matrix.h

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/***********************************************************************
 * Software License Agreement (BSD License)
 *
 * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
 * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
 *
 * THE BSD LICENSE
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
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#ifndef RTABMAP_FLANN_DATASET_H_
#define RTABMAP_FLANN_DATASET_H_
 
#include "rtflann/general.h"
#include "rtflann/util/serialization.h"
#include <stdio.h>
 
namespace rtflann
{
 
typedef unsigned char uchar;
 
class Matrix_
{
public:
 
        Matrix_() : rows(0), cols(0), stride(0), type(FLANN_NONE), data(NULL)
        {
        };
 
    Matrix_(void* data_, size_t rows_, size_t cols_, flann_datatype_t type_, size_t stride_ = 0) :
        rows(rows_), cols(cols_), stride(stride_), type(type_)
    {
        data = static_cast<uchar*>(data_);
 
        if (stride==0) stride = flann_datatype_size(type)*cols;
    }
 
    inline void* operator[](size_t index) const
    {
        return data+index*stride;
    }
 
    void* ptr() const
    {
        return data;
    }
 
    size_t rows;
    size_t cols;
    size_t stride;
    flann_datatype_t type;
protected:
    uchar* data;
 
    template<typename Archive>
    void serialize(Archive& ar)
    {
        ar & rows;
        ar & cols;
        ar & stride;
        ar & type;
        if (Archive::is_loading::value) {
                data = new uchar[rows*stride];
        }
        ar & serialization::make_binary_object(data, rows*stride);
    }
    friend struct serialization::access;
};
 
 
template <typename T>
class Matrix : public Matrix_
{
public:
    typedef T type;
 
    Matrix() : Matrix_()
    {
    }
 
    Matrix(T* data_, size_t rows_, size_t cols_, size_t stride_ = 0) :
        Matrix_(data_, rows_, cols_, flann_datatype_value<T>::value, stride_)
    {
        if (stride==0) stride = sizeof(T)*cols;
    }
 
    inline T* operator[](size_t index) const
    {
        return reinterpret_cast<T*>(data+index*stride);
    }
 
 
    T* ptr() const
    {
        return reinterpret_cast<T*>(data);
    }
};
 
}
 
#endif //FLANN_DATASET_H_