Open3D (C++ API)  0.16.1
Random.h
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26
27#pragma once
28
29#include <mutex>
30#include <random>
31
33
34namespace open3d {
35namespace utility {
36namespace random {
37
39void Seed(const int seed);
40
54std::mt19937* GetEngine();
55
58std::mutex* GetMutex();
59
64
82template <typename T>
84public:
90 UniformIntGenerator(const T low, const T high) : distribution_(low, high) {
91 if (low < 0) {
92 utility::LogError("low must be > 0, but got {}.", low);
93 }
94 if (low >= high) {
95 utility::LogError("low must be < high, but got low={} and high={}.",
96 low, high);
97 }
98 }
99
102 std::lock_guard<std::mutex> lock(*GetMutex());
103 return distribution_(*GetEngine());
104 }
105
106protected:
107 std::uniform_int_distribution<T> distribution_;
108};
109
127template <typename T>
129public:
134 UniformRealGenerator(const T low = 0.0, const T high = 1.0)
135 : distribution_(low, high) {
136 if (low >= high) {
137 utility::LogError("low must be < high, but got low={} and high={}.",
138 low, high);
139 }
140 }
141
144 std::lock_guard<std::mutex> lock(*GetMutex());
145 return distribution_(*GetEngine());
146 }
147
148protected:
149 std::uniform_real_distribution<T> distribution_;
150};
151
169template <typename T>
171public:
176 NormalGenerator(const T mean = 0.0, const T stddev = 1.0)
177 : distribution_(mean, stddev) {
178 if (stddev <= 0) {
179 utility::LogError("stddev must be > 0, but got {}.", stddev);
180 }
181 }
182
185 std::lock_guard<std::mutex> lock(*GetMutex());
186 return distribution_(*GetEngine());
187 }
188
189protected:
190 std::normal_distribution<T> distribution_;
191};
192
193} // namespace random
194} // namespace utility
195} // namespace open3d
#define LogError(...)
Definition: Logging.h:67
T operator()()
Call this to generate a normally distributed floating point value.
Definition: Random.h:184
NormalGenerator(const T mean=0.0, const T stddev=1.0)
Definition: Random.h:176
std::normal_distribution< T > distribution_
Definition: Random.h:190
std::uniform_int_distribution< T > distribution_
Definition: Random.h:107
UniformIntGenerator(const T low, const T high)
Definition: Random.h:90
T operator()()
Call this to generate a uniformly distributed integer.
Definition: Random.h:101
T operator()()
Call this to generate a uniformly distributed floating point value.
Definition: Random.h:143
std::uniform_real_distribution< T > distribution_
Definition: Random.h:149
UniformRealGenerator(const T low=0.0, const T high=1.0)
Definition: Random.h:134
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:567
std::mt19937 * GetEngine()
Definition: Random.cpp:74
uint32_t RandUint32()
Definition: Random.cpp:78
void Seed(const int seed)
Set Open3D global random seed.
Definition: Random.cpp:72
std::mutex * GetMutex()
Definition: Random.cpp:76
Definition: PinholeCameraIntrinsic.cpp:35