sampling.h
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28 
29 
30 #ifndef RTABMAP_FLANN_SAMPLING_H_
31 #define RTABMAP_FLANN_SAMPLING_H_
32 
33 #include "rtflann/util/matrix.h"
34 #include "rtflann/util/random.h"
35 
36 namespace rtflann
37 {
38 
39 template<typename T>
40 Matrix<T> random_sample(Matrix<T>& srcMatrix, size_t size, bool remove = false)
41 {
42  UniqueRandom rand_unique(srcMatrix.rows);
43  Matrix<T> newSet(new T[size * srcMatrix.cols], size,srcMatrix.cols);
44 
45  T* src,* dest;
46  for (size_t i=0; i<size; ++i) {
47  size_t r;
48  if (remove) {
49  r = static_cast<size_t>(rand_int(srcMatrix.rows-i));
50  }
51  else {
52  r = static_cast<size_t>(rand_unique.next());
53  }
54  dest = newSet[i];
55  src = srcMatrix[r];
56  std::copy(src, src+srcMatrix.cols, dest);
57  if (remove) {
58  src = srcMatrix[srcMatrix.rows-i-1];
59  dest = srcMatrix[r];
60  std::copy(src, src+srcMatrix.cols, dest);
61  }
62  }
63  if (remove) {
64  srcMatrix.rows -= size;
65  }
66  return newSet;
67 }
68 
69 } // namespace
70 
71 
72 #endif /* FLANN_SAMPLING_H_ */
T
size_t rows
Definition: matrix.h:72
int rand_int(int high=RAND_MAX, int low=0)
Definition: random.h:73
size_t cols
Definition: matrix.h:73
Matrix< T > random_sample(Matrix< T > &srcMatrix, size_t size, bool remove=false)
Definition: sampling.h:40
const char char * dest
Definition: lz4hc.h:181


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:30