sampling.h
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00001 /***********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
00005  * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions
00009  * are met:
00010  *
00011  * 1. Redistributions of source code must retain the above copyright
00012  *    notice, this list of conditions and the following disclaimer.
00013  * 2. Redistributions in binary form must reproduce the above copyright
00014  *    notice, this list of conditions and the following disclaimer in the
00015  *    documentation and/or other materials provided with the distribution.
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00017  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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00028 
00029 
00030 #ifndef RTABMAP_FLANN_SAMPLING_H_
00031 #define RTABMAP_FLANN_SAMPLING_H_
00032 
00033 #include "rtflann/util/matrix.h"
00034 #include "rtflann/util/random.h"
00035 
00036 namespace rtflann
00037 {
00038 
00039 template<typename T>
00040 Matrix<T> random_sample(Matrix<T>& srcMatrix, size_t size, bool remove = false)
00041 {
00042         UniqueRandom rand_unique(srcMatrix.rows);
00043     Matrix<T> newSet(new T[size * srcMatrix.cols], size,srcMatrix.cols);
00044 
00045     T* src,* dest;
00046     for (size_t i=0; i<size; ++i) {
00047         size_t r;
00048         if (remove) {
00049             r = static_cast<size_t>(rand_int(srcMatrix.rows-i));
00050         }
00051         else {
00052                 r = static_cast<size_t>(rand_unique.next());
00053         }
00054         dest = newSet[i];
00055         src = srcMatrix[r];
00056         std::copy(src, src+srcMatrix.cols, dest);
00057         if (remove) {
00058             src = srcMatrix[srcMatrix.rows-i-1];
00059             dest = srcMatrix[r];
00060             std::copy(src, src+srcMatrix.cols, dest);
00061         }
00062     }
00063     if (remove) {
00064         srcMatrix.rows -= size;
00065     }
00066     return newSet;
00067 }
00068 
00069 } // namespace
00070 
00071 
00072 #endif /* FLANN_SAMPLING_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:22