vpArray2D.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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.
 */
#ifndef _vpArray2D_h_
#define _vpArray2D_h_
 
#include <fstream>
#include <iostream>
#include <limits>
#include <math.h>
#include <ostream>
#include <sstream>
#include <stdlib.h>
#include <string.h>
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include <nlohmann/json.hpp>
#endif
 
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)
    :
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    vpArray2D<Type>()
#else
    rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
#endif
  {
    resize(A.rowNum, A.colNum, false, false);
    memcpy(data, A.data, (size_t)rowNum * (size_t)colNum * sizeof(Type));
  }
 
  vpArray2D<Type>(unsigned int r, unsigned int c)
    :
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    vpArray2D<Type>()
#else
    rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
#endif
  {
    resize(r, c);
  }
 
  vpArray2D<Type>(unsigned int r, unsigned int c, Type val)
    :
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    vpArray2D<Type>()
#else
    rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
#endif
  {
    resize(r, c, false, false);
    *this = val;
  }
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpArray2D<Type>(vpArray2D<Type> &&A) noexcept
  {
    rowNum = A.rowNum;
    colNum = A.colNum;
    rowPtrs = A.rowPtrs;
    dsize = A.dsize;
    data = A.data;
 
    A.rowNum = 0;
    A.colNum = 0;
    A.rowPtrs = NULL;
    A.dsize = 0;
    A.data = NULL;
  }
 
  explicit vpArray2D<Type>(const std::initializer_list<Type> &list) : vpArray2D<Type>()
  {
    resize(1, static_cast<unsigned int>(list.size()), false, false);
    std::copy(list.begin(), list.end(), data);
  }
 
  explicit vpArray2D<Type>(unsigned int nrows, unsigned int ncols, const std::initializer_list<Type> &list)
    : rowNum(0), colNum(0), rowPtrs(NULL), dsize(0), data(NULL)
  {
    if (nrows * ncols != static_cast<unsigned int>(list.size())) {
      std::ostringstream oss;
      oss << "Cannot create a vpArray2D of size (" << nrows << ", " << ncols << ") with a list of size " << list.size();
      throw vpException(vpException::dimensionError, oss.str());
    }
 
    resize(nrows, ncols, false, false);
    std::copy(list.begin(), list.end(), data);
  }
 
  explicit vpArray2D<Type>(const std::initializer_list<std::initializer_list<Type> > &lists) : vpArray2D<Type>()
  {
    unsigned int nrows = static_cast<unsigned int>(lists.size()), ncols = 0;
    for (auto &l : lists) {
      if (static_cast<unsigned int>(l.size()) > ncols) {
        ncols = static_cast<unsigned int>(l.size());
      }
    }
 
    resize(nrows, ncols, false, false);
    auto it = lists.begin();
    for (unsigned int i = 0; i < rowNum; i++, ++it) {
      std::copy(it->begin(), it->end(), rowPtrs[i]);
    }
  }
#endif
 
  virtual ~vpArray2D<Type>()
  {
    if (data != NULL) {
      free(data);
      data = NULL;
    }
 
    if (rowPtrs != NULL) {
      free(rowPtrs);
      rowPtrs = NULL;
    }
    rowNum = colNum = dsize = 0;
  }
 
 
  inline unsigned int getCols() const { return colNum; }
 
  Type getMaxValue() const;
 
  Type getMinValue() const;
 
  inline unsigned int getRows() const { return rowNum; }
  inline unsigned int size() const { return colNum * rowNum; }
 
  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true, bool recopy_ = true)
  {
    if ((nrows == rowNum) && (ncols == colNum)) {
      if (flagNullify && this->data != NULL) {
        memset(this->data, 0, this->dsize * sizeof(Type));
      }
    }
    else {
      bool recopy = !flagNullify && recopy_; // priority to flagNullify
      const bool recopyNeeded = (ncols != this->colNum && this->colNum > 0 && ncols > 0 && (!flagNullify || recopy));
      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, (size_t)(this->dsize) * sizeof(Type));
      }
      else if (recopyNeeded && this->rowPtrs != NULL) {
        // Recopy...
        unsigned int minRow = (this->rowNum < rowTmp) ? this->rowNum : rowTmp;
        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;
      }
    }
  }
 
  void reshape(unsigned int nrows, unsigned int ncols)
  {
    if (dsize == 0) {
      resize(nrows, ncols);
      return;
    }
 
    if (nrows * ncols != dsize) {
      std::ostringstream oss;
      oss << "Cannot reshape array of total size " << dsize << " into shape (" << nrows << ", " << ncols << ")";
      throw vpException(vpException::dimensionError, oss.str());
    }
 
    rowNum = nrows;
    colNum = ncols;
    rowPtrs = reinterpret_cast<Type **>(realloc(rowPtrs, nrows * sizeof(Type *)));
    // Update rowPtrs
    Type **t_ = rowPtrs;
    for (unsigned int i = 0; i < dsize; i += ncols) {
      *t_++ = data + i;
    }
  }
 
 
  void insert(const vpArray2D<Type> &A, unsigned int r, unsigned int c)
  {
    if ((r + A.getRows()) <= rowNum && (c + A.getCols()) <= colNum) {
      if (A.colNum == colNum && data != NULL && A.data != NULL && A.data != data) {
        memcpy(data + r * colNum, A.data, sizeof(Type) * A.size());
      }
      else if (data != NULL && A.data != NULL && A.data != data) {
        for (unsigned int i = r; i < (r + A.getRows()); i++) {
          memcpy(data + i * colNum + c, A.data + (i - r) * A.colNum, sizeof(Type) * A.colNum);
        }
      }
    }
    else {
      throw vpException(vpException::dimensionError, "Cannot insert (%dx%d) array in (%dx%d) array at position (%d,%d)",
                        A.getRows(), A.getCols(), rowNum, colNum, r, c);
    }
  }
 
  bool operator==(const vpArray2D<Type> &A) const;
  bool operator!=(const vpArray2D<Type> &A) const;
 
  vpArray2D<Type> &operator=(Type x)
  {
    std::fill(data, data + dsize, x);
    return *this;
  }
 
  vpArray2D<Type> &operator=(const vpArray2D<Type> &A)
  {
    resize(A.rowNum, A.colNum, false, false);
    if (data != NULL && A.data != NULL && data != A.data) {
      memcpy(data, A.data, (size_t)rowNum * (size_t)colNum * sizeof(Type));
    }
    return *this;
  }
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpArray2D<Type> &operator=(vpArray2D<Type> &&other) noexcept
  {
    if (this != &other) {
      free(data);
      free(rowPtrs);
 
      rowNum = other.rowNum;
      colNum = other.colNum;
      rowPtrs = other.rowPtrs;
      dsize = other.dsize;
      data = other.data;
 
      other.rowNum = 0;
      other.colNum = 0;
      other.rowPtrs = NULL;
      other.dsize = 0;
      other.data = NULL;
    }
 
    return *this;
  }
 
  vpArray2D<Type> &operator=(const std::initializer_list<Type> &list)
  {
    if (dsize != static_cast<unsigned int>(list.size())) {
      resize(1, static_cast<unsigned int>(list.size()), false, false);
    }
    std::copy(list.begin(), list.end(), data);
 
    return *this;
  }
 
  vpArray2D<Type> &operator=(const std::initializer_list<std::initializer_list<Type> > &lists)
  {
    unsigned int nrows = static_cast<unsigned int>(lists.size()), ncols = 0;
    for (auto &l : lists) {
      if (static_cast<unsigned int>(l.size()) > ncols) {
        ncols = static_cast<unsigned int>(l.size());
      }
    }
 
    resize(nrows, ncols, false, false);
    auto it = lists.begin();
    for (unsigned int i = 0; i < rowNum; i++, ++it) {
      std::copy(it->begin(), it->end(), rowPtrs[i]);
    }
 
    return *this;
  }
 
#ifdef VISP_HAVE_NLOHMANN_JSON
  vpArray2D<Type> &operator=(const nlohmann::json &j) = delete;
#endif
#endif
 
  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 || A.size() == 0) {
      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;
  }
 
  vpArray2D<Type> hadamard(const vpArray2D<Type> &m) const;
 
  vpArray2D<Type> t() const;
 
  //---------------------------------
  // Inherited array I/O  Static Public Member Functions
  //---------------------------------
  static bool load(const std::string &filename, vpArray2D<Type> &A, 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, prefix.c_str()) == 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(__MINGW32__) ||                                                                                            \
    !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
        snprintf(header, h.size() + 1, "%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(__MINGW32__) ||                                                                                            \
    !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
        snprintf(header, h.size() + 1, "%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(__MINGW32__) ||                                                                                            \
    !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(header, h_.size() + 1, "%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, 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, (size_t)headerSize + (size_t)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;
  }
#ifdef VISP_HAVE_NLOHMANN_JSON
  //template<typename Type>
  template<class T>
  friend void from_json(const nlohmann::json &j, vpArray2D<T> &array);
  //template<typename Type>
  template<class T>
  friend void to_json(nlohmann::json &j, const vpArray2D<T> &array);
#endif
 
  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);
 
  vpArray2D<Type> insert(const vpArray2D<Type> &A, const vpArray2D<Type> &B, unsigned int r, unsigned int c);
 
  static void insert(const vpArray2D<Type> &A, const vpArray2D<Type> &B, vpArray2D<Type> &C, unsigned int r, unsigned int c);
};
 
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;
}
 
template <class Type> vpArray2D<Type> vpArray2D<Type>::hadamard(const vpArray2D<Type> &m) const
{
  if (m.getRows() != rowNum || m.getCols() != colNum) {
    throw(vpException(vpException::dimensionError, "Hadamard product: bad dimensions!"));
  }
 
  vpArray2D<Type> out;
  out.resize(rowNum, colNum, false);
 
  for (unsigned int i = 0; i < dsize; i++) {
    out.data[i] = data[i] * m.data[i];
  }
 
  return out;
}
 
template <class Type> vpArray2D<Type> vpArray2D<Type>::t() const
{
  vpArray2D<Type> At(colNum, rowNum);
  for (unsigned int i = 0; i < rowNum; i++) {
    for (unsigned int j = 0; j < colNum; j++) {
      At[j][i] = (*this)[i][j];
    }
  }
  return At;
}
 
template <class Type> vpArray2D<Type> vpArray2D<Type>::conv2(const vpArray2D<Type> &M, const vpArray2D<Type> &kernel, const std::string &mode)
{
  vpArray2D<Type> res;
  conv2(M, kernel, res, mode);
  return res;
}
 
template <class Type> void vpArray2D<Type>::conv2(const vpArray2D<Type> &M, const vpArray2D<Type> &kernel, vpArray2D<Type> &res, const std::string &mode)
{
  if (M.getRows() * M.getCols() == 0 || kernel.getRows() * kernel.getCols() == 0)
    return;
 
  if (mode == "valid") {
    if (kernel.getRows() > M.getRows() || kernel.getCols() > M.getCols())
      return;
  }
 
  vpArray2D<Type> M_padded, res_same;
 
  if (mode == "full" || mode == "same") {
    const unsigned int pad_x = kernel.getCols() - 1;
    const unsigned int pad_y = kernel.getRows() - 1;
    M_padded.resize(M.getRows() + 2 * pad_y, M.getCols() + 2 * pad_x, true, false);
    M_padded.insert(M, pad_y, pad_x);
 
    if (mode == "same") {
      res.resize(M.getRows(), M.getCols(), false, false);
      res_same.resize(M.getRows() + pad_y, M.getCols() + pad_x, true, false);
    }
    else {
      res.resize(M.getRows() + pad_y, M.getCols() + pad_x, true, false);
    }
  }
  else if (mode == "valid") {
    M_padded = M;
    res.resize(M.getRows() - kernel.getRows() + 1, M.getCols() - kernel.getCols() + 1);
  }
  else {
    return;
  }
 
  if (mode == "same") {
    for (unsigned int i = 0; i < res_same.getRows(); i++) {
      for (unsigned int j = 0; j < res_same.getCols(); j++) {
        for (unsigned int k = 0; k < kernel.getRows(); k++) {
          for (unsigned int l = 0; l < kernel.getCols(); l++) {
            res_same[i][j] += M_padded[i + k][j + l] * kernel[kernel.getRows() - k - 1][kernel.getCols() - l - 1];
          }
        }
      }
    }
 
    const unsigned int start_i = kernel.getRows() / 2;
    const unsigned int start_j = kernel.getCols() / 2;
    for (unsigned int i = 0; i < M.getRows(); i++) {
      memcpy(res.data + i * M.getCols(), res_same.data + (i + start_i) * res_same.getCols() + start_j,
             sizeof(Type) * M.getCols());
    }
  }
  else {
    for (unsigned int i = 0; i < res.getRows(); i++) {
      for (unsigned int j = 0; j < res.getCols(); j++) {
        for (unsigned int k = 0; k < kernel.getRows(); k++) {
          for (unsigned int l = 0; l < kernel.getCols(); l++) {
            res[i][j] += M_padded[i + k][j + l] * kernel[kernel.getRows() - k - 1][kernel.getCols() - l - 1];
          }
        }
      }
    }
  }
}
 
template<class Type> vpArray2D<Type> vpArray2D<Type>::insert(const vpArray2D<Type> &A, const vpArray2D<Type> &B, unsigned int r, unsigned int c)
{
  vpArray2D<Type> C;
 
  insert(A, B, C, r, c);
 
  return C;
}
 
template<class Type> void vpArray2D<Type>::insert(const vpArray2D<Type> &A, const vpArray2D<Type> &B, vpArray2D<Type> &C, unsigned int r, unsigned int c)
{
  if (((r + B.getRows()) <= A.getRows()) && ((c + B.getCols()) <= A.getCols())) {
    C.resize(A.getRows(), A.getCols(), false, false);
 
    for (unsigned int i = 0; i < A.getRows(); i++) {
      for (unsigned int j = 0; j < A.getCols(); j++) {
        if (i >= r && i < (r + B.getRows()) && j >= c && j < (c + B.getCols())) {
          C[i][j] = B[i - r][j - c];
        }
        else {
          C[i][j] = A[i][j];
        }
      }
    }
  }
  else {
    throw vpException(vpException::dimensionError, "Cannot insert (%dx%d) array in (%dx%d) array at position (%d,%d)",
                      B.getRows(), B.getCols(), A.getCols(), A.getRows(), r, c);
  }
}
 
template <class Type> bool vpArray2D<Type>::operator==(const vpArray2D<Type> &A) const
{
  if (A.rowNum != rowNum || A.colNum != colNum) {
    return false;
  }
 
  for (unsigned int i = 0; i < A.size(); i++) {
    if (data[i] != A.data[i]) {
      return false;
    }
  }
 
  return true;
}
 
template <> inline bool vpArray2D<double>::operator==(const vpArray2D<double> &A) const
{
  if (A.rowNum != rowNum || A.colNum != colNum) {
    return false;
  }
 
  for (unsigned int i = 0; i < A.size(); i++) {
    if (fabs(data[i] - A.data[i]) > std::numeric_limits<double>::epsilon()) {
      return false;
    }
  }
 
  return true;
}
 
template <> inline bool vpArray2D<float>::operator==(const vpArray2D<float> &A) const
{
  if (A.rowNum != rowNum || A.colNum != colNum) {
    return false;
  }
 
  for (unsigned int i = 0; i < A.size(); i++) {
    if (fabsf(data[i] - A.data[i]) > std::numeric_limits<float>::epsilon()) {
      return false;
    }
  }
 
  return true;
}
 
template <class Type> bool vpArray2D<Type>::operator!=(const vpArray2D<Type> &A) const { return !(*this == A); }
 
#ifdef VISP_HAVE_NLOHMANN_JSON
 
 
template <class Type>
inline void from_json(const nlohmann::json &j, vpArray2D<Type> &array)
{
  if (j.is_array()) {
    const unsigned int nrows = static_cast<unsigned int>(j.size());
    if (nrows == 0) { // Initialize an empty array, Finished
      array.resize(0, 0);
      return;
    }
    unsigned int ncols = 0;
    bool first = true;
    for (const auto &item: j) { // Find number of columns, validate that all rows have same number of cols
      if (!item.is_array()) {
        throw vpException(vpException::badValue, "Trying to instantiate a 2D array with a JSON object that is not an array of array");
      }
      if (first) {
        first = false;
        ncols = static_cast<unsigned int>(item.size());
      }
      else if (ncols != item.size()) {
        throw vpException(vpException::badValue, "Trying to instantiate a 2D array with JSON row arrays that are not of the same size");
      }
    }
    array.resize(nrows, ncols);
    unsigned i = 0;
    for (const auto &item: j) {
      std::vector<Type> row = item;
      std::copy(row.begin(), row.end(), array.rowPtrs[i]);
      ++i;
    }
  }
  else if (j.is_object()) {
    const unsigned ncols = j.at("cols");
    const unsigned nrows = j.at("rows");
    array.resize(nrows, ncols);
    const nlohmann::json jData = j.at("data");
    if (!jData.is_array() || jData.size() != nrows * ncols) {
      std::stringstream ss;
      ss << "JSON \"data\" field must be an array of size " << nrows * ncols;
      throw vpException(vpException::badValue, ss.str());
    }
    unsigned i = 0;
    for (const auto &jValue: jData) {
      array.data[i] = jValue;
      ++i;
    }
  }
  else {
    throw vpException(vpException::badValue, "Trying to read a vpArray2D from something that is not an array or object");
  }
}
 
 
template <class Type>
inline void to_json(nlohmann::json &j, const vpArray2D<Type> &array)
{
  j = {
    {"cols", array.colNum},
    {"rows", array.rowNum},
    {"type", "vpArray2D"}
  };
 
  nlohmann::json::array_t data;
  data.reserve(array.size());
  for (unsigned i = 0; i < array.size(); ++i) {
    data.push_back(array.data[i]);
  }
  j["data"] = data;
}
#endif
#endif