random.h
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30 
31 #ifndef RTABMAP_FLANN_RANDOM_H
32 #define RTABMAP_FLANN_RANDOM_H
33 
34 #include <algorithm>
35 #include <cstdlib>
36 #include <cstddef>
37 #include <vector>
38 
39 #include "rtflann/general.h"
40 
41 namespace rtflann
42 {
43 
48 inline void seed_random(unsigned int seed)
49 {
50  srand(seed);
51 }
52 
53 /*
54  * Generates a random double value.
55  */
62 inline double rand_double(double high = 1.0, double low = 0)
63 {
64  return low + ((high-low) * (std::rand() / (RAND_MAX + 1.0)));
65 }
66 
73 inline int rand_int(int high = RAND_MAX, int low = 0)
74 {
75  return low + (int) ( double(high-low) * (std::rand() / (RAND_MAX + 1.0)));
76 }
77 
78 
80 {
81 public:
82  ptrdiff_t operator() (ptrdiff_t i) { return rand_int(i); }
83 };
84 
85 
91 {
92  std::vector<int> vals_;
93  int size_;
94  int counter_;
95 
96 public:
103  {
104  init(n);
105  }
106 
111  void init(int n)
112  {
113  static RandomGenerator generator;
114  // create and initialize an array of size n
115  vals_.resize(n);
116  size_ = n;
117  for (int i = 0; i < size_; ++i) vals_[i] = i;
118 
119  // shuffle the elements in the array
120  std::random_shuffle(vals_.begin(), vals_.end(), generator);
121 
122  counter_ = 0;
123  }
124 
130  int next()
131  {
132  if (counter_ == size_) {
133  return -1;
134  }
135  else {
136  return vals_[counter_++];
137  }
138  }
139 };
140 
141 }
142 
143 #endif //FLANN_RANDOM_H
144 
145 
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
void seed_random(unsigned int seed)
Definition: random.h:48
void init(int n)
Definition: random.h:111
int rand_int(int high=RAND_MAX, int low=0)
Definition: random.h:73
double rand_double(double high=1.0, double low=0)
Definition: random.h:62
std::vector< int > vals_
Definition: random.h:92
ptrdiff_t operator()(ptrdiff_t i)
Definition: random.h:82


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29