C++ circular_buffer::end方法代码示例

void GestureClassifierByHistogram::drawMatchedIdPatternHistogram(const boost::circular_buffer<size_t> &matchedHistogramIndexes, const std::string &windowName) const
{
	// calculate matched index histogram
	cv::MatND hist;
#if defined(__GNUC__)
    {
        cv::Mat tmpmat(std::vector<unsigned char>(matchedHistogramIndexes.begin(), matchedHistogramIndexes.end()));
        cv::calcHist(&tmpmat, 1, local::indexHistChannels, cv::Mat(), hist, local::histDims, local::indexHistSize, local::indexHistRanges, true, false);
    }
#else
	cv::calcHist(&cv::Mat(std::vector<unsigned char>(matchedHistogramIndexes.begin(), matchedHistogramIndexes.end())), 1, local::indexHistChannels, cv::Mat(), hist, local::histDims, local::indexHistSize, local::indexHistRanges, true, false);
#endif

	// normalize histogram
	//HistogramUtil::normalizeHistogram(hist, params_.maxMatchedHistogramNum);

	// draw matched index histogram
	cv::Mat histImg(cv::Mat::zeros(local::indexHistMaxHeight, local::indexHistBins*local::indexHistBinWidth, CV_8UC3));
	HistogramUtil::drawHistogram1D(hist, local::indexHistBins, params_.maxMatchedHistogramNum, local::indexHistBinWidth, local::indexHistMaxHeight, histImg);

	std::ostringstream sstream;
	sstream << "count: " << matchedHistogramIndexes.size();
	cv::putText(histImg, sstream.str(), cv::Point(10, 15), cv::FONT_HERSHEY_COMPLEX, 0.5, CV_RGB(255, 0, 255), 1, 8, false);

	cv::imshow(windowName, histImg);
}

void image_obj_callback(const autoware_msgs::image_obj::ConstPtr& image_obj_msg) {
    pthread_mutex_lock(&mutex);
    image_obj_ringbuf.push_front(*image_obj_msg);

    //vscan_image is empty
    if (vscan_image_ringbuf.begin() == vscan_image_ringbuf.end()) {
        pthread_mutex_unlock(&mutex);
        ROS_INFO("vscan_image ring buffer is empty");
        return;
    }

    buf_flag = true;

    // image_obj > vscan_image
    if (get_time(&(image_obj_ringbuf.front().header)) >= get_time(&(vscan_image_ringbuf.front().header))) {
        vscan_image_buf = vscan_image_ringbuf.front();
        boost::circular_buffer<autoware_msgs::image_obj>::iterator it = image_obj_ringbuf.begin();
        if (image_obj_ringbuf.size() == 1) {
            image_obj_buf = *it;
            pthread_mutex_unlock(&mutex);
            return;
        } else {
            for (it++; it != image_obj_ringbuf.end(); it++) {
                if (fabs_time_diff(&(vscan_image_ringbuf.front().header), &((it-1)->header))
                    < fabs_time_diff(&(vscan_image_ringbuf.front().header), &(it->header))) {
                    image_obj_buf = *(it-1);
                    break;
                }
            }
            if (it == image_obj_ringbuf.end()) {
                image_obj_buf = image_obj_ringbuf.back();
            }
        }

    } else {
        image_obj_buf = image_obj_ringbuf.front();
        boost::circular_buffer<autoware_msgs::PointsImage>::iterator it = vscan_image_ringbuf.begin();
        if (vscan_image_ringbuf.size() == 1) {
            vscan_image_buf = *it;
            pthread_mutex_unlock(&mutex);
            return;
        }

        for (it++; it != vscan_image_ringbuf.end(); it++) {
            if (fabs_time_diff(&(image_obj_ringbuf.front().header), &((it-1)->header))
                < fabs_time_diff(&(image_obj_ringbuf.front().header), &(it->header))) {
                vscan_image_buf = *(it-1);
                break;
            }
        }

        if (it == vscan_image_ringbuf.end()) {
            vscan_image_buf = vscan_image_ringbuf.back();
        }
    }
    pthread_mutex_unlock(&mutex);
}

void image_obj_ranged_callback(const cv_tracker::image_obj_ranged::ConstPtr& image_obj_ranged_msg) {
    pthread_mutex_lock(&mutex);
    image_obj_ranged_ringbuf.push_front(*image_obj_ranged_msg);

    //image_raw is empty
    if (image_raw_ringbuf.begin() == image_raw_ringbuf.end()) {
        pthread_mutex_unlock(&mutex);
        ROS_INFO("image_raw ring buffer is empty");
        return;
    }

    buf_flag = true;

    // image_obj_ranged > image_raw
    if (get_time(&(image_obj_ranged_ringbuf.front().header)) >= get_time(&(image_raw_ringbuf.front().header))) {
        image_raw_buf = image_raw_ringbuf.front();
        boost::circular_buffer<cv_tracker::image_obj_ranged>::iterator it = image_obj_ranged_ringbuf.begin();
        if (image_obj_ranged_ringbuf.size() == 1) {
            image_obj_ranged_buf = *it;
            pthread_mutex_unlock(&mutex);
            return;
        } else {
            for (it++; it != image_obj_ranged_ringbuf.end(); it++) {
                if (fabs_time_diff(&(image_raw_ringbuf.front().header), &((it-1)->header))
                    < fabs_time_diff(&(image_raw_ringbuf.front().header), &(it->header))) {
                    image_obj_ranged_buf = *(it-1);
                    break;
                }
            }
            if (it == image_obj_ranged_ringbuf.end()) {
                image_obj_ranged_buf = image_obj_ranged_ringbuf.back();
            }
        }

    } else {
        image_obj_ranged_buf = image_obj_ranged_ringbuf.front();
        boost::circular_buffer<sensor_msgs::Image>::iterator it = image_raw_ringbuf.begin();
        if (image_raw_ringbuf.size() == 1) {
            image_raw_buf = *it;
            pthread_mutex_unlock(&mutex);
            return;
        }

        for (it++; it != image_raw_ringbuf.end(); it++) {
            if (fabs_time_diff(&(image_obj_ranged_ringbuf.front().header), &((it-1)->header))
                < fabs_time_diff(&(image_obj_ranged_ringbuf.front().header), &(it->header))) {
                image_raw_buf = *(it-1);
                break;
            }
        }

        if (it == image_raw_ringbuf.end()) {
            image_raw_buf = image_raw_ringbuf.back();
        }
    }
    pthread_mutex_unlock(&mutex);
}

//! Dump Legendre polynomial cache data to stream (table and history).
void dumpLegendrePolynomialCacheData( std::ostream& outputStream,
                                      boost::unordered_map< Point, double > cacheTable,
                                      boost::circular_buffer< Point > cacheHistory )
{
    outputStream << "Table:\n";

    for ( boost::unordered_map< Point, double >::iterator iteratorCacheTable = cacheTable.begin( );
          iteratorCacheTable != cacheTable.end( ); iteratorCacheTable++ )
    {
        outputStream << "\t" << writeLegendrePolynomialStructureToString(
                            iteratorCacheTable->first ).c_str( ) << " => "
                     << iteratorCacheTable->second << std::endl;
    }

    outputStream << "History:\n";

    for ( boost::circular_buffer< Point >::iterator iteratorCacheHistory = cacheHistory.begin( );
          iteratorCacheHistory != cacheHistory.end( ); iteratorCacheHistory++ )
    {
        outputStream << "\t"
                     << writeLegendrePolynomialStructureToString( *iteratorCacheHistory ).c_str( )
                     << ", ";
    }

    outputStream << std::endl;
}

  /** Try to write a value to the pipe

      \param[in] value is what we want to write

      \param[in] blocking specify if the call wait for the operation
      to succeed

      \return true on success

      \todo provide a && version
  */
  bool write(const T &value, bool blocking = false) {
    // Lock the pipe to avoid being disturbed
    std::unique_lock<std::mutex> ul { cb_mutex };
    TRISYCL_DUMP_T("Write pipe full = " << full()
                   << " value = " << value);

    if (blocking)
      /* If in blocking mode, wait for the not full condition, that
         may be changed when a read is done */
      read_done.wait(ul, [&] { return !full(); });
    else if (full())
      return false;

    cb.push_back(value);
    TRISYCL_DUMP_T("Write pipe front = " << cb.front()
                   << " back = " << cb.back()
                   << " cb.begin() = " << (void *)&*cb.begin()
                   << " cb.size() = " << cb.size()
                   << " cb.end() = " << (void *)&*cb.end()
                   << " reserved_for_reading() = " << reserved_for_reading()
                   << " reserved_for_writing() = " << reserved_for_writing());
    // Notify the clients waiting to read something from the pipe
    write_done.notify_all();
    return true;
  }

size_t GestureClassifierByHistogram::matchHistogramByGestureIdPattern(const boost::circular_buffer<size_t> &matchedHistogramIndexes, const std::vector<histogram_type> &gestureIdPatternHistograms, const double histDistThreshold) const
{
	// create matched ID histogram
#if 0
	cv::MatND hist;
	cv::calcHist(
		&cv::Mat(std::vector<unsigned char>(matchedHistogramIndexes.begin(), matchedHistogramIndexes.end())),
		1, phaseHistChannels, cv::Mat(), hist, histDims, phaseHistSize, phaseHistRanges, true, false
	);
#else
	cv::MatND hist = cv::MatND::zeros(local::gesturePatternHistogramBinNum, 1, CV_32F);
	float *binPtr = (float *)hist.data;
	for (boost::circular_buffer<size_t>::const_iterator it = matchedHistogramIndexes.begin(); it != matchedHistogramIndexes.end(); ++it)
		if (*it != (size_t)-1) ++(binPtr[*it]);
#endif

	// match histogram
	double minHistDist = std::numeric_limits<double>::max();
	const size_t &matchedIdx = gestureIdPatternHistograms.empty() ? -1 : HistogramMatcher::match(gestureIdPatternHistograms, hist, minHistDist);

	// FIXME [delete] >>
	//std::cout << "\t\t\t*** " << minHistDist << std::endl;

	return minHistDist < histDistThreshold ? matchedIdx : -1;
}

  /** Compute the amount of elements blocked by write reservations, not yet
      committed

      This includes some normal writes to pipes between/after
      un-committed reservations

      This function assumes that the data structure is locked
  */
  std::size_t reserved_for_writing() const {
    if (w_rid_q.empty())
      // No on-going reservation
      return 0;
    else
      /* The reserved size is from the first element of the first
         on-going reservation up to the end of the pipe content */
      return cb.end() - w_rid_q.front().start;
  }

  /** Get the current number of elements in the pipe that can be read

      This is obviously a volatile value which is constrained by the
      theory of restricted relativity.

      Note that on some devices it may be costly to implement (for
      example on FPGA).
   */
  std::size_t size() const {
    TRISYCL_DUMP_T("size() cb.size() = " << cb.size()
                   << " cb.end() = " << (void *)&*cb.end()
                   << " reserved_for_reading() = " << reserved_for_reading()
                   << " reserved_for_writing() = " << reserved_for_writing());
    /* The actual number of available elements depends from the
       elements blocked by some reservations.
       This prevents a consumer to read into reserved area. */
    return cb.size() - reserved_for_reading() - reserved_for_writing();
  }

    // Helper function: compute the median of a circular buffer
    double circ_buff_median(const boost::circular_buffer<double>& cb) const {
        // FIXME: naive implementation; creates a copy as a vector
        std::vector<double> v;
        for (boost::circular_buffer<double>::const_iterator i = cb.begin();
                i != cb.end(); ++i) {
            v.push_back(*i);
        }

        size_t n = v.size() / 2;
        std::nth_element(v.begin(), v.begin()+n, v.end());
        return v[n];
    }

 ros::Time find(ros::Time sensor_time) {
     boost::circular_buffer<ros::Time>::iterator it = sensor.begin();
     for (int i = 0; it != sensor.end(); it++, i++) {
         if (it->sec == sensor_time.sec && it->nsec == sensor_time.nsec) {
             return execution.at(i); // find
         }
     }
     ROS_ERROR("error:not found a pair");
     ros::Time failed;
     failed.sec = 0;
     failed.nsec = 0;
     return failed; // not find
 }

void CSearchDialog::SaveEntry(int comboBoxId, boost::circular_buffer<std::wstring> &buffer)
{
	TCHAR entry[MAX_PATH];
	GetDlgItemText(m_hDlg, comboBoxId, entry, SIZEOF_ARRAY(entry));

	std::wstring strEntry(entry);
	auto itr = std::find_if(buffer.begin(), buffer.end(),
		[strEntry] (const std::wstring Pattern)
	{
		return Pattern.compare(strEntry) == 0;
	});

	HWND hComboBox = GetDlgItem(m_hDlg, comboBoxId);
	ComboBox_SetCurSel(hComboBox, -1);

	if(itr != buffer.end())
	{
		/* Remove the current element from both the list and the
		combo box. It will be reinserted at the front of both below. */
		auto index = std::distance(buffer.begin(), itr);
		SendMessage(hComboBox, CB_DELETESTRING, index, 0);

		buffer.erase(itr);
	}

	buffer.push_front(entry);

	SendMessage(hComboBox, CB_INSERTSTRING, 0, reinterpret_cast<LPARAM>(entry));
	ComboBox_SetCurSel(hComboBox, 0);
	ComboBox_SetEditSel(hComboBox, -1, -1);

	if(ComboBox_GetCount(hComboBox) > buffer.capacity())
	{
		SendMessage(hComboBox, CB_DELETESTRING, ComboBox_GetCount(hComboBox) - 1, 0);
	}
}

void vscan_image_callback(const autoware_msgs::PointsImage::ConstPtr& vscan_image_msg) {
    pthread_mutex_lock(&mutex);
    vscan_image_ringbuf.push_front(*vscan_image_msg);
    //image_obj is empty
    if (image_obj_ringbuf.begin() == image_obj_ringbuf.end()) {
        ROS_INFO("image_obj ring buffer is empty");
        buf_flag = false;
        pthread_mutex_unlock(&mutex);
        return;
    }
    buf_flag = true;
    pthread_mutex_unlock(&mutex);
    if (image_obj_ranged_flag == true) {
        publish();
    }
}

void CTimeSmoother::BinData(const boost::circular_buffer<double> &data, vector<double> &bins, const double threshold, const unsigned int minbinsize)
{
  if (!data.size())
    return;

  bins.clear();
  vector<unsigned int> counts;

  for (boost::circular_buffer<double>::const_iterator i = data.begin(); i != data.end(); ++i)
  {
    bool found = false;
    for (unsigned int j = 0; j < bins.size(); ++j)
    {
      if (fabs(*i - bins[j]) < threshold*bins[j])
      {
        found = true;
        // update our bin mean and count
        bins[j] = (bins[j]*counts[j] + *i)/(counts[j]+1);
        counts[j]++;
        break;
      }
    }
    if (!found)
    {
      bins.push_back(*i);
      counts.push_back(1);
    }
  }
  if (minbinsize)
  {
    assert(counts.size() == bins.size());
    assert(counts.size());
    // filter out any bins that are not large enough (and any bins that aren't positive)
    for (unsigned int j = 0; j < counts.size(); )
    {
      if (counts[j] < minbinsize || bins[j] < 0.05)
      {
        bins.erase(bins.begin() + j);
        counts.erase(counts.begin() + j);
      }
      else
        j++;
    }
  }
}

void image_raw_callback(const sensor_msgs::Image::ConstPtr& image_raw_msg) {
    pthread_mutex_lock(&mutex);
    image_raw_ringbuf.push_front(*image_raw_msg);
    //image_obj_ranged is empty
    if (image_obj_ranged_ringbuf.begin() == image_obj_ranged_ringbuf.end()) {
        ROS_INFO("image_obj_ranged ring buffer is empty");
        buf_flag = false;
        pthread_mutex_unlock(&mutex);
        return;
    }
    buf_flag = true;
    pthread_mutex_unlock(&mutex);
    pthread_mutex_lock(&mutex);
    if (image_obj_tracked_flag == true) {
        publish();
    }
    pthread_mutex_unlock(&mutex);
}

void CTimeSmoother::GetIntRepresentation(const boost::circular_buffer<double> &data, vector<unsigned int> &intData, const vector<double> &bins, const vector<unsigned int> &intBins)
{
  intData.clear();
  for (boost::circular_buffer<double>::const_iterator i = data.begin(); i != data.end(); ++i)
  {
    double min_r2 = numeric_limits<double>::max();
    unsigned int min_j = 0;
    for (unsigned int j = 0; j < bins.size(); ++j)
    {
      double d = MathUtils::round_int(*i/bins[j]);
      double r2 = (*i - bins[j]*d)*(*i - bins[j]*d);
      if (r2 < min_r2)
      {
        min_j = j;
        min_r2 = r2;
      }
    }
    intData.push_back(MathUtils::round_int(*i/bins[min_j])*intBins[min_j]);
  }
}