Use random generator from C++11 instead of from Boost in module filters

Author: Heiko Thiel

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))));
       }

filters/include/pcl/filters/normal_space.h

@@ -77,18 +77,10 @@ namespace pcl
         , binsy_ ()
         , binsz_ ()
         , input_normals_ ()
-        , rng_uniform_distribution_ (NULL)
       {
         filter_name_ = "NormalSpaceSampling";
       }
 
-      /** \brief Destructor. */
-      ~NormalSpaceSampling ()
-      {
-        if (rng_uniform_distribution_ != NULL)
-          delete rng_uniform_distribution_;
-      }
-
       /** \brief Set number of indices to be sampled.
         * \param[in] sample the number of sample indices
         */
@@ -195,9 +187,6 @@ namespace pcl
         */
       bool
       isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);
-
-      /** \brief Uniform random distribution. */
-      boost::variate_generator<boost::mt19937, boost::uniform_int<uint32_t> > *rng_uniform_distribution_;
   };
 }