vpArray2D< Type > Class Template Reference

#include <vpArray2D.h>

Public Member Functions
	vpArray2D ()
	vpArray2D (const vpArray2D< Type > &A)
	vpArray2D (unsigned int r, unsigned int c)
	vpArray2D (unsigned int r, unsigned int c, Type val)
	vpArray2D (vpArray2D< Type > &&A) noexcept
	vpArray2D (const std::initializer_list< Type > &list)
	vpArray2D (unsigned int nrows, unsigned int ncols, const std::initializer_list< Type > &list)
	vpArray2D (const std::initializer_list< std::initializer_list< Type > > &lists)
virtual	~vpArray2D ()

Public Attributes
Type *	data

Protected Attributes
unsigned int	rowNum
unsigned int	colNum
Type **	rowPtrs
unsigned int	dsize

Related Symbols
(Note that these are not member symbols.)
enum	vpGEMMmethod
template<>
bool	operator== (const vpArray2D< double > &A) const
template<>
bool	operator== (const vpArray2D< float > &A) const
void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Inherited functionalities from vpArray2D
std::ostream &	operator<< (std::ostream &s, const vpArray2D< Type > &A)
unsigned int	getCols () const
Type	getMaxValue () const
Type	getMinValue () const
unsigned int	getRows () const
unsigned int	size () const
void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
void	reshape (unsigned int nrows, unsigned int ncols)
void	insert (const vpArray2D< Type > &A, unsigned int r, unsigned int c)
bool	operator== (const vpArray2D< Type > &A) const
bool	operator!= (const vpArray2D< Type > &A) const
vpArray2D< Type > &	operator= (Type x)
vpArray2D< Type > &	operator= (const vpArray2D< Type > &A)
vpArray2D< Type > &	operator= (vpArray2D< Type > &&other) noexcept
vpArray2D< Type > &	operator= (const std::initializer_list< Type > &list)
vpArray2D< Type > &	operator= (const std::initializer_list< std::initializer_list< Type > > &lists)
vpArray2D< Type > &	operator= (const nlohmann::json &j)=delete
Type *	operator[] (unsigned int i)
Type *	operator[] (unsigned int i) const
vpArray2D< Type >	hadamard (const vpArray2D< Type > &m) const
vpArray2D< Type >	t () const

Inherited I/O from vpArray2D with Static Public Member Functions
static void	insert (const vpArray2D< Type > &A, const vpArray2D< Type > &B, vpArray2D< Type > &C, unsigned int r, unsigned int c)
vpArray2D< Type >	insert (const vpArray2D< Type > &A, const vpArray2D< Type > &B, unsigned int r, unsigned int c)
static bool	load (const std::string &filename, vpArray2D< Type > &A, bool binary=false, char *header=NULL)
static bool	loadYAML (const std::string &filename, vpArray2D< Type > &A, char *header=NULL)
static bool	save (const std::string &filename, const vpArray2D< Type > &A, bool binary=false, const char *header="")
static bool	saveYAML (const std::string &filename, const vpArray2D< Type > &A, const char *header="")
static vpArray2D< Type >	conv2 (const vpArray2D< Type > &M, const vpArray2D< Type > &kernel, const std::string &mode)
static void	conv2 (const vpArray2D< Type > &M, const vpArray2D< Type > &kernel, vpArray2D< Type > &res, const std::string &mode)
template<class T>
void	from_json (const nlohmann::json &j, vpArray2D< T > &array)
template<class T>
void	to_json (nlohmann::json &j, const vpArray2D< T > &array)

Detailed Description

template<class Type>
class vpArray2D< Type >

Implementation of a generic 2D array used as base class for 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>.

The code below shows how to create a 2-by-3 array of doubles, set the element values and access them:

#include <visp3/code/vpArray2D.h
 
int main()
{
  vpArray2D<float> a(2, 3);
  a[0][0] = -1; a[0][1] =  -2; a[0][2] = -3;
  a[1][0] =  4; a[1][1] = 5.5; a[1][2] =  6;
 
  std::cout << "a:" << std::endl;
  for (unsigned int i = 0; i < a.getRows(); i++) {
    for (unsigned int j = 0; j < a.getCols(); j++) {
      std::cout << a[i][j] << " ";
    }
    std::cout << std::endl;
  }
}

Once build, this previous code produces the following output:

a:
-1 -2 -3
4 5.5 6

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpArray2D.h
 
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpArray2D<float> a{ {-1, -2, -3}, {4, 5.5, 6.0f} };
  std::cout << "a:\n" << a << std::endl;
#endif
}

The array could also be initialized using operator=(const std::initializer_list< std::initializer_list< Type > > &)

int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpArray2D<float> a;
  a = { {-1, -2, -3}, {4, 5.5, 6.0f} };
#endif
}

You can also use reshape() function:

#include <visp3/code/vpArray2D.h
 
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpArray2D<float> a{ -1, -2, -3, 4, 5.5, 6.0f };
  a.reshape(2, 3);
#endif
}

Examples

testArray2D.cpp, testMatrixInitialization.cpp, testRealSense2_T265_undistort.cpp, testTranslationVector.cpp, testUndistortImage.cpp, and tutorial-apriltag-detector-live-T265-realsense.cpp.

Definition at line 130 of file vpArray2D.h.

Constructor & Destructor Documentation

vpArray2D() [1/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( )

inline

Basic constructor of a 2D array. Number of columns and rows are set to zero.

Definition at line 144 of file vpArray2D.h.

References colNum, data, dsize, rowNum, and rowPtrs.

Referenced by conv2(), conv2(), from_json, hadamard(), insert(), insert(), insert(), load(), loadYAML(), operator!=(), operator<<, operator=(), operator=(), operator=(), operator=(), operator=(), operator=(), operator==(), save(), saveYAML(), t(), and to_json.

vpArray2D() [2/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( const vpArray2D< Type > & A )

inline

Copy constructor of a 2D array.

Definition at line 144 of file vpArray2D.h.

vpArray2D() [3/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( unsigned int r, unsigned int c )

inline

Constructor that initializes a 2D array with 0.

Parameters

r	: Array number of rows.
c	: Array number of columns.

Definition at line 144 of file vpArray2D.h.

vpArray2D() [4/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( unsigned int r, unsigned int c, Type val )

inline

Constructor that initialize a 2D array with val.

Parameters

r	: Array number of rows.
c	: Array number of columns.
val	: Each element of the array is set to val.

Definition at line 144 of file vpArray2D.h.

vpArray2D() [5/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( vpArray2D< Type > && A )

inlinenoexcept

Definition at line 144 of file vpArray2D.h.

vpArray2D() [6/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( const std::initializer_list< Type > & list )

inlineexplicit

Definition at line 144 of file vpArray2D.h.

vpArray2D() [7/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( unsigned int nrows, unsigned int ncols, const std::initializer_list< Type > & list )

inlineexplicit

Definition at line 144 of file vpArray2D.h.

vpArray2D() [8/8]

template<class Type>

vpArray2D< Type >::vpArray2D ( const std::initializer_list< std::initializer_list< Type > > & lists )

inlineexplicit

Definition at line 144 of file vpArray2D.h.

~vpArray2D()

template<class Type>

virtual vpArray2D< Type >::~vpArray2D ( )

inlinevirtual

Destructor that deallocate memory.

Definition at line 144 of file vpArray2D.h.

Member Function Documentation

conv2() [1/2]

template<class Type>

vpArray2D< Type > vpArray2D< Type >::conv2 ( const vpArray2D< Type > & M, const vpArray2D< Type > & kernel, const std::string & mode )

static

Perform a 2D convolution similar to Matlab conv2 function: .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note

This is a very basic implementation that does not use FFT.

Definition at line 1070 of file vpArray2D.h.

References conv2(), and vpArray2D().

Referenced by conv2(), and vpImageFilter::getSobelKernelY().

conv2() [2/2]

template<class Type>

void vpArray2D< Type >::conv2 ( const vpArray2D< Type > & M, const vpArray2D< Type > & kernel, vpArray2D< Type > & res, const std::string & mode )

static

Perform a 2D convolution similar to Matlab conv2 function: .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note

This is a very basic implementation that does not use FFT.

Definition at line 1077 of file vpArray2D.h.

References data, getCols(), getRows(), insert(), resize(), and vpArray2D().

getCols()

template<class Type>

unsigned int vpArray2D< Type >::getCols ( ) const

inline

Return the number of columns of the 2D array.

See also

getRows(), size()

Examples

testArray2D.cpp, testMatrixInitialization.cpp, and testTranslationVector.cpp.

Definition at line 280 of file vpArray2D.h.

References colNum.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpQuadProg::checkDimensions(), vpLinProg::colReduction(), vpMatrix::computeCovarianceMatrix(), vpMatrix::computeCovarianceMatrix(), vpMatrix::computeHLM(), vpMbTracker::computeJTR(), vpServo::computeProjectionOperators(), vpMbTracker::computeVVSPoseEstimation(), conv2(), vpImageFilter::filter(), vpColVector::from_json, vpQuadProg::fromCanonicalCost(), vpImageSimulator::getImage(), vpImageSimulator::getImage(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::init(), vpRowVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpCameraParameters::initFromCalibrationMatrix(), insert(), insert(), vpMatrix::insert(), vpRowVector::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::juxtaposeMatrices(), vpMatrix::kron(), vpMatrix::kron(), vpRowVector::mean(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpColVector::operator*(), vpForceTwistMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpTranslationVector::operator*(), vpVelocityTwistMatrix::operator*(), vpRowVector::operator+(), vpMatrix::operator+=(), vpRowVector::operator+=(), vpRowVector::operator-(), vpMatrix::operator-=(), vpRowVector::operator-=(), operator<<, vpColVector::operator=(), vpHomography::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpMatrix::printSize(), vpIoTools::readConfigVar(), vpColVector::reshape(), vpRowVector::reshape(), vpLinProg::rowReduction(), save(), saveYAML(), vpQuadProg::solveByProjection(), vpLinProg::solveLP(), vpQuadProg::solveQP(), vpQuadProg::solveQPe(), vpQuadProg::solveSVDorQR(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackRows(), vpMatrix::sub2Matrices(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vp::visp2eigen(), vp::visp2eigen(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpRowVector::vpRowVector(), vpRowVector::vpRowVector(), and vpImageTools::warpImage().

getMaxValue()

template<class Type>

Type vpArray2D< Type >::getMaxValue

(

)

const

Return the array max value.

Definition at line 1023 of file vpArray2D.h.

References data, and dsize.

getMinValue()

template<class Type>

Type vpArray2D< Type >::getMinValue

(

)

const

Return the array min value.

Definition at line 1006 of file vpArray2D.h.

References data, and dsize.

getRows()

template<class Type>

unsigned int vpArray2D< Type >::getRows ( ) const

inline

Return the number of rows of the 2D array.

See also

getCols(), size()

Examples

testArray2D.cpp, testMatrixInitialization.cpp, and testTranslationVector.cpp.

Definition at line 290 of file vpArray2D.h.

References rowNum.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpLinProg::allClose(), vpLinProg::allGreater(), vpLinProg::allLesser(), vpLinProg::allZero(), vpQuadProg::checkDimensions(), vpLinProg::colReduction(), vpMatrix::computeCovarianceMatrix(), vpServo::computeError(), vpMatrix::computeHLM(), vpMbTracker::computeJTR(), vpPtu46::computeMGD(), vpMbEdgeKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbGenericTracker::computeVVSInit(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbGenericTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), conv2(), vpMatrix::createDiagonalMatrix(), vpColVector::crossProd(), vpDot2::defineDots(), vpMatrix::diag(), vpColVector::dotProd(), vpGenericFeature::error(), vpImageFilter::filter(), vpImageFilter::filter(), vpQuadProg::fromCanonicalCost(), vpBiclops::get_eJe(), vpPtu46::get_eJe(), vpBiclops::get_fJe(), vpPtu46::get_fJe(), vpBiclops::get_fMe(), vpGenericFeature::get_s(), vpImageSimulator::getImage(), vpImageSimulator::getImage(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::init(), vpMatrix::init(), vpSubColVector::init(), vpSubMatrix::init(), vpCameraParameters::initFromCalibrationMatrix(), insert(), insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpColVector::invSort(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpScale::KernelDensity(), vpScale::KernelDensityGradient(), vpMatrix::kron(), vpMatrix::kron(), vpColVector::mean(), vpScale::MeanShift(), vpRobust::MEstimator(), vpRobust::MEstimator(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpForceTwistMatrix::operator*(), vpForceTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpRowVector::operator*(), vpVelocityTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), operator<<, vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpHomography::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRGBa::operator=(), vpRGBf::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubRowVector::operator=(), vpPlot::plot(), vpPlot::plot(), vpPlot::plot(), vpPlot::plot(), vpPlot::plot(), vpPose::poseVirtualVSrobust(), vpMatrix::printSize(), vpIoTools::readConfigVar(), vpColVector::reshape(), vpRowVector::reshape(), vpLinProg::rowReduction(), save(), saveYAML(), vpGenericFeature::set_s(), vpQuadProg::setEqualityConstraint(), vpGenericFeature::setError(), vpMbTracker::setEstimatedDoF(), vpGenericFeature::setInteractionMatrix(), vpSimulatorAfma6::setJointLimit(), vpSimulatorViper850::setJointLimit(), vpRobotAfma4::setPosition(), vpRobotAfma4::setVelocity(), vpRobotBiclops::setVelocity(), vpRobotPtu46::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpLine::setWorldCoordinates(), vpLine::setWorldCoordinates(), vpLinProg::simplex(), vpRobust::simultMEstimator(), vpColVector::skew(), vpQuadProg::solveByProjection(), vpLinProg::solveLP(), vpQuadProg::solveQP(), vpQuadProg::solveQPe(), vpQuadProg::solveQPi(), vpQuadProg::solveSVDorQR(), vpColVector::sort(), vpColVector::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stackRows(), vpMatrix::sub2Matrices(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vp::visp2eigen(), vp::visp2eigen(), vpColVector::vpColVector(), vpRowVector::vpRowVector(), vpImageTools::warpImage(), and vpImageTools::warpLinear().

hadamard()

template<class Type>

vpArray2D< Type > vpArray2D< Type >::hadamard

(

const vpArray2D< Type > &

m

)

const

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns

m1.hadamard(m2) The Hadamard product :

Definition at line 1043 of file vpArray2D.h.

References colNum, data, vpException::dimensionError, dsize, getCols(), getRows(), resize(), rowNum, and vpArray2D().

insert() [1/2]

template<class Type>

vpArray2D< Type > vpArray2D< Type >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		unsigned int	r,
		unsigned int	c )

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
r	: Index of the row where to add the array.
c	: Index of the column where to add the array.

Returns

Array with B insert in A.

Warning

Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1142 of file vpArray2D.h.

References insert(), and vpArray2D().

insert() [2/2]

template<class Type>

void vpArray2D< Type >::insert ( const vpArray2D< Type > & A, unsigned int r, unsigned int c )

inline

Insert array A at the given position in the current array.

Warning

Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 417 of file vpArray2D.h.

References colNum, data, vpException::dimensionError, getCols(), getRows(), rowNum, size(), and vpArray2D().

Referenced by conv2(), insert(), vpMatrix::insert(), and vpMatrix::insert().

load()

template<class Type>

bool vpArray2D< Type >::load ( const std::string & filename, vpArray2D< Type > & A, bool binary = false, char * header = NULL )

inlinestatic

Load a matrix from a file.

Parameters

filename	: Absolute file name.
A	: Array to be loaded
binary	: If true the matrix is loaded from a binary file, else from a text file.
header	: Header of the file is loaded in this parameter.

Returns

Returns true if success.

See also

save()

Definition at line 582 of file vpArray2D.h.

References vpException::badValue, resize(), and vpArray2D().

Referenced by vpMatrix::loadMatrix().

loadYAML()

template<class Type>

bool vpArray2D< Type >::loadYAML ( const std::string & filename, vpArray2D< Type > & A, char * header = NULL )

inlinestatic

Load an array from a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be loaded from the file.
header	: header of the file is loaded in this parameter.

Returns

Returns true on success.

See also

saveYAML()

Definition at line 696 of file vpArray2D.h.

References resize(), and vpArray2D().

Referenced by vpMatrix::loadMatrixYAML().

operator!=()

template<class Type>

bool operator!=

(

const vpArray2D< Type > &

A

)

const

Not equal to comparison operator of a 2D array.

Definition at line 1227 of file vpArray2D.h.

References vpArray2D().

operator=() [1/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( const nlohmann::json & j )

delete

References vpArray2D().

operator=() [2/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( const std::initializer_list< std::initializer_list< Type > > & lists )

inline

Definition at line 496 of file vpArray2D.h.

References resize(), rowNum, rowPtrs, and vpArray2D().

operator=() [3/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( const std::initializer_list< Type > & list )

inline

Definition at line 486 of file vpArray2D.h.

References data, dsize, resize(), and vpArray2D().

operator=() [4/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( const vpArray2D< Type > & A )

inline

Copy operator of a 2D array.

Definition at line 454 of file vpArray2D.h.

References colNum, data, resize(), rowNum, and vpArray2D().

operator=() [5/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( Type x )

inline

Set all the elements of the array to x.

Definition at line 445 of file vpArray2D.h.

References data, dsize, and vpArray2D().

operator=() [6/6]

template<class Type>

vpArray2D< Type > & vpArray2D< Type >::operator= ( vpArray2D< Type > && other )

inlinenoexcept

Definition at line 464 of file vpArray2D.h.

References colNum, data, dsize, rowNum, rowPtrs, and vpArray2D().

operator==()

template<class Type>

bool vpArray2D< Type >::operator==

(

const vpArray2D< Type > &

A

)

const

Equal to comparison operator of a 2D array.

Definition at line 1173 of file vpArray2D.h.

References colNum, data, rowNum, size(), and vpArray2D().

operator[]() [1/2]

template<class Type>

Type * vpArray2D< Type >::operator[] ( unsigned int i )

inline

Set element using A[i][j] = x.

Definition at line 520 of file vpArray2D.h.

References rowPtrs.

operator[]() [2/2]

template<class Type>

Type * vpArray2D< Type >::operator[] ( unsigned int i ) const

inline

Get element using x = A[i][j].

Definition at line 522 of file vpArray2D.h.

References rowPtrs.

reshape()

template<class Type>

void vpArray2D< Type >::reshape ( unsigned int nrows, unsigned int ncols )

inline

Examples

testMatrixInitialization.cpp.

Definition at line 383 of file vpArray2D.h.

References colNum, data, vpException::dimensionError, dsize, resize(), rowNum, and rowPtrs.

resize()

template<class Type>

void vpArray2D< Type >::resize ( unsigned int nrows, unsigned int ncols, bool flagNullify = true, bool recopy_ = true )

inline

Set the size of the array and initialize all the values to zero.

Parameters

nrows	: number of rows.
ncols	: number of column.
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.
recopy_	: if true, will perform an explicit recopy of the old data.

Examples

testArray2D.cpp, and testMatrixInitialization.cpp.

Definition at line 305 of file vpArray2D.h.

References colNum, dsize, vpException::memoryAllocationError, rowNum, and rowPtrs.

Referenced by vpMatrix::AAt(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::AtA(), vpLinProg::colReduction(), vpFeatureMomentCInvariant::compute_interaction(), vpServo::computeProjectionOperators(), vpMbEdgeKltTracker::computeVVS(), vpMatrix::cond(), conv2(), vpMatrix::createDiagonalMatrix(), vpHomography::DLT(), vp::eigen2visp(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::extract(), vpAfma4::get_eJe(), vpAfma6::get_eJe(), vpBiclops::get_eJe(), vpPtu46::get_eJe(), vpRobotFranka::get_eJe(), vpRobotFranka::get_eJe(), vpAfma4::get_fJe(), vpAfma6::get_fJe(), vpBiclops::get_fJe(), vpPtu46::get_fJe(), vpRobotFranka::get_fJe(), vpRobotFranka::get_fJe(), vpAfma4::get_fJe_inverse(), vpViper::get_fJw(), vpRobotFranka::getMass(), hadamard(), vpMatrix::hadamard(), vpImageTools::initUndistortMap(), insert(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLuminance::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePoint::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureVanishingPoint::interaction(), vpGenericFeature::interaction(), vpMatrix::inverseByLU(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpMatrix::kron(), vpMatrix::kron(), load(), loadYAML(), vpMatrix::mult2Matrices(), vpMatrix::negateMatrix(), vpMatrix::nullSpace(), vpMatrix::nullSpace(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator/(), operator=(), operator=(), operator=(), vpRotationVector::operator=(), vpPose::poseVirtualVSrobust(), vpMatrix::qr(), vpMatrix::qrPivot(), vpIoTools::readConfigVar(), reshape(), vpColVector::reshape(), vpRowVector::reshape(), vpColVector::resize(), vpColVector::resize(), vpRowVector::resize(), vpRowVector::resize(), vpLinProg::rowReduction(), vpColVector::skew(), vpTranslationVector::skew(), vpLinProg::solveLP(), vpQuadProg::solveQPi(), vpMatrix::stack(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), and vpMatrix::transpose().

save()

template<class Type>

bool vpArray2D< Type >::save ( const std::string & filename, const vpArray2D< Type > & A, bool binary = false, const char * header = "" )

inlinestatic

Save a matrix to a file.

Parameters

filename	: Absolute file name.
A	: Array to be saved.
binary	: If true the matrix is saved in a binary file, else a text file.
header	: Optional line that will be saved at the beginning of the file.

Returns

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.

See also

load()

Definition at line 784 of file vpArray2D.h.

References getCols(), getRows(), and vpArray2D().

Referenced by vpMatrix::saveMatrix().

saveYAML()

template<class Type>

bool vpArray2D< Type >::saveYAML ( const std::string & filename, const vpArray2D< Type > & A, const char * header = "" )

inlinestatic

Save an array in a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be saved in the file.
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.

Returns

Returns true if success.

Here is an example of outputs.

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"); 

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

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]

See also

loadYAML()

Definition at line 875 of file vpArray2D.h.

References getCols(), getRows(), and vpArray2D().

Referenced by vpMatrix::saveMatrixYAML().

size()

template<class Type>

unsigned int vpArray2D< Type >::size ( ) const

inline

Return the number of elements of the 2D array.

Examples

testArray2D.cpp, testMatrixInitialization.cpp, and testTranslationVector.cpp.

Definition at line 292 of file vpArray2D.h.

References colNum, and rowNum.

Referenced by vpVirtuose::addForce(), vpQuaternionVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRzyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpTranslationVector::buildFrom(), vpMbGenericTracker::computeVVS(), vpMath::deg(), vpMath::deg(), vpExponentialMap::direct(), vpColVector::dotProd(), vpPlaneEstimation::estimatePlane(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpRobotFranka::get_fJe(), vpRobotFranka::get_fMe(), vpRobotUniversalRobots::get_fMe(), vpForceTorqueAtiSensor::getForceTorque(), vpMatrix::inducedL2Norm(), insert(), vpColVector::insert(), vpColVector::insert(), vpMatrix::insert(), vpRowVector::insert(), vpMath::lineFitting(), vpMath::lookAt(), vpColVector::mean(), vpRowVector::mean(), vpColVector::median(), vpRowVector::median(), vpColVector::operator*(), vpHomography::operator*(), vpTranslationVector::operator+(), operator<<, vpQuaternionVector::operator=(), vpRotationVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpThetaUVector::operator=(), vpTranslationVector::operator=(), operator==(), vpArray2D< double >::operator==(), vpArray2D< double >::operator==(), vpPlot::plot(), vpMath::rad(), vpRobot::saturateVelocities(), vpServo::secondaryTaskJointLimitAvoidance(), vpImageFilter::sepFilter(), vpVirtuose::setArticularForce(), vpVirtuose::setArticularPosition(), vpVirtuose::setArticularVelocity(), vpServo::setCameraDoF(), vpRobotFlirPtu::setCartVelocity(), vpRobotKinova::setCartVelocity(), vpRobotTemplate::setCartVelocity(), vpVirtuose::setForce(), vpRobotFranka::setForceTorque(), vpRobotKinova::setJointVelocity(), vpRobotFlirPtu::setPanPosLimits(), vpQbSoftHand::setPosition(), vpReflexTakktile2::setPosition(), vpRobotFlirPtu::setPosition(), vpRobotKinova::setPosition(), vpRobotUniversalRobots::setPosition(), vpReflexTakktile2::setPositioningVelocity(), vpRobotFlirPtu::setTiltPosLimits(), vpRobotBebop2::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpVirtuose::setVelocity(), vpReflexTakktile2::setVelocityUntilAnyContact(), vpReflexTakktile2::setVelocityUntilEachContact(), vpPoint::setWorldCoordinates(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpColVector::stdev(), vpRowVector::stdev(), vpMatrix::svdEigen3(), vp::visp2eigen(), vp::visp2eigen(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpTranslationVector::vpTranslationVector(), and vpTemplateTrackerWarp::warpTriangle().

t()

template<class Type>

vpArray2D< Type > vpArray2D< Type >::t

(

)

const

Compute the transpose of the array.

Returns

vpArray2D<Type> C = A^T

Definition at line 1059 of file vpArray2D.h.

References colNum, rowNum, and vpArray2D().

Referenced by vpImageFilter::getSobelKernelX().

Friends And Related Symbol Documentation

from_json

template<class Type>

template<class T>

void from_json ( const nlohmann::json & j, vpArray2D< T > & array )

friend

References vpArray2D().

insert()

template<class Type>

void vpArray2D< Type >::insert ( const vpArray2D< Type > & A, const vpArray2D< Type > & B, vpArray2D< Type > & C, unsigned int r, unsigned int c )

related

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
C	: Result array.
r	: Index of the row where to insert array B.
c	: Index of the column where to insert array B.

Warning

Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1151 of file vpArray2D.h.

References vpException::dimensionError, getCols(), getRows(), resize(), and vpArray2D().

operator<<

template<class Type>

std::ostream & operator<< ( std::ostream & s, const vpArray2D< Type > & A )

friend

Writes the given array to the output stream and returns a reference to the output stream.

Definition at line 529 of file vpArray2D.h.

References data, getCols(), getRows(), size(), and vpArray2D().

operator==() [1/2]

bool operator== ( const vpArray2D< double > & A ) const

related

Definition at line 1191 of file vpArray2D.h.

operator==() [2/2]

bool operator== ( const vpArray2D< float > & A ) const

related

Definition at line 1209 of file vpArray2D.h.

to_json

template<class Type>

template<class T>

void to_json ( nlohmann::json & j, const vpArray2D< T > & array )

friend

References vpArray2D().

vpGEMM()

template<class Type>

void vpGEMM ( const vpArray2D< double > & A, const vpArray2D< double > & B, const double & alpha, const vpArray2D< double > & C, const double & beta, vpArray2D< double > & D, const unsigned int & ops = 0 )

related

This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);

Exceptions

vpException::incorrectMatrixSizeError

if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 388 of file vpGEMM.h.

vpGEMMmethod

template<class Type>

enum vpGEMMmethod

related

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

• VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
• VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
• VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 52 of file vpGEMM.h.

Member Data Documentation

colNum

template<class Type>

unsigned int vpArray2D< Type >::colNum

protected

Number of columns in the array.

Definition at line 136 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::add2Matrices(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::AtA(), getCols(), hadamard(), insert(), vpMatrix::insert(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpRowVector::median(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpMatrix::negateMatrix(), vpMatrix::operator*(), vpMatrix::operator*(), operator=(), operator=(), vpRowVector::operator=(), operator==(), vpArray2D< double >::operator==(), vpArray2D< double >::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), reshape(), resize(), size(), vpMatrix::stackColumns(), vpMatrix::sub2Matrices(), vpMatrix::sub2Matrices(), t(), vpArray2D(), and vpMatrix::vpMatrix().

data

template<class Type>

Type* vpArray2D< Type >::data

Address of the first element of the data array.

Examples

testArray2D.cpp, and testTranslationVector.cpp.

Definition at line 144 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbTracker::computeJTR(), conv2(), vpMatrix::detByLULapack(), vpColVector::dotProd(), vp::eigen2visp(), vp::eigen2visp(), vpMatrix::eigenValues(), vpMatrix::eigenValues(), vpMatrix::expm(), vpRobotViper650::getForceTorque(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpRobotViper850::getForceTorque(), getMaxValue(), getMinValue(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpMatrix::getRow(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpTemplateTrackerMIESM::initHessienDesired(), insert(), vpColVector::insert(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpColVector::invSort(), vpColVector::mean(), vpRowVector::mean(), vpColVector::median(), vpRowVector::median(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRowVector::operator*(), vpTranslationVector::operator*(), vpColVector::operator-(), vpRowVector::operator-(), vpTranslationVector::operator-(), vpColVector::operator/(), vpHomography::operator/(), vpRowVector::operator/(), vpTranslationVector::operator/(), operator<<, operator=(), operator=(), operator=(), operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRotationVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpTranslationVector::operator=(), vpTranslationVector::operator=(), operator==(), vpArray2D< double >::operator==(), vpArray2D< double >::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpImageTools::remap(), reshape(), vpHomography::robust(), vpRobotAfma4::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpColVector::sort(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::stdev(), vpRowVector::stdev(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpColVector::t(), vpPoseVector::t(), vpRowVector::t(), vpTranslationVector::t(), vpTemplateTrackerMIESM::trackNoPyr(), vpMatrix::transpose(), vp::visp2eigen(), vp::visp2eigen(), vp::visp2eigen(), vp::visp2eigen(), and vpArray2D().

dsize

template<class Type>

unsigned int vpArray2D< Type >::dsize

protected

Current array size (rowNum * colNum).

Definition at line 140 of file vpArray2D.h.

Referenced by getMaxValue(), getMinValue(), hadamard(), operator=(), operator=(), operator=(), reshape(), resize(), and vpArray2D().

rowNum

template<class Type>

unsigned int vpArray2D< Type >::rowNum

protected

Number of rows in the array.

Definition at line 134 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::add2Matrices(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::AtA(), getRows(), hadamard(), insert(), vpColVector::insert(), vpColVector::insert(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpColVector::median(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpMatrix::negateMatrix(), operator=(), operator=(), operator=(), vpColVector::operator=(), vpTranslationVector::operator=(), operator==(), vpArray2D< double >::operator==(), vpArray2D< double >::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), reshape(), resize(), size(), vpMatrix::stackColumns(), vpColVector::stdev(), vpMatrix::sub2Matrices(), vpMatrix::sub2Matrices(), t(), vpArray2D(), and vpMatrix::vpMatrix().

rowPtrs

template<class Type>

Type** vpArray2D< Type >::rowPtrs

protected

Address of the first element of each rows.

Definition at line 138 of file vpArray2D.h.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpMatrix::negateMatrix(), vpForceTwistMatrix::operator*(), vpRotationMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpMatrix::operator+=(), vpMatrix::operator-=(), operator=(), operator=(), vpForceTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpRotationMatrix::operator=(), vpSubMatrix::operator=(), vpVelocityTwistMatrix::operator=(), operator[](), operator[](), reshape(), resize(), vpMatrix::sub2Matrices(), vpMatrix::sub2Matrices(), and vpArray2D().