Use random generator from C++11 instead of from Boost

Author: Heiko Thiel

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -5,11 +5,11 @@
  *      Author: aitor
  */
 
+#include <random>
+
 #include <pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h>
 #include <pcl/recognition/crh_alignment.h>
 #include <pcl/registration/icp.h>
-#include <boost/random.hpp>
-#include <boost/random/normal_distribution.hpp>
 #include <pcl/common/time.h>
 
 template<template<class > class Distance, typename PointInT, typename FeatureT>
@@ -428,17 +428,12 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
 
           if (noisify_)
           {
-            double noise_std = noise_;
-            boost::posix_time::ptime time = boost::posix_time::microsec_clock::local_time();
-            boost::posix_time::time_duration duration( time.time_of_day() );
-            boost::mt19937 rng;
-            rng.seed (static_cast<unsigned int> (duration.total_milliseconds()));
-            boost::normal_distribution<> nd (0.0, noise_std);
-            boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);
+            std::random_device rd;
+            std::mt19937 rng(rd());
+            std::normal_distribution<float> nd (0.0f, noise_);
             // Noisify each point in the dataset
             for (size_t cp = 0; cp < view->points.size (); ++cp)
-              view->points[cp].z += static_cast<float> (var_nor ());
-
+              view->points[cp].z += static_cast<float> (nd (rng));
           }
 
           //pro view, compute signatures and CRH

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -7,8 +7,6 @@
 
 #include <pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h>
 #include <pcl/registration/icp.h>
-#include <boost/random.hpp>
-#include <boost/random/normal_distribution.hpp>
 #include <pcl/common/time.h>
 #include <pcl/visualization/pcl_visualizer.h>
 
@@ -653,17 +651,12 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
 
           if (noisify_)
           {
-            double noise_std = noise_;
-            boost::posix_time::ptime time = boost::posix_time::microsec_clock::local_time();
-            boost::posix_time::time_duration duration( time.time_of_day() );
-            boost::mt19937 rng;
-            rng.seed (static_cast<unsigned int> (duration.total_milliseconds()));
-            boost::normal_distribution<> nd (0.0, noise_std);
-            boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);
+            std::random_device rd;
+            std::mt19937 rng(rd());
+            std::normal_distribution<float> nd (0.0f, noise_);
             // Noisify each point in the dataset
             for (size_t cp = 0; cp < view->points.size (); ++cp)
-              view->points[cp].z += static_cast<float> (var_nor ());
-
+              view->points[cp].z += nd (rng);
           }
 
           //pro view, compute signatures

common/include/pcl/common/impl/random.hpp

@@ -40,14 +40,10 @@
 #ifndef PCL_COMMON_RANDOM_HPP_
 #define PCL_COMMON_RANDOM_HPP_
 
-#include <boost/version.hpp>
-#include <pcl/pcl_macros.h>
-
 /////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename T>
 pcl::common::UniformGenerator<T>::UniformGenerator(T min, T max, pcl::uint32_t seed)
   : distribution_ (min, max)
-  , generator_ (rng_, distribution_)
 {
   parameters_ = Parameters (min, max, seed);
   if(parameters_.seed != -1)
@@ -60,7 +56,6 @@ template <typename T>
 pcl::common::UniformGenerator<T>::UniformGenerator(const Parameters& parameters)
   : parameters_ (parameters)
   , distribution_ (parameters_.min, parameters_.max)
-  , generator_ (rng_, distribution_)
 {
   if(parameters_.seed != -1)
     rng_.seed (parameters_.seed);
@@ -87,7 +82,6 @@ pcl::common::UniformGenerator<T>::setParameters (T min, T max, pcl::uint32_t see
   typename DistributionType::param_type params (parameters_.min, parameters_.max);
   distribution_.param (params);
   distribution_.reset ();
-  generator_.distribution () = distribution_;
   if (seed != -1)
   {
     parameters_.seed = seed;
@@ -103,7 +97,6 @@ pcl::common::UniformGenerator<T>::setParameters (const Parameters& parameters)
   typename DistributionType::param_type params (parameters_.min, parameters_.max);
   distribution_.param (params);
   distribution_.reset ();
-  generator_.distribution () = distribution_;
   if (parameters_.seed != -1)
     rng_.seed (parameters_.seed);
 }
@@ -112,7 +105,6 @@ pcl::common::UniformGenerator<T>::setParameters (const Parameters& parameters)
 template <typename T>
 pcl::common::NormalGenerator<T>::NormalGenerator(T mean, T sigma, pcl::uint32_t seed)
   : distribution_ (mean, sigma)
-  , generator_ (rng_, distribution_)
 {
   parameters_ = Parameters (mean, sigma, seed);
   if(parameters_.seed != -1)
@@ -125,7 +117,6 @@ template <typename T>
 pcl::common::NormalGenerator<T>::NormalGenerator(const Parameters& parameters)
   : parameters_ (parameters)
   , distribution_ (parameters_.mean, parameters_.sigma)
-  , generator_ (rng_, distribution_)
 {
   if(parameters_.seed != -1)
     rng_.seed (parameters_.seed);
@@ -152,7 +143,6 @@ pcl::common::NormalGenerator<T>::setParameters (T mean, T sigma, pcl::uint32_t s
   typename DistributionType::param_type params (parameters_.mean, parameters_.sigma);
   distribution_.param (params);
   distribution_.reset ();
-  generator_.distribution () = distribution_;
   if (seed != -1)
     rng_.seed (parameters_.seed);
 }
@@ -165,7 +155,6 @@ pcl::common::NormalGenerator<T>::setParameters (const Parameters& parameters)
   typename DistributionType::param_type params (parameters_.mean, parameters_.sigma);
   distribution_.param (params);
   distribution_.reset ();
-  generator_.distribution () = distribution_;
   if (parameters_.seed != -1)
     rng_.seed (parameters_.seed);
 }

common/include/pcl/common/random.h

@@ -39,40 +39,33 @@
 
 #pragma once
 
-#ifdef __GNUC__
-#pragma GCC system_header 
-#endif
-
-#include <boost/random/uniform_real.hpp>
-#include <boost/random/uniform_int.hpp>
-#include <boost/random/variate_generator.hpp>
-#include <boost/random/normal_distribution.hpp>
-#include <boost/random/mersenne_twister.hpp>
+#include <random>
+
 #include <pcl/pcl_macros.h>
 
 namespace pcl 
 {
   namespace common 
   {
     /// uniform distribution dummy struct
-    template <typename T> struct uniform_distribution;
+    template <typename T, typename T2=void> struct uniform_distribution;
     /// uniform distribution int specialized
-    template<> 
-    struct uniform_distribution<int> 
+    template <typename T>
+    struct uniform_distribution<T, std::enable_if_t<std::is_integral<T>::value>>
     {
-      typedef boost::uniform_int<int> type;
+      typedef std::uniform_int_distribution<T> type;
     };
     /// uniform distribution float specialized
-    template<> 
-    struct uniform_distribution<float> 
+    template <typename T>
+    struct uniform_distribution<T, std::enable_if_t<std::is_floating_point<T>::value>>
     {
-      typedef boost::uniform_real<float> type;
+      typedef std::uniform_real_distribution<T> type;
     };
     ///  normal distribution
     template<typename T> 
     struct normal_distribution
     {
-      typedef boost::normal_distribution<T> type;
+      typedef std::normal_distribution<T> type;
     };
 
     /** \brief UniformGenerator class generates a random number from range [min, max] at each run picked
@@ -136,19 +129,16 @@ namespace pcl
 
         /// \return a randomly generated number in the interval [min, max]
         inline T 
-        run () { return (generator_ ()); }
+        run () { return (distribution_ (rng_)); }
 
       private:
-        typedef boost::mt19937 EngineType;
         typedef typename uniform_distribution<T>::type DistributionType;
         /// parameters
         Parameters parameters_;
+        /// random number generator
+        std::mt19937 rng_;
         /// uniform distribution
         DistributionType distribution_;
-        /// random number generator
-        EngineType rng_;
-        /// generator of random number from a uniform distribution
-        boost::variate_generator<EngineType&, DistributionType> generator_;
     };
 
     /** \brief NormalGenerator class generates a random number from a normal distribution specified
@@ -211,18 +201,15 @@ namespace pcl
 
         /// \return a randomly generated number in the normal distribution (mean, sigma)
         inline T 
-        run () { return (generator_ ()); }
+        run () { return (distribution_ (rng_)); }
 
-        typedef boost::mt19937 EngineType;
         typedef typename normal_distribution<T>::type DistributionType;
         /// parameters
         Parameters parameters_;
+        /// random number generator
+        std::mt19937 rng_;
         /// normal distribution
         DistributionType distribution_;
-        /// random number generator
-        EngineType rng_;
-        /// generator of random number from a normal distribution
-        boost::variate_generator<EngineType&, DistributionType > generator_;
     };
   }
 }

features/include/pcl/features/3dsc.h

@@ -40,6 +40,8 @@
 
 #pragma once
 
+#include <random>
+
 #include <pcl/point_types.h>
 #include <pcl/features/boost.h>
 #include <pcl/features/feature.h>
@@ -103,16 +105,19 @@ namespace pcl
         point_density_radius_(0.2),
         descriptor_length_ (),
         rng_alg_ (),
-        rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
+        rng_ (0.0f, 1.0f)
       {
         feature_name_ = "ShapeContext3DEstimation";
         search_radius_ = 2.5;
 
         // Create a random number generator object
         if (random)
-          rng_->base ().seed (static_cast<unsigned> (std::time(0)));
+        {
+          std::random_device rd;
+          rng_alg_.seed (rd());
+        }
         else
-          rng_->base ().seed (12345u);
+          rng_alg_.seed (12345u);
       }
 
       ~ShapeContext3DEstimation() {}
@@ -211,11 +216,11 @@ namespace pcl
       /** \brief Descriptor length */
       size_t descriptor_length_;
 
-      /** \brief Boost-based random number generator algorithm. */
-      boost::mt19937 rng_alg_;
+      /** \brief Random number generator algorithm. */
+      std::mt19937 rng_alg_;
 
-      /** \brief Boost-based random number generator distribution. */
-      boost::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;
+      /** \brief Random number generator distribution. */
+      std::uniform_real_distribution<> rng_;
 
      /*  \brief Shift computed descriptor "L" times along the azimuthal direction
        * \param[in] block_size the size of each azimuthal block
@@ -229,7 +234,7 @@ namespace pcl
       inline double
       rnd ()
       {
-        return ((*rng_) ());
+        return (rng_ (rng_alg_));
       }
   };
 }

features/include/pcl/features/boost.h

@@ -46,7 +46,6 @@
 #include <boost/unordered_map.hpp>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
-#include <boost/random.hpp>
 #include <boost/property_map/property_map.hpp>
 //#include <boost/graph/adjacency_list.hpp>
 //#include <boost/graph/johnson_all_pairs_shortest.hpp>

filters/include/pcl/filters/boost.h

@@ -45,8 +45,6 @@
 #endif
 
 // Marking all Boost headers as system headers to remove warnings
-#include <boost/random.hpp>
-#include <boost/random/normal_distribution.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/make_shared.hpp>
 #include <boost/dynamic_bitset.hpp>

filters/include/pcl/filters/impl/normal_space.hpp

@@ -41,8 +41,9 @@
 #include <pcl/filters/normal_space.h>
 #include <pcl/common/io.h>
 
-#include <vector>
 #include <list>
+#include <random>
+#include <vector>
 
 ///////////////////////////////////////////////////////////////////////////////
 template<typename PointT, typename NormalT> bool
@@ -59,12 +60,6 @@ pcl::NormalSpaceSampling<PointT, NormalT>::initCompute ()
     return false;
   }
 
-  boost::mt19937 rng (static_cast<unsigned int> (seed_));
-  boost::uniform_int<unsigned int> uniform_distrib (0, unsigned (input_->size ()));
-  if (rng_uniform_distribution_ != NULL)
-    delete rng_uniform_distribution_;
-  rng_uniform_distribution_ = new boost::variate_generator<boost::mt19937, boost::uniform_int<unsigned int> > (rng, uniform_distrib);
-
   return (true);
 }
 
@@ -228,6 +223,10 @@ pcl::NormalSpaceSampling<PointT, NormalT>::applyFilter (std::vector<int> &indice
   boost::dynamic_bitset<> is_sampled_flag (input_normals_->points.size ());
   // Maintaining flags to check if all points in the bin are sampled
   boost::dynamic_bitset<> bin_empty_flag (normals_hg.size ());
+  
+  std::mt19937 rng (static_cast<unsigned int> (seed_));
+  std::uniform_int_distribution<unsigned int> uniform_distrib (0, unsigned (input_->size ()));
+  
   unsigned int i = 0;
   while (i < sample_)
   {
@@ -244,7 +243,7 @@ pcl::NormalSpaceSampling<PointT, NormalT>::applyFilter (std::vector<int> &indice
       // Picking up a sample at random from jth bin
       do
       {
-        random_index = static_cast<unsigned int> ((*rng_uniform_distribution_) () % M);
+        random_index = static_cast<unsigned int> (uniform_distrib (rng) % M);
         pos = start_index[j] + random_index;
       } while (is_sampled_flag.test (pos));
 

filters/include/pcl/filters/impl/voxel_grid_covariance.hpp

@@ -38,6 +38,8 @@
 #ifndef PCL_VOXEL_GRID_COVARIANCE_IMPL_H_
 #define PCL_VOXEL_GRID_COVARIANCE_IMPL_H_
 
+#include <random>
+
 #include <pcl/common/common.h>
 #include <pcl/filters/boost.h>
 #include <pcl/filters/voxel_grid_covariance.h>
@@ -411,9 +413,8 @@ pcl::VoxelGridCovariance<PointT>::getDisplayCloud (pcl::PointCloud<PointXYZ>& ce
   cell_cloud.clear ();
 
   int pnt_per_cell = 1000;
-  boost::mt19937 rng;
-  boost::normal_distribution<> nd (0.0, leaf_size_.head (3).norm ());
-  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);
+  std::mt19937 rng;
+  std::normal_distribution<> nd (0.0, leaf_size_.head (3).norm ());
 
   Eigen::LLT<Eigen::Matrix3d> llt_of_cov;
   Eigen::Matrix3d cholesky_decomp;
@@ -435,7 +436,7 @@ pcl::VoxelGridCovariance<PointT>::getDisplayCloud (pcl::PointCloud<PointXYZ>& ce
       // Random points generated by sampling the normal distribution given by voxel mean and covariance matrix
       for (int i = 0; i < pnt_per_cell; i++)
       {
-        rand_point = Eigen::Vector3d (var_nor (), var_nor (), var_nor ());
+        rand_point = Eigen::Vector3d (nd (rng), nd (rng), nd (rng));
         dist_point = cell_mean + cholesky_decomp * rand_point;
         cell_cloud.push_back (PointXYZ (static_cast<float> (dist_point (0)), static_cast<float> (dist_point (1)), static_cast<float> (dist_point (2))));
       }