Open3D (C++ API)  0.15.1
Helper.h
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26
27#pragma once
28
29#include <cmath>
30#include <cstdlib>
31#include <functional>
32#include <random>
33#include <string>
34#include <tuple>
35#include <vector>
36
37namespace open3d {
38namespace utility {
39
47
48template <typename TT>
49struct hash_tuple {
50 size_t operator()(TT const& tt) const { return std::hash<TT>()(tt); }
51};
52
53namespace {
54
55template <class T>
56inline void hash_combine(std::size_t& seed, T const& v) {
57 seed ^= std::hash<T>()(v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
58}
59
60template <class Tuple, size_t Index = std::tuple_size<Tuple>::value - 1>
61struct HashValueImpl {
62 static void apply(size_t& seed, Tuple const& tuple) {
63 HashValueImpl<Tuple, Index - 1>::apply(seed, tuple);
64 hash_combine(seed, std::get<Index>(tuple));
65 }
66};
67
68template <class Tuple>
69struct HashValueImpl<Tuple, 0> {
70 static void apply(size_t& seed, Tuple const& tuple) {
71 hash_combine(seed, std::get<0>(tuple));
72 }
73};
74
75} // unnamed namespace
76
77template <typename... TT>
78struct hash_tuple<std::tuple<TT...>> {
79 size_t operator()(std::tuple<TT...> const& tt) const {
80 size_t seed = 0;
81 HashValueImpl<std::tuple<TT...>>::apply(seed, tt);
82 return seed;
83 }
84};
85
86template <typename T>
87struct hash_eigen {
88 std::size_t operator()(T const& matrix) const {
89 size_t seed = 0;
90 for (int i = 0; i < (int)matrix.size(); i++) {
91 auto elem = *(matrix.data() + i);
92 seed ^= std::hash<typename T::Scalar>()(elem) + 0x9e3779b9 +
93 (seed << 6) + (seed >> 2);
94 }
95 return seed;
96 }
97};
98
99// Hash function for enum class for C++ standard less than C++14
100// https://stackoverflow.com/a/24847480/1255535
102 template <typename T>
104 return static_cast<std::size_t>(t);
105 }
106};
107
110std::vector<std::string> SplitString(const std::string& str,
111 const std::string& delimiters = " ",
112 bool trim_empty_str = true);
113
117bool ContainsString(const std::string& src, const std::string& dst);
118
122bool StringStartsWith(const std::string& src, const std::string& tar);
123
127bool StringEndsWith(const std::string& src, const std::string& tar);
128
129std::string JoinStrings(const std::vector<std::string>& strs,
130 const std::string& delimiter = ", ");
131
135size_t WordLength(const std::string& doc,
136 size_t start_pos,
137 const std::string& valid_chars = "_");
138
139std::string& LeftStripString(std::string& str,
140 const std::string& chars = "\t\n\v\f\r ");
141
142std::string& RightStripString(std::string& str,
143 const std::string& chars = "\t\n\v\f\r ");
144
147std::string& StripString(std::string& str,
148 const std::string& chars = "\t\n\v\f\r ");
149
151std::string ToLower(const std::string& s);
152
154std::string ToUpper(const std::string& s);
155
156void Sleep(int milliseconds);
157
159inline int DivUp(int x, int y) {
160 div_t tmp = std::div(x, y);
161 return tmp.quot + (tmp.rem != 0 ? 1 : 0);
162}
163
169public:
171 const int min,
172 const int max,
173 std::mt19937::result_type seed = std::random_device{}())
174 : distribution_(min, max), generator_(seed) {}
176
177protected:
178 std::uniform_int_distribution<int> distribution_;
179 std::mt19937 generator_;
180};
181
183std::string GetCurrentTimeStamp();
184
185} // namespace utility
186} // namespace open3d
Draw pseudo-random integers bounded by min and max (inclusive) from a uniform distribution.
Definition: Helper.h:168
std::uniform_int_distribution< int > distribution_
Definition: Helper.h:178
std::mt19937 generator_
Definition: Helper.h:179
int operator()()
Definition: Helper.h:175
UniformRandIntGenerator(const int min, const int max, std::mt19937::result_type seed=std::random_device{}())
Definition: Helper.h:170
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode value const const k4a_calibration_t calibration char size_t
Definition: K4aPlugin.cpp:738
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c int
Definition: K4aPlugin.cpp:493
int DivUp(int x, int y)
Computes the quotient of x/y with rounding up.
Definition: Helper.h:159
std::string ToLower(const std::string &str)
Convert string to the lower case.
Definition: Helper.cpp:102
bool ContainsString(const std::string &src, const std::string &dst)
Definition: Helper.cpp:61
bool StringEndsWith(const std::string &src, const std::string &tar)
Definition: Helper.cpp:70
void Sleep(int milliseconds)
Definition: Helper.cpp:138
std::string GetCurrentTimeStamp()
Returns current time stamp.
Definition: Helper.cpp:146
std::string JoinStrings(const std::vector< std::string > &strs, const std::string &delimiter)
Definition: Helper.cpp:76
std::string & LeftStripString(std::string &str, const std::string &chars)
Definition: Helper.cpp:88
std::string & RightStripString(std::string &str, const std::string &chars)
Definition: Helper.cpp:93
bool StringStartsWith(const std::string &src, const std::string &tar)
Definition: Helper.cpp:65
std::string & StripString(std::string &str, const std::string &chars)
Definition: Helper.cpp:98
std::string ToUpper(const std::string &str)
Convert string to the upper case.
Definition: Helper.cpp:109
std::vector< std::string > SplitString(const std::string &str, const std::string &delimiters, bool trim_empty_str)
Definition: Helper.cpp:45
size_t WordLength(const std::string &doc, size_t start_pos, const std::string &valid_chars)
Definition: Helper.cpp:117
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Device.h:138
Definition: Helper.h:87
std::size_t operator()(T const &matrix) const
Definition: Helper.h:88
Definition: Helper.h:101
std::size_t operator()(T t) const
Definition: Helper.h:103
size_t operator()(std::tuple< TT... > const &tt) const
Definition: Helper.h:79
Definition: Helper.h:49
size_t operator()(TT const &tt) const
Definition: Helper.h:50