Write a pseudocodes for

function [x,y] = SampleUniformCircleIntersection(r1,x1,y1, r2,x2,y2)which generates a point(x,y)uniformly at random inside the area where the circle with radiusr1and center(x1,y1)intersects the circle with radiusr2and center(x2,y2). You can assume that the arguments to thefunction are such that the intersection is always non-empty and you may use a functionrand()that generatesa random number uniformly on the interval[0,1]. (Hint: use rejection sampling)18.(5 points) Consider the VisibilityPRM algorithm. Suppose the