Somewhere on the way to porting the camera keypoints processing

LinearAlgebra/Matrix.cpp

@@ -7,6 +7,8 @@ namespace LinearAlgebra {
 
 #pragma region Matrix1
 
+Matrix1::Matrix1() {}
+
 Matrix1::Matrix1(int size) : size(size) {
   if (this->size == 0)
     data = nullptr;
@@ -257,6 +259,37 @@ void Matrix2::UpdateSlice(int rowStart,
   }
 }
 
+Matrix2 Matrix2::DeleteRows(int rowStart, int rowStop) {
+  Matrix2 r = Matrix2(this->nRows - (rowStop - rowStart), this->nCols);
+
+  int resultRowIx = 0;
+  for (int i = 0; i < this->nRows; i++) {
+    if (i >= rowStart && i < rowStop)
+      continue;
+
+    for (int j = 0; j < this->nCols; j++)
+      r.data[resultRowIx * r.nCols + j] = this->data[i * this->nCols + j];
+
+    resultRowIx++;
+  }
+  return r;
+}
+
+Matrix2 Matrix2::DeleteColumns(int colStart, int colStop) {
+  Matrix2 r = Matrix2(this->nRows, this->nCols - (colStop - colStart));
+
+  for (int i = 0; i < this->nRows; i++) {
+    int resultColIx = 0;
+    for (int j = 0; j < this->nCols; j++) {
+      if (j >= colStart && j < colStop)
+        continue;
+
+      r.data[i * r.nCols + resultColIx++] = this->data[i * this->nCols + j];
+    }
+  }
+  return r;
+}
+
 /// @brief Compute the Omega matrix of a 3D vector
 /// @param v The vector
 /// @return 4x4 Omega matrix

LinearAlgebra/Matrix.h

@@ -12,12 +12,33 @@ class Matrix1 {
   float* data = nullptr;
   int size = 0;
 
+  Matrix1();
   Matrix1(int size);
   Matrix1(float* data, int size);
 
   static Matrix1 FromQuaternion(Quaternion q);
   Quaternion ToQuaternion();
 
+  Matrix1 Slice(int start, int stop);
+
+  void Set(unsigned int start, unsigned int stop, float value) {
+    if (stop > this->size)
+      stop = this->size;
+
+    for (unsigned int ix = start; ix < stop; ix++)
+      this->data[ix] = value;
+  }
+  void Set(unsigned int start, unsigned int stop, Matrix1 source) {
+    if (stop > this->size)
+      stop = this->size;
+    if (stop > source.size)
+      stop = source.size;
+    // Do I need to check on start???
+    unsigned int sourceIx = 0;
+    for (unsigned int ix = start; ix < stop; ix++, sourceIx++)
+      this->data[ix] = source.data[sourceIx];
+  }
+
  private:
   bool externalData = true;
 };
@@ -96,13 +117,33 @@ class Matrix2 {
     return r;
   }
 
+  Matrix2 GetRows(int from, int to) {
+    if (from < 0 || to >= this->nRows)
+      std::cerr << "Slice index out of range." << "std::endl";
+
+    Matrix2 result = Matrix2(to-from, this->nCols);
+    int resultRowIx = 0;
+    for (int rowIx = from; rowIx < to; rowIx++) {
+      for (int colIx = 0; colIx < this->nCols; colIx++)
+        result.data[resultRowIx * result.nCols + colIx] = this->data[rowIx * this->nCols + colIx];
+
+      resultRowIx++;
+    }
+
+    return result;
+  }
+
   Matrix2 Slice(int rawStart, int rowStop, int colStart, int colStop);
 
   void UpdateSlice(int rowStart,
-                int rowStop,
+                   int rowStop,
-                int colStart,
+                   int colStart,
-                int colStop,
+                   int colStop,
-                const Matrix2& m) const;
+                   const Matrix2& m) const;
+
+  Matrix2 DeleteRows(int rowStart, int rowStop);
+  Matrix2 DeleteColumns(int colStart, int colStop);
+
   // private:
   //  move constructor and move assignment operator
   Matrix2(Matrix2&& other) noexcept;

LinearAlgebra/Vector2.cpp

@@ -180,3 +180,13 @@ Vector2 Vector2::Lerp(const Vector2& v1, const Vector2& v2, float f) {
   Vector2 v = v1 + (v2 - v1) * f;
   return v;
 }
+
+
+#pragma region Vector2Of
+
+template <typename T>
+Vector2Of<T>::Vector2Of() {
+  this->horizontal = 0;
+  this->vertical = 0;
+}
+#pragma endregion Vector2Of

LinearAlgebra/Vector2.h

@@ -201,6 +201,17 @@ struct Vector2 : Vec2 {
   static Vector2 Lerp(const Vector2& v1, const Vector2& v2, float f);
 };
 
+template <typename T>
+struct Vector2Of {
+ public:
+  Vector2Of();
+
+  T horizontal = 0;
+  T vertical = 0;
+};
+
+using Vector2Int = Vector2Of<int>;
+
 }  // namespace LinearAlgebra
 using namespace LinearAlgebra;