Use random generator from C++11 instead of from Boost (#2956)

Author: SunBlack

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>
@@ -424,17 +424,12 @@ 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 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>
 
@@ -649,17 +647,12 @@ 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_;
     };
   }
 }

outofcore/include/pcl/outofcore/boost.h

@@ -44,11 +44,4 @@
 
 #include <boost/filesystem.hpp>
 #include <boost/thread.hpp>
-#include <boost/random/uniform_int.hpp>
-#include <boost/uuid/uuid.hpp>
-#include <boost/uuid/uuid_generators.hpp>
-#include <boost/uuid/uuid_io.hpp>
-#include <boost/random/mersenne_twister.hpp>
-#include <boost/random/uniform_int.hpp>
-#include <boost/random/bernoulli_distribution.hpp>
 #include <boost/foreach.hpp>

outofcore/include/pcl/outofcore/impl/octree_base_node.hpp

@@ -78,7 +78,7 @@ namespace pcl
     boost::mutex OutofcoreOctreeBaseNode<ContainerT, PointT>::rng_mutex_;
 
     template<typename ContainerT, typename PointT>
-    boost::mt19937 OutofcoreOctreeBaseNode<ContainerT, PointT>::rand_gen_;
+    std::mt19937 OutofcoreOctreeBaseNode<ContainerT, PointT>::rng_;
 
     template<typename ContainerT, typename PointT>
     const double OutofcoreOctreeBaseNode<ContainerT, PointT>::sample_percent_ = .125;
@@ -597,25 +597,23 @@ namespace pcl
 
         // Create random number generator
         boost::mutex::scoped_lock lock(rng_mutex_);
-        boost::uniform_int<boost::uint64_t> buffdist(0, inputsize-1);
-        boost::variate_generator<boost::mt19937&, boost::uniform_int<boost::uint64_t> > buffdie(rand_gen_, buffdist);
+        std::uniform_int_distribution<uint64_t> buffdist(0, inputsize-1);
 
         // Randomly pick sampled points
-        for(boost::uint64_t i = 0; i < samplesize; ++i)
+        for(uint64_t i = 0; i < samplesize; ++i)
         {
-          boost::uint64_t buffstart = buffdie();
+          uint64_t buffstart = buffdist(rng_);
           insertBuff[i] = ( sampleBuff[buffstart] );
         }
       }
       // Have to do it the slow way
       else
       {
         boost::mutex::scoped_lock lock(rng_mutex_);
-        boost::bernoulli_distribution<double> buffdist(percent);
-        boost::variate_generator<boost::mt19937&, boost::bernoulli_distribution<double> > buffcoin(rand_gen_, buffdist);
+        std::bernoulli_distribution buffdist(percent);
 
-        for(boost::uint64_t i = 0; i < inputsize; ++i)
-          if(buffcoin())
+        for(uint64_t i = 0; i < inputsize; ++i)
+          if(buffdist(rng_))
             insertBuff.push_back( p[i] );
       }
     }

outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp

@@ -47,6 +47,9 @@
 
 // Boost
 #include <pcl/outofcore/boost.h>
+#include <boost/random/bernoulli_distribution.hpp>
+#include <boost/random/uniform_int.hpp>
+#include <boost/uuid/uuid_io.hpp>
 
 // PCL
 #include <pcl/io/pcd_io.h>

outofcore/include/pcl/outofcore/impl/octree_ram_container.hpp

@@ -50,12 +50,11 @@ namespace pcl
 {
   namespace outofcore
   {
-
     template<typename PointT>
     boost::mutex OutofcoreOctreeRamContainer<PointT>::rng_mutex_;
 
     template<typename PointT> 
-    boost::mt19937 OutofcoreOctreeRamContainer<PointT>::rand_gen_ (static_cast<unsigned int>(std::time( NULL)));
+    std::mt19937 OutofcoreOctreeRamContainer<PointT>::rng_ ([] {std::random_device rd; return rd(); } ());
 
     template<typename PointT> void
     OutofcoreOctreeRamContainer<PointT>::convertToXYZ (const boost::filesystem::path& path)
@@ -121,16 +120,15 @@ namespace pcl
                                                       const double percent, 
                                                       AlignedPointTVector& v)
     {
-      boost::uint64_t samplesize = static_cast<boost::uint64_t> (percent * static_cast<double> (count));
+      uint64_t samplesize = static_cast<uint64_t> (percent * static_cast<double> (count));
 
       boost::mutex::scoped_lock lock (rng_mutex_);
 
-      boost::uniform_int < boost::uint64_t > buffdist (start, start + count);
-      boost::variate_generator<boost::mt19937&, boost::uniform_int<boost::uint64_t> > buffdie (rand_gen_, buffdist);
+      std::uniform_int_distribution < uint64_t > buffdist (start, start + count);
 
-      for (boost::uint64_t i = 0; i < samplesize; i++)
+      for (uint64_t i = 0; i < samplesize; i++)
       {
-        boost::uint64_t buffstart = buffdie ();
+        uint64_t buffstart = buffdist (rng_);
         v.push_back (container_[buffstart]);
       }
     }

outofcore/include/pcl/outofcore/octree_abstract_node_container.h

@@ -38,8 +38,8 @@
 
 #pragma once
 
-#include <vector>
 #include <string>
+#include <vector>
 
 #include <pcl/outofcore/boost.h>
 
@@ -96,7 +96,6 @@ namespace pcl
         AlignedPointTVector container_;
 
         static boost::mutex rng_mutex_;
-        static boost::mt19937 rand_gen_;
     };
   }//namespace outofcore
 }//namespace pcl

outofcore/include/pcl/outofcore/octree_base_node.h

@@ -39,6 +39,8 @@
 
 #pragma once
 
+#include <random>
+
 #include <pcl/common/io.h>
 #include <pcl/PCLPointCloud2.h>
 
@@ -561,10 +563,8 @@ namespace pcl
 
         /** \brief Mersenne Twister: A 623-dimensionally equidistributed uniform
          * pseudo-random number generator */
-        static boost::mt19937 rand_gen_;
+        static std::mt19937 rng_;
 
-        /** \brief Random number generator seed */
-        const static boost::uint32_t rngseed = 0xAABBCCDD;
         /** \brief Extension for this class to find the pcd files on disk */
         const static std::string pcd_extension;