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#define OPENPOSE_CORE_ARRAY_HPP
#include <memory> // std::shared_ptr
#include <vector>
#include <openpose/core/macros.hpp>
#include <openpose/core/matrix.hpp>
#include <openpose/utilities/errorAndLog.hpp>
namespace op
{
/**
* Array<T>: The OpenPose Basic Raw Data Container
* This template class implements a multidimensional data array. It is our basic data container, analogous to
* Mat in OpenCV, Tensor in Torch/TensorFlow or Blob in Caffe.
* It wraps a Matrix and a std::shared_ptr, both of them pointing to the same raw data. I.e. they both share the
* same memory, so we can read and modify this data in both formats with no performance impact.
* Hence, it keeps high performance while adding high-level functions.
*/
template<typename T>
class Array
{
public:
// ------------------------------ Constructors and Data Allocator Functions ------------------------------ //
/**
* Array constructor.
* Equivalent to default constructor + reset(const int size).
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
*/
explicit Array(const int size);
/**
* Array constructor.
* Equivalent to default constructor + reset(const std::vector<int>& size = {}).
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to
* `new T[3*5*2]`.
*/
explicit Array(const std::vector<int>& sizes = {});
/**
* Array constructor.
* Equivalent to default constructor + reset(const int size, const T value).
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
* @param value Initial value for each component of the Array.
*/
Array(const int size, const T value);
/**
* Array constructor.
* Equivalent to default constructor + reset(const std::vector<int>& size, const T value).
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to:
* `new T[3*5*2]`.
* @param value Initial value for each component of the Array.
*/
Array(const std::vector<int>& sizes, const T value);
/**
* Array constructor.
* Equivalent to default constructor, but it does not allocate memory, but rather use dataPtr.
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
* @param dataPtr Pointer to the memory to be used by the Array.
*/
Array(const int size, T* const dataPtr);
/**
* Array constructor.
* Equivalent to default constructor, but it does not allocate memory, but rather use dataPtr.
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to:
* `new T[3*5*2]`.
* @param dataPtr Pointer to the memory to be used by the Array.
*/
Array(const std::vector<int>& sizes, T* const dataPtr);
/**
* Array constructor.
* @param array Array<T> with the original data array to slice.
* @param index indicates the index of the array to extract.
* @param noCopy indicates whether to perform a copy. Copy will never go to undefined behavior, however, if
* noCopy == true, then:
* 1. It is faster, as no data copy is involved, but...
* 2. If the Array array goes out of scope, then the resulting Array will provoke an undefined behavior.
* 3. If the returned Array is modified, the information in the Array array will also be.
* @return Array<T> with the same dimension than array expect the first dimension being 1. E.g., if array
* is {p,k,m}, the resulting Array<T> is {1,k,m}.
*/
Array(const Array<T>& array, const int index, const bool noCopy = false);
/**
* Array constructor. It manually copies the Array<T2> into the new Array<T>
* @param array Array<T2> with a format T2 different to the current Array type T.
*/
template<typename T2>
Array(const Array<T2>& array) :
Array{array.getSize()}
{
try
{
// Copy
for (auto i = 0u ; i < array.getVolume() ; i++)
pData[i] = T(array[i]);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
/**
* Copy constructor.
* It performs `fast copy`: For performance purpose, copying a Array<T> or Datum or cv::Mat just copies the
* reference, it still shares the same internal data.
* Modifying the copied element will modify the original one.
* Use clone() for a slower but real copy, similarly to cv::Mat and Array<T>.
* @param array Array to be copied.
*/
Array<T>(const Array<T>& array);
/**
* Copy assignment.
* Similar to Array<T>(const Array<T>& array).
* @param array Array to be copied.
* @return The resulting Array.
*/
Array<T>& operator=(const Array<T>& array);
/**
* Move constructor.
* It destroys the original Array to be moved.
* @param array Array to be moved.
*/
Array<T>(Array<T>&& array);
/**
* Move assignment.
* Similar to Array<T>(Array<T>&& array).
* @param array Array to be moved.
* @return The resulting Array.
*/
Array<T>& operator=(Array<T>&& array);
/**
* Clone function.
* Similar to cv::Mat::clone and Datum::clone.
* It performs a real but slow copy of the data, i.e., even if the copied element is modified, the original
* one is not.
* @return The resulting Array.
*/
Array<T> clone() const;
/**
* Data allocation function.
* It allocates the required space for the memory (it does not initialize that memory).
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
*/
void reset(const int size);
/**
* Data allocation function.
* Similar to reset(const int size), but it allocates a multi-dimensional array of dimensions each of the
* values of the argument.
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to
* `new T[3*5*2]`.
*/
void reset(const std::vector<int>& sizes = {});
/**
* Data allocation function.
* Similar to reset(const int size), but initializing the data to the value specified by the second argument.
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
* @param value Initial value for each component of the Array.
*/
void reset(const int size, const T value);
/**
* Data allocation function.
* Similar to reset(const std::vector<int>& size), but initializing the data to the value specified by the
* second argument.
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to
* `new T[3*5*2]`.
* @param value Initial value for each component of the Array.
*/
void reset(const std::vector<int>& sizes, const T value);
/**
* Data allocation function.
* Equivalent to default constructor, but it does not allocate memory, but rather use dataPtr.
* @param size Integer with the number of T element to be allocated. E.g., size = 5 is internally similar to
* `new T[5]`.
* @param dataPtr Pointer to the memory to be used by the Array.
*/
void reset(const int size, T* const dataPtr);
/**
* Data allocation function.
* Equivalent to default constructor, but it does not allocate memory, but rather use dataPtr.
* @param sizes Vector with the size of each dimension. E.g., size = {3, 5, 2} is internally similar to:
* `new T[3*5*2]`.
* @param dataPtr Pointer to the memory to be used by the Array.
*/
void reset(const std::vector<int>& sizes, T* const dataPtr);
/**
* Data allocation function.
* It internally allocates memory and copies the data of the argument to the Array allocated memory.
* @param cvMat Matrix to be copied.
*/
void setFrom(const Matrix& cvMat);
/**
* Data allocation function.
* It internally assigns all the allocated memory to the value indicated by the argument.
* @param value Value for each component of the Array.
*/
void setTo(const T value);
// ------------------------------ Data Information Functions ------------------------------ //
/**
* Check whether memory has been allocated.
* @return True if no memory has been allocated, false otherwise.
*/
inline bool empty() const
{
return (mVolume == 0);
}
/**
* Return a vector with the size of each dimension allocated.
* @return A std::vector<int> with the size of each dimension. If no memory has been allocated, it will return
* an empty std::vector.
*/
inline std::vector<int> getSize() const
{
return mSize;
}
/**
* Return a vector with the size of the desired dimension.
* @param index Dimension to check its size.
* @return Size of the desired dimension. It will return 0 if the requested dimension is higher than the number
* of dimensions.
*/
int getSize(const int index) const;
/**
* Return a string with the size of each dimension allocated.
* @return A std::stringwith the size of each dimension. If no memory has been allocated, it will return an
* empty string.
*/
std::string printSize() const;
/**
* Return the total number of dimensions, equivalent to getSize().size().
* @return The number of dimensions. If no memory is allocated, it returns 0.
*/
inline size_t getNumberDimensions() const
{
return mSize.size();
}
/**
* Return the total number of elements allocated, equivalent to multiply all the components from getSize().
* E.g., for a Array<T> of size = {2,5,3}, the volume or total number of elements is: 2x5x3 = 30.
* @return The total volume of the allocated data. If no memory is allocated, it returns 0.
*/
inline size_t getVolume() const
{
return mVolume;
}
/**
* Similar to getVolume(), but in this case it just returns the volume between the desired dimensions.
* E.g., for a Array<T> of size = {2,5,3}, the volume or total number of elements for getVolume(1,2) is
* 5x3 = 15.
* @param indexA Dimension where to start.
* @param indexB Dimension where to stop. If indexB == -1, then it will take up to the last dimension.
* @return The total volume of the allocated data between the desired dimensions. If the index are out of
* bounds, it throws an error.
*/
size_t getVolume(const int indexA, const int indexB = -1) const;
/**
* Return the stride or step size of the array.
* E.g., given and Array<T> of size 5x3, getStride() would return the following vector:
* {5x3sizeof(T), 3sizeof(T), sizeof(T)}.
*/
std::vector<int> getStride() const;
/**
* Return the stride or step size of the array at the index-th dimension.
* E.g., given and Array<T> of size 5x3, getStride(2) would return sizeof(T).
*/
int getStride(const int index) const;
// ------------------------------ Data Access Functions And Operators ------------------------------ //
/**
* Return a raw pointer to the data. Similar to: std::shared_ptr::get().
* Note: if you modify the pointer data, you will directly modify it in the Array<T> instance too.
* If you know you do not want to modify the data, then use getConstPtr() instead.
* @return A raw pointer to the data.
*/
inline T* getPtr()
{
return pData; // spData.get()
}
/**
* Similar to getPtr(), but it forbids the data to be edited.
* @return A raw const pointer to the data.
*/
inline const T* getConstPtr() const
{
return pData; // spData.get()
}
/**
* Similar to getConstPtr(), but it allows the data to be edited.
* This function is only implemented for Pybind11 usage.
* @return A raw pointer to the data.
*/
inline T* getPseudoConstPtr() const
{
return pData; // spData.get()
}
/**
* Return a Matrix wrapper to the data. It forbids the data to be modified.
* OpenCV only admits unsigned char, signed char, int, float & double. If the T class is not supported by
* OpenCV, it will throw an error.
* Note: Array<T> does not return an editable Matrix because some OpenCV functions reallocate memory and it
* would not longer point to the Array<T> instance.
* If you want to perform some OpenCV operation on the Array data, you can use:
* editedCvMat = array.getConstCvMat().clone();
* // modify data
* array.setFrom(editedCvMat)
* @return A const Matrix pointing to the data.
*/
const Matrix& getConstCvMat() const;
/**
* Analogous to getConstCvMat, but in this case it returns a editable Matrix.
* Very important: Only allowed functions which do not provoke data reallocation.
* E.g., resizing functions will not work and they would provoke an undefined behavior and/or execution
* crashes.
* @return A Matrix pointing to the data.
*/
Matrix& getCvMat();
/**
* [] operator
* Similar to the [] operator for raw pointer data.
* If debug mode is enabled, then it will check that the desired index is in the data range, and it will throw
* an exception otherwise (similar to the at operator).
* @param index The desired memory location.
* @return A editable reference to the data on the desired index location.
*/
inline T& operator[](const int index)
{
#ifdef NDEBUG
return pData[index]; // spData.get()[index]
#else
return at(index);
#endif
}
/**
* [] operator
* Same functionality as operator[](const int index), but it forbids modifying the value. Otherwise, const
* functions would not be able to call the [] operator.
* @param index The desired memory location.
* @return A non-editable reference to the data on the desired index location.
*/
inline const T& operator[](const int index) const
{
#ifdef NDEBUG
return pData[index]; // spData.get()[index]
#else
return at(index);
#endif
}
/**
* [] operator
* Same functionality as operator[](const int index), but it lets the user introduce the multi-dimensional
* index.
* E.g., given a (10 x 10 x 10) array, array[11] is equivalent to array[{1,1,0}]
* @param indexes Vector with the desired memory location.
* @return A editable reference to the data on the desired index location.
*/
inline T& operator[](const std::vector<int>& indexes)
{
return operator[](getIndex(indexes));
}
/**
* [] operator
* Same functionality as operator[](const std::vector<int>& indexes), but it forbids modifying the value.
* Otherwise, const functions would not be able to call the [] operator.
* @param indexes Vector with the desired memory location.
* @return A non-editable reference to the data on the desired index location.
*/
inline const T& operator[](const std::vector<int>& indexes) const
{
return operator[](getIndex(indexes));
}
/**
* at() function
* Same functionality as operator[](const int index), but it always check whether the indexes are within the
* data bounds. Otherwise, it will throw an error.
* @param index The desired memory location.
* @return A editable reference to the data on the desired index location.
*/
inline T& at(const int index)
{
return commonAt(index);
}
/**
* at() function
* Same functionality as operator[](const int index) const, but it always check whether the indexes are within
* the data bounds. Otherwise, it will throw an error.
* @param index The desired memory location.
* @return A non-editable reference to the data on the desired index location.
*/
inline const T& at(const int index) const
{
return commonAt(index);
}
/**
* at() function
* Same functionality as operator[](const std::vector<int>& indexes), but it always check whether the indexes
* are within the data bounds. Otherwise, it will throw an error.
* @param indexes Vector with the desired memory location.
* @return A editable reference to the data on the desired index location.
*/
inline T& at(const std::vector<int>& indexes)
{
return at(getIndexAndCheck(indexes));
}
/**
* at() function
* Same functionality as operator[](const std::vector<int>& indexes) const, but it always check whether the
* indexes are within the data bounds. Otherwise, it will throw an error.
* @param indexes Vector with the desired memory location.
* @return A non-editable reference to the data on the desired index location.
*/
inline const T& at(const std::vector<int>& indexes) const
{
return at(getIndexAndCheck(indexes));
}
/**
* It returns a string with the whole array data. Useful for debugging.
* The format is: values separated by a space, and a enter for each dimension. E.g.,
* For the Array{2, 2, 3}, it will print:
* Array<T>::toString():
* x1 x2 x3
* x4 x5 x6
*
* x7 x8 x9
* x10 x11 x12
* @return A string with the array values in the above format.
*/
const std::string toString() const;
private:
std::vector<int> mSize;
size_t mVolume;
std::shared_ptr<T> spData;
T* pData; // pData is a wrapper of spData. Used for Pybind11 binding.
std::pair<bool, Matrix> mCvMatData;
/**
* Auxiliary function that both operator[](const std::vector<int>& indexes) and
* operator[](const std::vector<int>& indexes) const use.
* It turn the multi-dimensions indexes into the 1-dimension equivalent index.
* @param indexes Vector with the desired memory location.
* @return The equivalent 1-D index.
*/
int getIndex(const std::vector<int>& indexes) const;
/**
* Similar to getIndex(const std::vector<int>& indexes) const, but used for at(const std::vector<int>& indexes)
* and at(const std::vector<int>& indexes) const.
* It also checks whether the index is within the allocated memory.
* @param indexes Vector with the desired memory location.
* @return The equivalent 1-D index.
*/
int getIndexAndCheck(const std::vector<int>& indexes) const;
/**
* Auxiliary function that both at(const int index) and at(const int index) const use.
* @param index The desired memory location.
* @return A non-editable reference to the data on the desired index location.
*/
T& commonAt(const int index) const;
void resetAuxiliary(const std::vector<int>& sizes, T* const dataPtr = nullptr);
};
// Static methods
OVERLOAD_C_OUT(Array)
}
#endif // OPENPOSE_CORE_ARRAY_HPP
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