#include <visp3/core/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 (const std::vector< Type > &vec, unsigned int r=0, unsigned int c=0)

virtual	~vpArray2D ()

Public Attributes
Type *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

Type **	rowPtrs

unsigned int	dsize

Related Functions
(Note that these are not member functions.)
enum	vpGEMMmethod

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

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

template<class Type >
bool	operator!= (const vpArray2D< Type > &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)

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=nullptr)

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

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()
{
  vpArray2D<float> a{ {-1, -2, -3}, {4, 5.5, 6.0f} };
  std::cout << "a:\n" << a << std::endl;
}

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

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

You can also use reshape() function:

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

Examples: testArray2D.cpp, testMatrixInitialization.cpp, testRealSense2_T265_undistort.cpp, testUndistortImage.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, and tutorial-hsv-range-tuner.cpp.

Definition at line 125 of file vpArray2D.h.

Constructor & Destructor Documentation

◆ vpArray2D() [1/5]

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 139 of file vpArray2D.h.

◆ vpArray2D() [2/5]

template<class Type >

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

inline

Copy constructor of a 2D array.

Definition at line 139 of file vpArray2D.h.

◆ vpArray2D() [3/5]

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 139 of file vpArray2D.h.

◆ vpArray2D() [4/5]

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 139 of file vpArray2D.h.

◆ vpArray2D() [5/5]

template<class Type >

vpArray2D< Type >::vpArray2D	(	const std::vector< Type > &	vec,
		unsigned int	r = `0`,
		unsigned int	c = `0`
	)

inline

Constructor that initialize a 2D array from a std::vector.

When c = 0, create a colum vector with dimension (data.size, 1)
When r = 0, create a row vector with dimension (1, data.size)
Otherwise create an array with dimension (r, c)

Parameters

r	: Array number of rows.
c	: Array number of columns.
vec	: Data used to initialize the 2D array.

Definition at line 139 of file vpArray2D.h.

◆ ~vpArray2D()

template<class Type >

virtual vpArray2D< Type >::~vpArray2D ( )

inlinevirtual

Destructor that deallocate memory.

Definition at line 139 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: $M \star kernel$ .

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 1143 of file vpArray2D.h.

Referenced by 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: $M \star kernel$ .

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 1150 of file vpArray2D.h.

References vpArray2D< Type >::data, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpArray2D< Type >::insert(), and vpArray2D< Type >::resize().

◆ 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.

Definition at line 327 of file vpArray2D.h.

References vpArray2D< Type >::colNum.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpQuadProg::checkDimensions(), vpSubMatrix::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpLinProg::colReduction(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpMatrix::computeHLM(), vpServo::computeInteractionMatrix(), vpMbTracker::computeJTR(), vpImageFilter::computePartialDerivatives(), vpServo::computeProjectionOperators(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSPoseEstimation(), vpArray2D< Type >::conv2(), vpImageFilter::filter(), vpQuadProg::fromCanonicalCost(), vpImageSimulator::getImage(), vpImageFilter::getScharrKernelX(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpArray2D< Type >::hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::init(), vpRowVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpCameraParameters::initFromCalibrationMatrix(), vpCircleHoughTransform::initGradientFilters(), vpArray2D< Type >::insert(), vpMatrix::insert(), vpRowVector::insert(), vpHomography::inverse(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::juxtaposeMatrices(), vpMatrix::kron(), vpMeEllipse::leastSquareRobust(), vpRowVector::mean(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpForceTwistMatrix::operator*(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpVelocityTwistMatrix::operator*(), vpColVector::operator*(), vpTranslationVector::operator*(), vpMatrix::operator*(), vpRowVector::operator+(), vpMatrix::operator+=(), vpRowVector::operator+=(), vpRowVector::operator-(), vpMatrix::operator-=(), vpRowVector::operator-=(), vpMatrix::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpHomography::operator=(), vpColVector::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpSubRowVector::operator=(), vpMatrix::printSize(), vpIoTools::readConfigVar(), vpColVector::reshape(), vpRowVector::reshape(), vpLinProg::rowReduction(), vpArray2D< Type >::save(), vpArray2D< Type >::saveYAML(), vpServo::secondaryTask(), vpServo::secondaryTaskJointLimitAvoidance(), vpQuadProg::solveByProjection(), vpLinProg::solveLP(), vpQuadProg::solveQP(), vpQuadProg::solveQPe(), vpQuadProg::solveQPi(), vpQuadProg::solveSVDorQR(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackRows(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vp::visp2eigen(), vpColVector::vpColVector(), vpRowVector::vpRowVector(), and vpImageTools::warpImage().

◆ getMaxValue()

template<class Type >

Type vpArray2D< Type >::getMaxValue

Return the array max value.

Definition at line 1096 of file vpArray2D.h.

◆ getMinValue()

template<class Type >

Type vpArray2D< Type >::getMinValue

Return the array min value.

Definition at line 1079 of file vpArray2D.h.

◆ 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.

Definition at line 337 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpLinProg::allClose(), vpLinProg::allGreater(), vpLinProg::allLesser(), vpLinProg::allZero(), vpQuadProg::checkDimensions(), vpSubColVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpLinProg::colReduction(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpServo::computeError(), vpMatrix::computeHLM(), vpServo::computeInteractionMatrix(), vpMbTracker::computeJTR(), vpPtu46::computeMGD(), vpImageFilter::computePartialDerivatives(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), vpArray2D< Type >::conv2(), vpMatrix::createDiagonalMatrix(), vpColVector::crossProd(), vpDot2::defineDots(), vpMatrix::diag(), vpProjectionDisplay::display(), vpColVector::dotProd(), vpGenericFeature::error(), vpImageFilter::filter(), vpQuadProg::fromCanonicalCost(), vpBiclops::get_eJe(), vpPtu46::get_eJe(), vpBiclops::get_fJe(), vpPtu46::get_fJe(), vpBiclops::get_fMe(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpImageSimulator::getImage(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpImageFilter::getScharrKernelX(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpArray2D< Type >::hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::init(), vpMatrix::init(), vpSubColVector::init(), vpSubMatrix::init(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpCameraParameters::initFromCalibrationMatrix(), vpCircleHoughTransform::initGradientFilters(), vpArray2D< Type >::insert(), vpMatrix::insert(), vpGenericFeature::interaction(), vpHomography::inverse(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpColVector::invSort(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpScale::KernelDensity(), vpScale::KernelDensityGradient(), vpMatrix::kron(), vpMeEllipse::leastSquare(), vpColVector::mean(), vpScale::MeanShift(), vpRobust::MEstimator(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpHomogeneousMatrix::operator*(), vpRowVector::operator*(), vpForceTwistMatrix::operator*(), vpRotationMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpMatrix::operator*(), vpColVector::operator+(), vpMatrix::operator+=(), vpColVector::operator+=(), vpColVector::operator-(), vpMatrix::operator-=(), vpColVector::operator-=(), vpMatrix::operator=(), vpRGBa::operator=(), vpRGBf::operator=(), vpSubMatrix::operator=(), vpSubRowVector::operator=(), vpHomography::operator=(), vpColVector::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpPlot::plot(), vpPose::poseVirtualVSrobust(), vpKalmanFilter::prediction(), vpMatrix::printSize(), vpLine::projection(), vpIoTools::readConfigVar(), vpColVector::reshape(), vpRowVector::reshape(), vpLinProg::rowReduction(), vpArray2D< Type >::save(), vpArray2D< Type >::saveYAML(), vpGenericFeature::set_s(), vpQuadProg::setEqualityConstraint(), vpGenericFeature::setError(), vpMbTracker::setEstimatedDoF(), vpGenericFeature::setInteractionMatrix(), vpSimulatorAfma6::setJointLimit(), vpSimulatorViper850::setJointLimit(), vpRobotAfma4::setPosition(), vpRobotBiclops::setVelocity(), vpRobotPololuPtu::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotAfma4::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), 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::stackRows(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), 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 : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Examples: testArray2D.cpp.

Definition at line 1116 of file vpArray2D.h.

References vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ 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 1215 of file vpArray2D.h.

References vpArray2D< Type >::insert().

◆ 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 484 of file vpArray2D.h.

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

Referenced by vpArray2D< Type >::conv2(), vpMatrix::insert(), vpPioneerPan::set_mMp(), and vpPioneerPan::set_pMe().

◆ load()

template<class Type >

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

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 653 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

Referenced by vpMatrix::loadMatrix().

◆ loadYAML()

template<class Type >

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

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 767 of file vpArray2D.h.

References vpArray2D< Type >::resize().

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 1300 of file vpArray2D.h.

◆ operator=() [1/2]

template<class Type >

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

inline

Copy operator of a 2D array.

Definition at line 521 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::resize(), and vpArray2D< Type >::rowNum.

◆ operator=() [2/2]

template<class Type >

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

inline

Set all the elements of the array to x.

Definition at line 512 of file vpArray2D.h.

References vpArray2D< Type >::data, and vpArray2D< Type >::dsize.

◆ operator==()

template<class Type >

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

Equal to comparison operator of a 2D array.

Definition at line 1246 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator[]() [1/2]

template<class Type >

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

inline

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 591 of file vpArray2D.h.

References vpArray2D< Type >::rowPtrs.

◆ operator[]() [2/2]

template<class Type >

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

inline

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 593 of file vpArray2D.h.

References vpArray2D< Type >::rowPtrs.

◆ reshape()

template<class Type >

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

inline

Examples: testMatrixInitialization.cpp.

Definition at line 443 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::dsize, vpArray2D< Type >::resize(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::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.

Definition at line 352 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::dsize, vpException::memoryAllocationError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::rowPtrs.

Referenced by vpMatrix::AAt(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::AtA(), vpLinProg::colReduction(), vpServo::computeProjectionOperators(), vpMbEdgeKltTracker::computeVVS(), vpMbDepthDenseTracker::computeVVSInit(), vpMbDepthNormalTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbGenericTracker::computeVVSInit(), vpMatrix::cond(), vpArray2D< Type >::conv2(), vpMatrix::createDiagonalMatrix(), vpProjectionDisplay::display(), vpHomography::DLT(), vp::eigen2visp(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::extract(), vpRobotFlirPtu::get_eJe(), vpAfma4::get_eJe(), vpAfma6::get_eJe(), vpBiclops::get_eJe(), vpPtu46::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotFranka::get_eJe(), vpRobotFlirPtu::get_fJe(), vpAfma4::get_fJe(), vpAfma6::get_fJe(), vpBiclops::get_fJe(), vpPtu46::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotFranka::get_fJe(), vpAfma4::get_fJe_inverse(), vpViper::get_fJw(), vpRobotFranka::getMass(), vpArray2D< Type >::hadamard(), vpMatrix::hadamard(), vpProjectionDisplay::init(), vpKalmanFilter::init(), vpTemplateTrackerMIESM::initCompInverse(), vpCircleHoughTransform::initGaussianFilters(), vpCircleHoughTransform::initGradientFilters(), vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpTemplateTracker::initTracking(), vpImageTools::initUndistortMap(), vpArray2D< Type >::insert(), vpGenericFeature::interaction(), vpMatrix::inverseByLU(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpMatrix::kron(), vpArray2D< Type >::load(), vpArray2D< Type >::loadYAML(), vpMatrix::mult2Matrices(), vpMatrix::negateMatrix(), vpMatrix::nullSpace(), vpMatrix::operator*(), vpMatrix::operator/(), vpArray2D< Type >::operator=(), vpRotationVector::operator=(), vpPose::poseVirtualVSrobust(), vpMatrix::qr(), vpMatrix::qrPivot(), vpIoTools::readConfigVar(), vpArray2D< Type >::reshape(), vpColVector::reshape(), vpRowVector::reshape(), vpColVector::resize(), vpRowVector::resize(), vpLinProg::rowReduction(), vpServo::secondaryTask(), vpMbTracker::setProjectionErrorKernelSize(), vpColVector::skew(), vpTranslationVector::skew(), vpLinProg::solveLP(), vpQuadProg::solveQPi(), vpMatrix::stack(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpMatrix::transpose(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional(), vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

◆ save()

template<class Type >

static 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 855 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

Referenced by vpMatrix::saveMatrix().

◆ saveYAML()

template<class Type >

static 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()

Examples: tutorial-hsv-range-tuner.cpp.

Definition at line 950 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

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.

Definition at line 339 of file vpArray2D.h.

References vpArray2D< Type >::colNum, and vpArray2D< Type >::rowNum.

Referenced by vpVirtuose::addForce(), vpForceTorqueAtiSensor::bias(), vpQuaternionVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRzyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpTranslationVector::buildFrom(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMath::deg(), vpExponentialMap::direct(), vpColVector::dotProd(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpRobotPololuPtu::get_eJe(), vpRobotFranka::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotFranka::get_fMe(), vpRobotUniversalRobots::get_fMe(), vpForceTorqueAtiSensor::getForceTorque(), vpMeEllipse::getParameters(), vpPoint::getWorldCoordinates(), vpMatrix::inducedL2Norm(), vpImageTools::inRange(), vpArray2D< Type >::insert(), vpMatrix::insert(), vpColVector::insert(), vpRowVector::insert(), vpMath::lineFitting(), vpMath::lookAt(), vpHomogeneousMatrix::mean(), vpRotationMatrix::mean(), vpColVector::mean(), vpRowVector::mean(), vpColVector::median(), vpRowVector::median(), vpHomography::operator*(), vpColVector::operator*(), vpTranslationVector::operator+(), vpColVector::operator=(), vpRowVector::operator=(), vpQuaternionVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpThetaUVector::operator=(), vpTranslationVector::operator=(), vpRotationVector::operator=(), vpArray2D< Type >::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(), vpRobotUniversalRobots::setPosition(), vpRobotFlirPtu::setPosition(), vpRobotKinova::setPosition(), vpRobotPololuPtu::setPosition(), vpReflexTakktile2::setPositioningVelocity(), vpRobotFlirPtu::setTiltPosLimits(), vpRobotBebop2::setVelocity(), vpRobotPololuPtu::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(), vpColVector::stdev(), vpRowVector::stdev(), vpMatrix::svdEigen3(), vpForceTorqueAtiSensor::unbias(), vp::visp2eigen(), vpColVector::vpColVector(), vpRowVector::vpRowVector(), vpTranslationVector::vpTranslationVector(), and vpTemplateTrackerWarp::warpTriangle().

◆ t()

template<class Type >

vpArray2D< Type > vpArray2D< Type >::t

Compute the transpose of the array.

Returns: vpArray2D<Type> C = A^T

Examples: tutorial-hsv-range-tuner.cpp.

Definition at line 1132 of file vpArray2D.h.

Referenced by vpImageFilter::getScharrKernelX(), and vpImageFilter::getSobelKernelX().

Friends And Related Function Documentation

◆ from_json

template<class Type >

template<class T >

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

friend

◆ 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
	)

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 1224 of file vpArray2D.h.

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

Referenced by vpArray2D< Type >::insert().

◆ operator!=()

template<class Type >

bool operator!= ( const vpArray2D< Type > & A ) const

◆ 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.

Examples: testAprilTag.cpp, testEigenConversion.cpp, and tutorial-pose-from-planar-object.cpp.

Definition at line 600 of file vpArray2D.h.

◆ operator==() [1/2]

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

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator==() [2/2]

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

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ to_json

template<class Type >

template<class T >

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

friend

◆ 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`
	)

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);

vpArray2D::vpGEMM

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)

Definition: vpGEMM.h:388

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.

Examples: testMatrix.cpp.

Definition at line 388 of file vpGEMM.h.

References vpException::functionNotImplementedError.

◆ vpGEMMmethod

template<class Type >

enum vpGEMMmethod

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

◆ data

template<class Type >

Type* vpArray2D< Type >::data

Address of the first element of the data array.

Examples: testArray2D.cpp.

Definition at line 139 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpCircleHoughTransform::computeGradients(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbTracker::computeJTR(), vpImageFilter::computePartialDerivatives(), vpArray2D< Type >::conv2(), vpMatrix::detByLULapack(), vpColVector::dotProd(), vp::eigen2visp(), vpMatrix::eigenValues(), vpMatrix::expm(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpMatrix::getRow(), vpImageFilter::getScharrKernelX(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpArray2D< Type >::hadamard(), vpColVector::hadamard(), vpMatrix::hadamard(), vpRobotViper650::init(), vpRobotViper850::init(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpCircleHoughTransform::initGaussianFilters(), vpCircleHoughTransform::initGradientFilters(), vpTemplateTrackerMIESM::initHessienDesired(), vpArray2D< Type >::insert(), vpMatrix::insert(), vpColVector::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::multMatrixVector(), vpHomography::operator*(), vpMatrix::operator*(), vpColVector::operator*(), vpRowVector::operator*(), vpTranslationVector::operator*(), vpColVector::operator-(), vpRowVector::operator-(), vpTranslationVector::operator-(), vpHomography::operator/(), vpColVector::operator/(), vpRowVector::operator/(), vpTranslationVector::operator/(), vpMatrix::operator=(), vpTranslationVector::operator=(), vpColVector::operator=(), vpRotationVector::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpArray2D< Type >::operator=(), vpArray2D< Type >::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpImageTools::remap(), vpArray2D< Type >::reshape(), vpHomography::robust(), vpRobotAfma4::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpMbTracker::setProjectionErrorKernelSize(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpColVector::sort(), 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(), and vpMbTracker::vpMbTracker().

◆ dsize

template<class Type >

unsigned int vpArray2D< Type >::dsize

protected

Current array size (rowNum * colNum)

Definition at line 135 of file vpArray2D.h.

Referenced by vpArray2D< Type >::operator=(), vpArray2D< Type >::reshape(), and vpArray2D< Type >::resize().

◆ rowNum

template<class Type >

unsigned int vpArray2D< Type >::rowNum

protected

◆ rowPtrs

template<class Type >

Type** vpArray2D< Type >::rowPtrs

protected

Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited functionalities from vpArray2D

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

template<class Type> class vpArray2D< Type >

Constructor & Destructor Documentation

◆ vpArray2D() [1/5]

◆ vpArray2D() [2/5]

◆ vpArray2D() [3/5]

◆ vpArray2D() [4/5]

◆ vpArray2D() [5/5]

◆ ~vpArray2D()

Member Function Documentation

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ load()

◆ loadYAML()

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize()

◆ save()

◆ saveYAML()

◆ size()

◆ t()

Friends And Related Function Documentation

◆ from_json

◆ insert()

◆ operator!=()

◆ operator<<

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ to_json

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ rowNum

◆ rowPtrs

template<class Type>
class vpArray2D< Type >