vpArray2D.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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>

template<class Type>
class vpArray2D
{
protected:
  unsigned int rowNum;
  unsigned int colNum;
  Type **rowPtrs;
  unsigned int dsize;

public:
  Type *data;

public:
  vpArray2D<Type>()
    : rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
  {}
  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));
  }
  vpArray2D<Type>(unsigned int r, unsigned int c)
    : rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
  {
    resize(r, c);
  }
  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;
  }
  virtual ~vpArray2D<Type>()
  {
    if (data != NULL ) {
      free(data);
      data=NULL;
    }

    if (rowPtrs!=NULL) {
      free(rowPtrs);
      rowPtrs=NULL ;
    }
    rowNum = colNum = dsize = 0;
  }


  Type getMinValue() const;

  Type getMaxValue() const;

  inline unsigned int getRows() const { return rowNum ;}
  inline unsigned int getCols() const { return colNum; }
  inline unsigned int size() const { return colNum*rowNum; }
  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;
    }
  }
  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;
  }

  vpArray2D<Type> & operator=(const vpArray2D<Type> & A)
  {
    resize(A.rowNum, A.colNum);
    memcpy(data, A.data, rowNum*colNum*sizeof(Type));
    return *this;
  }

  inline Type *operator[](unsigned int i) { return rowPtrs[i]; }
  inline Type *operator[](unsigned int i) const {return rowPtrs[i];}

  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
  //---------------------------------
  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;
    }

    if (!binary) {
      std::string h;
      bool headerIsDecoded = false;
      do {
        std::streampos pos = file.tellg();
        char line[256];
        file.getline(line, 256);
        std::string prefix("# ");
        std::string line_(line);
        if (line_.compare(0, 2, "# ") == 0) {
          // Line is a comment
          // If we are not on the first line, we should add "\n" to the end of the previous line
          if (pos)
            h += "\n";
          h += line_.substr(2); // Remove "# "
        }
        else {
          // rewind before the line
          file.seekg (pos, file.beg);
          headerIsDecoded = true;
        }
      } while(! headerIsDecoded);

      if (header != NULL) {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
        sprintf(header, "%s", h.c_str());
#else
        _snprintf_s(header, h.size()+1, _TRUNCATE, "%s", h.c_str());
#endif
      }

      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;
      // Decode header until '\0' char that ends the header string
      while ((c != '\0')) {
        file.read(&c,1);
        h+=c;
      }
      if (header != NULL) {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
        sprintf(header, "%s", h.c_str());
#else
        _snprintf_s(header, h.size()+1, _TRUNCATE, "%s", h.c_str());
#endif
      }

      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;
  }
  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) {
      std::string h_ = h.substr(0, h.size() - 1); // Remove last '\n' char
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      sprintf(header, "%s", h_.c_str());
#else
      _snprintf_s(header, h_.size()+1, _TRUNCATE, "%s", h_.c_str());
#endif
    }

    file.close();
    return true;
  }

  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;
    }

    if (!binary) {
      unsigned int i = 0;
      file << "# ";
      while (header[i] != '\0') {
        file << header[i];
        if (header[i] == '\n')
          file << "# ";
        i++;
      }
      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(unsigned int));
      matrixSize = A.getCols();
      file.write((char*)&matrixSize, sizeof(unsigned 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;
  }
  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;
  }
};

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;
}

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