Point Cloud Library (PCL) 1.14.0
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random.hpp
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39
40#pragma once
41
42#include <pcl/common/random.h>
43
44
45namespace pcl
46{
47
48namespace common
49{
50
51
52template <typename T>
53UniformGenerator<T>::UniformGenerator(T min, T max, std::uint32_t seed)
54 : parameters_ ({min, max, seed})
55 , distribution_ (min, max)
56{
57 if(parameters_.seed != static_cast<std::uint32_t> (-1))
58 rng_.seed (seed);
59}
60
61
62template <typename T>
64 : parameters_ (parameters)
65 , distribution_ (parameters_.min, parameters_.max)
66{
67 if(parameters_.seed != static_cast<std::uint32_t> (-1))
68 rng_.seed (parameters_.seed);
69}
70
71
72template <typename T> void
73UniformGenerator<T>::setSeed (std::uint32_t seed)
74{
75 if (seed != static_cast<std::uint32_t> (-1))
76 {
77 parameters_.seed = seed;
78 rng_.seed(parameters_.seed);
79 }
80}
81
82
83template <typename T> void
84UniformGenerator<T>::setParameters (T min, T max, std::uint32_t seed)
85{
86 parameters_.min = min;
87 parameters_.max = max;
88 parameters_.seed = seed;
89 typename DistributionType::param_type params (parameters_.min, parameters_.max);
90 distribution_.param (params);
91 distribution_.reset ();
92 if (seed != static_cast<std::uint32_t> (-1))
93 {
94 parameters_.seed = seed;
95 rng_.seed (parameters_.seed);
96 }
97}
98
99
100template <typename T> void
102{
103 parameters_ = parameters;
104 typename DistributionType::param_type params (parameters_.min, parameters_.max);
105 distribution_.param (params);
106 distribution_.reset ();
107 if (parameters_.seed != static_cast<std::uint32_t> (-1))
108 rng_.seed (parameters_.seed);
109}
110
111
112template <typename T>
113NormalGenerator<T>::NormalGenerator(T mean, T sigma, std::uint32_t seed)
114 : parameters_ ({mean, sigma, seed})
115 , distribution_ (mean, sigma)
116{
117 if(parameters_.seed != static_cast<std::uint32_t> (-1))
118 rng_.seed (seed);
119}
120
121
122template <typename T>
124 : parameters_ (parameters)
125 , distribution_ (parameters_.mean, parameters_.sigma)
126{
127 if(parameters_.seed != static_cast<std::uint32_t> (-1))
128 rng_.seed (parameters_.seed);
129}
130
131
132template <typename T> void
133NormalGenerator<T>::setSeed (std::uint32_t seed)
134{
135 if (seed != static_cast<std::uint32_t> (-1))
136 {
137 parameters_.seed = seed;
138 rng_.seed(seed);
139 }
140}
141
142
143template <typename T> void
144NormalGenerator<T>::setParameters (T mean, T sigma, std::uint32_t seed)
145{
146 parameters_.mean = mean;
147 parameters_.sigma = sigma;
148 parameters_.seed = seed;
149 typename DistributionType::param_type params (parameters_.mean, parameters_.sigma);
150 distribution_.param (params);
151 distribution_.reset ();
152 if (seed != static_cast<std::uint32_t> (-1))
153 rng_.seed (parameters_.seed);
154}
155
156
157template <typename T> void
159{
160 parameters_ = parameters;
161 typename DistributionType::param_type params (parameters_.mean, parameters_.sigma);
162 distribution_.param (params);
163 distribution_.reset ();
164 if (parameters_.seed != static_cast<std::uint32_t> (-1))
165 rng_.seed (parameters_.seed);
166}
167
168} // namespace common
169} // namespace pcl
170
void setParameters(T mean, T sigma, std::uint32_t seed=-1)
Set the normal number generator parameters.
Definition random.hpp:144
void setSeed(std::uint32_t seed)
Change seed value.
Definition random.hpp:133
std::mt19937 rng_
random number generator
Definition random.h:210
Parameters parameters_
parameters
Definition random.h:208
NormalGenerator(T mean=0, T sigma=1, std::uint32_t seed=-1)
Constructor.
Definition random.hpp:113
void setParameters(T min, T max, std::uint32_t seed=-1)
Set the uniform number generator parameters.
Definition random.hpp:84
void setSeed(std::uint32_t seed)
Change seed value.
Definition random.hpp:73
UniformGenerator(T min=0, T max=1, std::uint32_t seed=-1)
Constructor.
Definition random.hpp:53
CloudGenerator class generates a point cloud using some random number generator.