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Access arrays by pointer arithmetic. #86

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Access arrays by pointer arithmetic. #86

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56 changes: 24 additions & 32 deletions python/pyopengv.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,25 +17,23 @@
namespace pyopengv {


opengv::bearingVector_t bearingVectorFromArray(
const pyarray_d &array,
opengv::bearingVector_t bearingVectorFromPtr(
const double *array_ptr,
size_t index )
{
const double *a = array_ptr + 3 * index;
opengv::bearingVector_t v;
v[0] = *array.data(index, 0);
v[1] = *array.data(index, 1);
v[2] = *array.data(index, 2);
v << a[0], a[1], a[2];
return v;
}

opengv::point_t pointFromArray(
const pyarray_d &array,
opengv::point_t pointFromPtr(
const double *array_ptr,
size_t index )
{
const double *a = array_ptr + 3 * index;
opengv::point_t p;
p[0] = *array.data(index, 0);
p[1] = *array.data(index, 1);
p[2] = *array.data(index, 2);
p << a[0], a[1], a[2];
return p;
}

Expand Down Expand Up @@ -125,14 +123,15 @@ class CentralAbsoluteAdapter : public opengv::absolute_pose::AbsoluteAdapterBase
pyarray_d &points )
: _bearingVectors(bearingVectors)
, _points(points)
, _bearingVectors_ptr(bearingVectors.data(0, 0))
, _points_ptr(points.data(0, 0))
{}

CentralAbsoluteAdapter(
pyarray_d &bearingVectors,
pyarray_d &points,
pyarray_d &R )
: _bearingVectors(bearingVectors)
, _points(points)
: CentralAbsoluteAdapter(bearingVectors, points)
{
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
Expand All @@ -146,25 +145,19 @@ class CentralAbsoluteAdapter : public opengv::absolute_pose::AbsoluteAdapterBase
pyarray_d &points,
pyarray_d &t,
pyarray_d &R )
: _bearingVectors(bearingVectors)
, _points(points)
: CentralAbsoluteAdapter(bearingVectors, points, R)
{
for (int i = 0; i < 3; ++i) {
_t(i) = *t.data(i);
}
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
_R(i, j) = *R.data(i, j);
}
}
}

virtual ~CentralAbsoluteAdapter() {}

//Access of correspondences

virtual opengv::bearingVector_t getBearingVector( size_t index ) const {
return bearingVectorFromArray(_bearingVectors, index);
return bearingVectorFromPtr(_bearingVectors_ptr, index);
}

virtual double getWeight( size_t index ) const {
Expand All @@ -180,7 +173,7 @@ class CentralAbsoluteAdapter : public opengv::absolute_pose::AbsoluteAdapterBase
}

virtual opengv::point_t getPoint( size_t index ) const {
return pointFromArray(_points, index);
return pointFromPtr(_points_ptr, index);
}

virtual size_t getNumberCorrespondences() const {
Expand All @@ -190,6 +183,8 @@ class CentralAbsoluteAdapter : public opengv::absolute_pose::AbsoluteAdapterBase
protected:
pyarray_d _bearingVectors;
pyarray_d _points;
const double *_bearingVectors_ptr;
const double *_points_ptr;
};


Expand Down Expand Up @@ -347,14 +342,15 @@ class CentralRelativeAdapter : public opengv::relative_pose::RelativeAdapterBase
pyarray_d &bearingVectors2 )
: _bearingVectors1(bearingVectors1)
, _bearingVectors2(bearingVectors2)
, _bearingVectors1_ptr(bearingVectors1.data(0, 0))
, _bearingVectors2_ptr(bearingVectors2.data(0, 0))
{}

CentralRelativeAdapter(
pyarray_d &bearingVectors1,
pyarray_d &bearingVectors2,
pyarray_d &R12 )
: _bearingVectors1(bearingVectors1)
, _bearingVectors2(bearingVectors2)
: CentralRelativeAdapter(bearingVectors1, bearingVectors2)
{
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
Expand All @@ -368,27 +364,21 @@ class CentralRelativeAdapter : public opengv::relative_pose::RelativeAdapterBase
pyarray_d &bearingVectors2,
pyarray_d &t12,
pyarray_d &R12 )
: _bearingVectors1(bearingVectors1)
, _bearingVectors2(bearingVectors2)
: CentralRelativeAdapter(bearingVectors1, bearingVectors2, R12)
{
for (int i = 0; i < 3; ++i) {
_t12(i) = *t12.data(i);
}
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
_R12(i, j) = *R12.data(i, j);
}
}
}

virtual ~CentralRelativeAdapter() {}

virtual opengv::bearingVector_t getBearingVector1( size_t index ) const {
return bearingVectorFromArray(_bearingVectors1, index);
return bearingVectorFromPtr(_bearingVectors1_ptr, index);
}

virtual opengv::bearingVector_t getBearingVector2( size_t index ) const {
return bearingVectorFromArray(_bearingVectors2, index);
return bearingVectorFromPtr(_bearingVectors2_ptr, index);
}

virtual double getWeight( size_t index ) const {
Expand Down Expand Up @@ -418,6 +408,8 @@ class CentralRelativeAdapter : public opengv::relative_pose::RelativeAdapterBase
protected:
pyarray_d _bearingVectors1;
pyarray_d _bearingVectors2;
const double *_bearingVectors1_ptr;
const double *_bearingVectors2_ptr;
};


Expand Down