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Thirdparty/DBoW2/DUtils/Random.cpp

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+/*	
+ * File: Random.cpp
+ * Project: DUtils library
+ * Author: Dorian Galvez-Lopez
+ * Date: April 2010
+ * Description: manages pseudo-random numbers
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#include "Random.h"
+#include "Timestamp.h"
+#include <cstdlib>
+using namespace std;
+
+bool DUtils::Random::m_already_seeded = false;
+
+void DUtils::Random::SeedRand(){
+	Timestamp time;
+	time.setToCurrentTime();
+	srand((unsigned)time.getFloatTime()); 
+}
+
+void DUtils::Random::SeedRandOnce()
+{
+  if(!m_already_seeded)
+  {
+    DUtils::Random::SeedRand();
+    m_already_seeded = true;
+  }
+}
+
+void DUtils::Random::SeedRand(int seed)
+{
+	srand(seed); 
+}
+
+void DUtils::Random::SeedRandOnce(int seed)
+{
+  if(!m_already_seeded)
+  {
+    DUtils::Random::SeedRand(seed);
+    m_already_seeded = true;
+  }
+}
+
+int DUtils::Random::RandomInt(int min, int max){
+	int d = max - min + 1;
+	return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min;
+}
+
+// ---------------------------------------------------------------------------
+// ---------------------------------------------------------------------------
+
+DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max)
+{
+  if(min <= max)
+  {
+    m_min = min;
+    m_max = max;
+  }
+  else
+  {
+    m_min = max;
+    m_max = min;
+  }
+
+  createValues();
+}
+
+// ---------------------------------------------------------------------------
+
+DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer
+  (const DUtils::Random::UnrepeatedRandomizer& rnd)
+{
+  *this = rnd;
+}
+
+// ---------------------------------------------------------------------------
+
+int DUtils::Random::UnrepeatedRandomizer::get()
+{
+  if(empty()) createValues();
+  
+  DUtils::Random::SeedRandOnce();
+  
+  int k = DUtils::Random::RandomInt(0, m_values.size()-1);
+  int ret = m_values[k];
+  m_values[k] = m_values.back();
+  m_values.pop_back();
+  
+  return ret;
+}
+
+// ---------------------------------------------------------------------------
+
+void DUtils::Random::UnrepeatedRandomizer::createValues()
+{
+  int n = m_max - m_min + 1;
+  
+  m_values.resize(n);
+  for(int i = 0; i < n; ++i) m_values[i] = m_min + i;
+}
+
+// ---------------------------------------------------------------------------
+
+void DUtils::Random::UnrepeatedRandomizer::reset()
+{
+  if((int)m_values.size() != m_max - m_min + 1) createValues();
+}
+
+// ---------------------------------------------------------------------------
+
+DUtils::Random::UnrepeatedRandomizer& 
+DUtils::Random::UnrepeatedRandomizer::operator=
+  (const DUtils::Random::UnrepeatedRandomizer& rnd)
+{
+  if(this != &rnd)
+  {
+    this->m_min = rnd.m_min;
+    this->m_max = rnd.m_max;
+    this->m_values = rnd.m_values;
+  }
+  return *this;
+}
+
+// ---------------------------------------------------------------------------
+
+

Thirdparty/DBoW2/DUtils/Random.h

@@ -0,0 +1,184 @@
+/*	
+ * File: Random.h
+ * Project: DUtils library
+ * Author: Dorian Galvez-Lopez
+ * Date: April 2010, November 2011
+ * Description: manages pseudo-random numbers
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#pragma once
+#ifndef __D_RANDOM__
+#define __D_RANDOM__
+
+#include <cstdlib>
+#include <vector>
+
+namespace DUtils {
+
+/// Functions to generate pseudo-random numbers
+class Random
+{
+public:
+  class UnrepeatedRandomizer;
+  
+public:
+	/**
+	 * Sets the random number seed to the current time
+	 */
+	static void SeedRand();
+	
+	/**
+	 * Sets the random number seed to the current time only the first
+	 * time this function is called
+	 */
+	static void SeedRandOnce();
+
+	/** 
+	 * Sets the given random number seed
+	 * @param seed
+	 */
+	static void SeedRand(int seed);
+
+	/** 
+	 * Sets the given random number seed only the first time this function 
+	 * is called
+	 * @param seed
+	 */
+	static void SeedRandOnce(int seed);
+
+	/**
+	 * Returns a random number in the range [0..1]
+	 * @return random T number in [0..1]
+	 */
+	template <class T>
+	static T RandomValue(){
+		return (T)rand()/(T)RAND_MAX;
+	}
+
+	/**
+	 * Returns a random number in the range [min..max]
+	 * @param min
+	 * @param max
+	 * @return random T number in [min..max]
+	 */
+	template <class T>
+	static T RandomValue(T min, T max){
+		return Random::RandomValue<T>() * (max - min) + min;
+	}
+
+	/**
+	 * Returns a random int in the range [min..max]
+	 * @param min
+	 * @param max
+	 * @return random int in [min..max]
+	 */
+	static int RandomInt(int min, int max);
+	
+	/** 
+	 * Returns a random number from a gaussian distribution
+	 * @param mean
+	 * @param sigma standard deviation
+	 */
+	template <class T>
+	static T RandomGaussianValue(T mean, T sigma)
+	{
+    // Box-Muller transformation
+    T x1, x2, w, y1;
+
+    do {
+      x1 = (T)2. * RandomValue<T>() - (T)1.;
+      x2 = (T)2. * RandomValue<T>() - (T)1.;
+      w = x1 * x1 + x2 * x2;
+    } while ( w >= (T)1. || w == (T)0. );
+
+    w = sqrt( ((T)-2.0 * log( w ) ) / w );
+    y1 = x1 * w;
+
+    return( mean + y1 * sigma );
+	}
+
+private:
+
+  /// If SeedRandOnce() or SeedRandOnce(int) have already been called
+  static bool m_already_seeded;
+  
+};
+
+// ---------------------------------------------------------------------------
+
+/// Provides pseudo-random numbers with no repetitions
+class Random::UnrepeatedRandomizer
+{
+public:
+
+  /** 
+   * Creates a randomizer that returns numbers in the range [min, max]
+   * @param min
+   * @param max
+   */
+  UnrepeatedRandomizer(int min, int max);
+  ~UnrepeatedRandomizer(){}
+  
+  /**
+   * Copies a randomizer
+   * @param rnd
+   */
+  UnrepeatedRandomizer(const UnrepeatedRandomizer& rnd);
+  
+  /**
+   * Copies a randomizer
+   * @param rnd
+   */
+  UnrepeatedRandomizer& operator=(const UnrepeatedRandomizer& rnd);
+  
+  /** 
+   * Returns a random number not given before. If all the possible values
+   * were already given, the process starts again
+   * @return unrepeated random number
+   */
+  int get();
+  
+  /**
+   * Returns whether all the possible values between min and max were
+   * already given. If get() is called when empty() is true, the behaviour
+   * is the same than after creating the randomizer
+   * @return true iff all the values were returned
+   */
+  inline bool empty() const { return m_values.empty(); }
+  
+  /**
+   * Returns the number of values still to be returned
+   * @return amount of values to return
+   */
+  inline unsigned int left() const { return m_values.size(); }
+  
+  /**
+   * Resets the randomizer as it were just created
+   */
+  void reset();
+  
+protected:
+
+  /** 
+   * Creates the vector with available values
+   */
+  void createValues();
+
+protected:
+
+  /// Min of range of values
+  int m_min;
+  /// Max of range of values
+  int m_max;
+
+  /// Available values
+  std::vector<int> m_values;
+
+};
+
+}
+
+#endif
+

Thirdparty/DBoW2/DUtils/Timestamp.cpp

@@ -0,0 +1,246 @@
+/*
+ * File: Timestamp.cpp
+ * Author: Dorian Galvez-Lopez
+ * Date: March 2009
+ * Description: timestamping functions
+ * 
+ * Note: in windows, this class has a 1ms resolution
+ *
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#include <cstdio>
+#include <cstdlib>
+#include <ctime>
+#include <cmath>
+#include <sstream>
+#include <iomanip>
+
+#ifdef _WIN32
+#ifndef WIN32
+#define WIN32
+#endif
+#endif
+
+#ifdef WIN32
+#include <sys/timeb.h>
+#define sprintf sprintf_s
+#else
+#include <sys/time.h>
+#endif
+
+#include "Timestamp.h"
+
+using namespace std;
+
+using namespace DUtils;
+
+Timestamp::Timestamp(Timestamp::tOptions option)
+{
+  if(option & CURRENT_TIME)
+    setToCurrentTime();
+  else if(option & ZERO)
+    setTime(0.);
+}
+
+Timestamp::~Timestamp(void)
+{
+}
+
+bool Timestamp::empty() const
+{
+  return m_secs == 0 && m_usecs == 0;
+}
+
+void Timestamp::setToCurrentTime(){
+	
+#ifdef WIN32
+	struct __timeb32 timebuffer;
+	_ftime32_s( &timebuffer ); // C4996
+	// Note: _ftime is deprecated; consider using _ftime_s instead
+	m_secs = timebuffer.time;
+	m_usecs = timebuffer.millitm * 1000;
+#else
+	struct timeval now;
+	gettimeofday(&now, NULL);
+	m_secs = now.tv_sec;
+	m_usecs = now.tv_usec;
+#endif
+
+}
+
+void Timestamp::setTime(const string &stime){
+	string::size_type p = stime.find('.');
+	if(p == string::npos){
+		m_secs = atol(stime.c_str());
+		m_usecs = 0;
+	}else{
+		m_secs = atol(stime.substr(0, p).c_str());
+		
+		string s_usecs = stime.substr(p+1, 6);
+		m_usecs = atol(stime.substr(p+1).c_str());
+		m_usecs *= (unsigned long)pow(10.0, double(6 - s_usecs.length()));
+	}
+}
+
+void Timestamp::setTime(double s)
+{
+  m_secs = (unsigned long)s;
+  m_usecs = (s - (double)m_secs) * 1e6;
+}
+
+double Timestamp::getFloatTime() const {
+	return double(m_secs) + double(m_usecs)/1000000.0;
+}
+
+string Timestamp::getStringTime() const {
+	char buf[32];
+	sprintf(buf, "%.6lf", this->getFloatTime());
+	return string(buf);
+}
+
+double Timestamp::operator- (const Timestamp &t) const {
+	return this->getFloatTime() - t.getFloatTime();
+}
+
+Timestamp& Timestamp::operator+= (double s)
+{
+  *this = *this + s;
+  return *this;
+}
+
+Timestamp& Timestamp::operator-= (double s)
+{
+  *this = *this - s;
+  return *this;
+}
+
+Timestamp Timestamp::operator+ (double s) const
+{
+	unsigned long secs = (long)floor(s);
+	unsigned long usecs = (long)((s - (double)secs) * 1e6);
+
+  return this->plus(secs, usecs);
+}
+
+Timestamp Timestamp::plus(unsigned long secs, unsigned long usecs) const
+{
+  Timestamp t;
+
+	const unsigned long max = 1000000ul;
+
+	if(m_usecs + usecs >= max)
+		t.setTime(m_secs + secs + 1, m_usecs + usecs - max);
+	else
+		t.setTime(m_secs + secs, m_usecs + usecs);
+	
+	return t;
+}
+
+Timestamp Timestamp::operator- (double s) const
+{
+	unsigned long secs = (long)floor(s);
+	unsigned long usecs = (long)((s - (double)secs) * 1e6);
+
+	return this->minus(secs, usecs);
+}
+
+Timestamp Timestamp::minus(unsigned long secs, unsigned long usecs) const
+{
+  Timestamp t;
+
+	const unsigned long max = 1000000ul;
+
+	if(m_usecs < usecs)
+		t.setTime(m_secs - secs - 1, max - (usecs - m_usecs));
+	else
+		t.setTime(m_secs - secs, m_usecs - usecs);
+	
+	return t;
+}
+
+bool Timestamp::operator> (const Timestamp &t) const
+{
+	if(m_secs > t.m_secs) return true;
+	else if(m_secs == t.m_secs) return m_usecs > t.m_usecs;
+	else return false;
+}
+
+bool Timestamp::operator>= (const Timestamp &t) const
+{
+	if(m_secs > t.m_secs) return true;
+	else if(m_secs == t.m_secs) return m_usecs >= t.m_usecs;
+	else return false;
+}
+
+bool Timestamp::operator< (const Timestamp &t) const
+{
+	if(m_secs < t.m_secs) return true;
+	else if(m_secs == t.m_secs) return m_usecs < t.m_usecs;
+	else return false;
+}
+
+bool Timestamp::operator<= (const Timestamp &t) const
+{
+	if(m_secs < t.m_secs) return true;
+	else if(m_secs == t.m_secs) return m_usecs <= t.m_usecs;
+	else return false;
+}
+
+bool Timestamp::operator== (const Timestamp &t) const
+{
+	return(m_secs == t.m_secs && m_usecs == t.m_usecs);
+}
+
+
+string Timestamp::Format(bool machine_friendly) const 
+{
+  struct tm tm_time;
+
+  time_t t = (time_t)getFloatTime();
+
+#ifdef WIN32
+  localtime_s(&tm_time, &t);
+#else
+  localtime_r(&t, &tm_time);
+#endif
+  
+  char buffer[128];
+  
+  if(machine_friendly)
+  {
+    strftime(buffer, 128, "%Y%m%d_%H%M%S", &tm_time);
+  }
+  else
+  {
+    strftime(buffer, 128, "%c", &tm_time); // Thu Aug 23 14:55:02 2001
+  }
+  
+  return string(buffer);
+}
+
+string Timestamp::Format(double s) {
+	int days = int(s / (24. * 3600.0));
+	s -= days * (24. * 3600.0);
+	int hours = int(s / 3600.0);
+	s -= hours * 3600;
+	int minutes = int(s / 60.0);
+	s -= minutes * 60;
+	int seconds = int(s);
+	int ms = int((s - seconds)*1e6);
+
+	stringstream ss;
+	ss.fill('0');
+	bool b;
+	if((b = (days > 0))) ss << days << "d ";
+	if((b = (b || hours > 0))) ss << setw(2) << hours << ":";
+	if((b = (b || minutes > 0))) ss << setw(2) << minutes << ":";
+	if(b) ss << setw(2);
+	ss << seconds;
+	if(!b) ss << "." << setw(6) << ms;
+
+	return ss.str();
+}
+
+

Thirdparty/DBoW2/DUtils/Timestamp.h

@@ -0,0 +1,204 @@
+/*
+ * File: Timestamp.h
+ * Author: Dorian Galvez-Lopez
+ * Date: March 2009
+ * Description: timestamping functions
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#ifndef __D_TIMESTAMP__
+#define __D_TIMESTAMP__
+
+#include <iostream>
+using namespace std;
+
+namespace DUtils {
+
+/// Timestamp
+class Timestamp
+{
+public:
+
+  /// Options to initiate a timestamp
+  enum tOptions
+  {
+    NONE = 0,
+    CURRENT_TIME = 0x1,
+    ZERO = 0x2
+  };
+  
+public:
+  
+  /**
+   * Creates a timestamp 
+   * @param option option to set the initial time stamp
+   */
+	Timestamp(Timestamp::tOptions option = NONE);
+	
+	/**
+	 * Destructor
+	 */
+	virtual ~Timestamp(void);
+
+  /**
+   * Says if the timestamp is "empty": seconds and usecs are both 0, as 
+   * when initiated with the ZERO flag
+   * @return true iif secs == usecs == 0
+   */
+  bool empty() const;
+
+	/**
+	 * Sets this instance to the current time
+	 */
+	void setToCurrentTime();
+
+	/**
+	 * Sets the timestamp from seconds and microseconds
+	 * @param secs: seconds
+	 * @param usecs: microseconds
+	 */
+	inline void setTime(unsigned long secs, unsigned long usecs){
+		m_secs = secs;
+		m_usecs = usecs;
+	}
+	
+	/**
+	 * Returns the timestamp in seconds and microseconds
+	 * @param secs seconds
+	 * @param usecs microseconds
+	 */
+	inline void getTime(unsigned long &secs, unsigned long &usecs) const
+	{
+	  secs = m_secs;
+	  usecs = m_usecs;
+	}
+
+	/**
+	 * Sets the timestamp from a string with the time in seconds
+	 * @param stime: string such as "1235603336.036609"
+	 */
+	void setTime(const string &stime);
+	
+	/**
+	 * Sets the timestamp from a number of seconds from the epoch
+	 * @param s seconds from the epoch
+	 */
+	void setTime(double s);
+	
+	/**
+	 * Returns this timestamp as the number of seconds in (long) float format
+	 */
+	double getFloatTime() const;
+
+	/**
+	 * Returns this timestamp as the number of seconds in fixed length string format
+	 */
+	string getStringTime() const;
+
+	/**
+	 * Returns the difference in seconds between this timestamp (greater) and t (smaller)
+	 * If the order is swapped, a negative number is returned
+	 * @param t: timestamp to subtract from this timestamp
+	 * @return difference in seconds
+	 */
+	double operator- (const Timestamp &t) const;
+
+	/** 
+	 * Returns a copy of this timestamp + s seconds + us microseconds
+	 * @param s seconds
+	 * @param us microseconds
+	 */
+	Timestamp plus(unsigned long s, unsigned long us) const;
+
+  /**
+   * Returns a copy of this timestamp - s seconds - us microseconds
+   * @param s seconds
+   * @param us microseconds
+   */
+  Timestamp minus(unsigned long s, unsigned long us) const;
+
+  /**
+   * Adds s seconds to this timestamp and returns a reference to itself
+   * @param s seconds
+   * @return reference to this timestamp
+   */
+  Timestamp& operator+= (double s);
+  
+  /**
+   * Substracts s seconds to this timestamp and returns a reference to itself
+   * @param s seconds
+   * @return reference to this timestamp
+   */
+  Timestamp& operator-= (double s);
+
+	/**
+	 * Returns a copy of this timestamp + s seconds
+	 * @param s: seconds
+	 */
+	Timestamp operator+ (double s) const;
+
+	/**
+	 * Returns a copy of this timestamp - s seconds
+	 * @param s: seconds
+	 */
+	Timestamp operator- (double s) const;
+
+	/**
+	 * Returns whether this timestamp is at the future of t
+	 * @param t
+	 */
+	bool operator> (const Timestamp &t) const;
+
+	/**
+	 * Returns whether this timestamp is at the future of (or is the same as) t
+	 * @param t
+	 */
+	bool operator>= (const Timestamp &t) const;
+
+	/** 
+	 * Returns whether this timestamp and t represent the same instant
+	 * @param t
+	 */
+	bool operator== (const Timestamp &t) const;
+
+	/**
+	 * Returns whether this timestamp is at the past of t
+	 * @param t
+	 */
+	bool operator< (const Timestamp &t) const;
+
+	/**
+	 * Returns whether this timestamp is at the past of (or is the same as) t
+	 * @param t
+	 */
+	bool operator<= (const Timestamp &t) const;
+
+  /**
+   * Returns the timestamp in a human-readable string
+   * @param machine_friendly if true, the returned string is formatted
+   *   to yyyymmdd_hhmmss, without weekday or spaces
+   * @note This has not been tested under Windows
+   * @note The timestamp is truncated to seconds
+   */
+  string Format(bool machine_friendly = false) const;
+
+	/**
+	 * Returns a string version of the elapsed time in seconds, with the format
+	 * xd hh:mm:ss, hh:mm:ss, mm:ss or s.us
+	 * @param s: elapsed seconds (given by getFloatTime) to format
+	 */
+	static string Format(double s);
+	
+
+protected:
+  /// Seconds
+	unsigned long m_secs;	// seconds
+	/// Microseconds
+	unsigned long m_usecs;	// microseconds
+};
+
+}
+
+#endif
+