std::vector<int> getSamplesLine (pcl::PointCloud<pcl::PointXYZRGBNormalRSD>::Ptr cloud)
{
// srand (time(0)); //
std::vector<int> random_idx(2);
do
{
for (int i = 0; i < 2; i++)
{
random_idx[i] = (int) cloud->points.size () * (rand () / (RAND_MAX + 1.0));
}
} while (random_idx[0] == random_idx[1]);
return random_idx;
}
/** \brief Get 2 random points as data samples and return them as point indices.
* \param iterations the internal number of iterations used by SAC methods
* \note assumes unique points!
*/
std::vector<int>
SACModelLine::getSamples (int &iterations)
{
std::vector<int> random_idx (2);
// Get a random number between 1 and max_indices
int idx = (int)(indices_.size () * (rand () / (RAND_MAX + 1.0)));
// Get the index
random_idx[0] = indices_.at (idx);
// Get a second point which is different than the first
do
{
idx = (int)(indices_.size () * (rand () / (RAND_MAX + 1.0)));
random_idx[1] = indices_.at (idx);
iterations++;
} while (random_idx[1] == random_idx[0]);
iterations--;
return (random_idx);
}
void
plat_freelist_process(int mnode)
{
page_t *page, **freelist;
page_t *bdlist[STARFIRE_MAX_BOARDS];
page_t **sortlist[STARFIRE_MAX_BOARDS];
uint32_t idx, idy, size, color, max_color, lbn;
uint32_t bd_flags, bd_cnt, result, bds;
kmutex_t *pcm;
int mtype;
/* for each page size */
for (mtype = 0; mtype < MAX_MEM_TYPES; mtype++) {
for (size = 0; size < mmu_page_sizes; size++) {
/*
* Compute the maximum # of phys colors based on
* page size.
*/
max_color = page_get_pagecolors(size);
/* for each color */
for (color = 0; color < max_color; color++) {
bd_cnt = 0;
bd_flags = 0;
for (idx = 0; idx < STARFIRE_MAX_BOARDS;
idx++) {
bdlist[idx] = NULL;
sortlist[idx] = NULL;
}
/* find freelist */
freelist = &PAGE_FREELISTS(mnode, size,
color, mtype);
if (*freelist == NULL)
continue;
/* acquire locks */
pcm = PC_BIN_MUTEX(mnode, color, PG_FREE_LIST);
mutex_enter(pcm);
/*
* read freelist & sort pages by logical
* board number
*/
/* grab pages till last one. */
while (*freelist) {
page = *freelist;
result = page_trylock(page, SE_EXCL);
ASSERT(result);
/* Delete from freelist */
if (size != 0) {
page_vpsub(freelist, page);
} else {
mach_page_sub(freelist, page);
}
/* detect the lbn */
lbn = PFN_2_LBN(page->p_pagenum);
/* add to bdlist[lbn] */
if (size != 0) {
page_vpadd(&bdlist[lbn], page);
} else {
mach_page_add(&bdlist[lbn],
page);
}
/* if lbn new */
if ((bd_flags & (1 << lbn)) == 0) {
bd_flags |= (1 << lbn);
bd_cnt++;
}
page_unlock(page);
}
/*
* Make the sortlist so
* bd_cnt choices show up
*/
bds = 0;
for (idx = 0; idx < STARFIRE_MAX_BOARDS;
idx++) {
if (bdlist[idx])
sortlist[bds++] = &bdlist[idx];
}
/*
* Set random start.
*/
(void) random_idx(-color);
/*
* now rebuild the freelist by shuffling
* pages from bd lists
*/
while (bd_cnt) {
/*
* get "random" index between 0 &
* bd_cnt
*/
ASSERT(bd_cnt &&
(bd_cnt < STARFIRE_MAX_BOARDS+1));
idx = random_idx(bd_cnt);
page = *sortlist[idx];
result = page_trylock(page, SE_EXCL);
ASSERT(result);
/* Delete from sort_list */
/* & Append to freelist */
/* Big pages use vp_add - 8k don't */
if (size != 0) {
page_vpsub(sortlist[idx], page);
page_vpadd(freelist, page);
} else {
mach_page_sub(sortlist[idx],
page);
mach_page_add(freelist, page);
}
/* needed for indexing tmp lists */
lbn = PFN_2_LBN(page->p_pagenum);
/*
* if this was the last page on this
* list?
*/
if (*sortlist[idx] == NULL) {
/* have to find brd list */
/* idx is lbn? -- No! */
/* sortlist, brdlist */
/* have diff indexs */
bd_flags &= ~(1 << lbn);
--bd_cnt;
/*
* redo the sortlist so only
* bd_cnt choices show up
*/
bds = 0;
for (idy = 0;
idy < STARFIRE_MAX_BOARDS;
idy++) {
if (bdlist[idy]) {
sortlist[bds++]
/* CSTYLED */
= &bdlist[idy];
}
}
}
page_unlock(page);
}
mutex_exit(pcm);
}
}
}
}
