && line.compare(0,5,"rows:") == 0) {
std::stringstream ss(line);
ss >> subs;
ss >> rows;
}
else if (cols == 0 && line.compare(0,5,"cols:") == 0) {
std::stringstream ss(line);
ss >> subs;
ss >> cols;
}
else if (line.compare(0,5,"data:") == 0)
inheader = false;
else
h += line + "\n";
}
else {
// if i == 0, we just got out of the header: initialize matrix dimensions
if(i == 0) {
if(rows == 0 || cols == 0) {
file.close();
return false;
}
A.resize(rows, cols);
// get indentation level which is common to all lines
lineStart = (unsigned int)line.find("[") + 1;
}
std::stringstream ss(line.substr(lineStart, line.find("]") - lineStart));
j = 0;
while(getline(ss, subs, ','))
A[i][j++] = atof(subs.c_str());
i++;
}
}
if (header != NULL)
strncpy(header, h.substr(0,h.length()-1).c_str(), h.size());
file.close();
return true;
}
/*!
Save a matrix to a file.
\param filename : Absolute file name.
\param A : Array to be saved.
\param binary : If true the matrix is saved in a binary file, else a text file.
\param header : Optional line that will be saved at the beginning of the file.
\return Returns true if success.
Warning : If you save the matrix as in a text file the precision is
less than if you save it in a binary file.
\sa load()
*/
static bool save(const std::string &filename, const vpArray2D<Type> &A,
const bool binary = false, const char *header = "")
{
std::fstream file;
if (!binary)
file.open(filename.c_str(), std::fstream::out);
else
file.open(filename.c_str(), std::fstream::out|std::fstream::binary);
if(!file) {
file.close();
return false;
}
else {
if (!binary) {
unsigned int i = 0;
file << "# ";
while (header[i] != '\0') {
file << header[i];
if (header[i] == '\n')
file << "# ";
i++;
}
file << '\0';
file << std::endl;
file << A.getRows() << "\t" << A.getCols() << std::endl;
file << A << std::endl;
}
else {
int headerSize = 0;
while (header[headerSize] != '\0') headerSize++;
file.write(header,headerSize+1);
unsigned int matrixSize;
matrixSize = A.getRows();
file.write((char*)&matrixSize,sizeof(int));
matrixSize = A.getCols();
file.write((char*)&matrixSize,sizeof(int));
Type value;
for(unsigned int i = 0; i < A.getRows(); i++) {
for(unsigned int j = 0; j < A.getCols(); j++) {
value = A[i][j];
file.write((char*)&value,sizeof(Type));
}
}
}
}
file.close();
return true;
}
/*!
Save an array in a YAML-formatted file.
\param filename : absolute file name.
\param A : array to be saved in the file.
\param header : optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
\return Returns true if success.
Here is an example of outputs.
\code
vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted header\n - with inner indentation");
\endcode
Content of matrix.yml:
\code
example: a YAML-formatted header
rows: 3
cols: 4
data:
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
\endcode
Content of matrixIndent.yml:
\code
example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
data:
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
\endcode
\sa loadYAML()
*/
static bool saveYAML(const std::string &filename, const vpArray2D<Type> &A, const char *header = "")
{
std::fstream file;
file.open(filename.c_str(), std::fstream::out);
if(!file) {
file.close();
return false;
}
unsigned int i = 0;
bool inIndent = false;
std::string indent = "";
bool checkIndent = true;
while (header[i] != '\0') {
file << header[i];
if(checkIndent) {
if (inIndent) {
if(header[i] == ' ')
indent += " ";
else if (indent.length() > 0)
checkIndent = false;
}
if (header[i] == '\n' || (inIndent && header[i] == ' '))
inIndent = true;
else
inIndent = false;
}
i++;
}
if(i != 0)
file << std::endl;
file << "rows: " << A.getRows() << std::endl;
file << "cols: " << A.getCols() << std::endl;
if(indent.length() == 0)
indent = " ";
file << "data: " << std::endl;
unsigned int j;
for(i=0;i<A.getRows();++i)
{
file << indent << "- [";
for(j=0;j<A.getCols()-1;++j)
file << A[i][j] << ", ";
file << A[i][j] << "]" << std::endl;
}
file.close();
return true;
}
//@}
};
/*!
Return the array min value.
*/
template<class Type>
Type
vpArray2D<Type>::getMinValue() const
{
Type *dataptr = data;
Type min = *dataptr;
dataptr++;
for (unsigned int i = 0; i < dsize-1; i++)
{
if (*dataptr < min) min = *dataptr;
dataptr++;
}
return min;
}
/*!
Return the array max value.
*/
template<class Type>
Type
vpArray2D<Type>::getMaxValue() const
{
Type *dataptr = data;
Type max = *dataptr;
dataptr++;
for (unsigned int i = 0; i < dsize-1; i++)
{
if (*dataptr > max) max = *dataptr;
dataptr++;
}
return max;
}
#endif
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