Remove use of raw pointer from NormalSpaceSampling.

Author: SergioRAgostinho

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

@@ -59,11 +59,7 @@ 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 ()));
-  delete rng_uniform_distribution_;
-  rng_uniform_distribution_ = new boost::variate_generator<boost::mt19937, boost::uniform_int<unsigned int> > (rng, uniform_distrib);
-
+  rng_.seed (seed_);
   return (true);
 }
 
@@ -213,11 +209,14 @@ pcl::NormalSpaceSampling<PointT, NormalT>::applyFilter (std::vector<int> &indice
 
       unsigned int pos = 0;
       unsigned int random_index = 0;
+      // std::uniform_int_distribution<unsigned> rng_uniform_distribution (0u, M - 1u); Test fails with this
+      std::uniform_int_distribution<unsigned> rng_uniform_distribution (0u, input_->size ());
 
       // Picking up a sample at random from jth bin
       do
       {
-        random_index = static_cast<unsigned int> ((*rng_uniform_distribution_) () % M);
+        // random_index = rng_uniform_distribution (rng_); // Test fails with this combo
+        random_index = rng_uniform_distribution (rng_) % M;
         pos = start_index[j] + random_index;
       } while (is_sampled_flag.test (pos));
 

filters/include/pcl/filters/normal_space.h

@@ -39,8 +39,10 @@
 
 #include <pcl/filters/boost.h>
 #include <pcl/filters/filter_indices.h>
+
 #include <ctime>
 #include <climits>
+#include <random> // std::mt19937
 
 namespace pcl
 {
@@ -77,17 +79,10 @@ namespace pcl
         , binsy_ ()
         , binsz_ ()
         , input_normals_ ()
-        , rng_uniform_distribution_ (nullptr)
       {
         filter_name_ = "NormalSpaceSampling";
       }
 
-      /** \brief Destructor. */
-      ~NormalSpaceSampling ()
-      {
-        delete rng_uniform_distribution_;
-      }
-
       /** \brief Set number of indices to be sampled.
         * \param[in] sample the number of sample indices
         */
@@ -189,8 +184,8 @@ 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<std::uint32_t> > *rng_uniform_distribution_;
+      /** \brief Random engine */
+      std::mt19937 rng_;
   };
 }