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Replacing boost::mt19937 with std::mt19937 #3994

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Replacing boost::mt19937 with std::mt19937 #3994

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9 changes: 5 additions & 4 deletions filters/include/pcl/filters/impl/voxel_grid_covariance.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@
#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <random>

//////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
Expand Down Expand Up @@ -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::random_device{}()};
std::normal_distribution<double> nd {0.0, leaf_size_.head (3).norm ()};

Eigen::LLT<Eigen::Matrix3d> llt_of_cov;
Eigen::Matrix3d cholesky_decomp;
Expand All @@ -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))));
}
Expand Down
23 changes: 8 additions & 15 deletions sample_consensus/include/pcl/sample_consensus/sac.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@

#include <ctime>
#include <memory>
#include <random>
#include <set>

namespace pcl
Expand Down Expand Up @@ -79,13 +80,9 @@ namespace pcl
, threshold_ (std::numeric_limits<double>::max ())
, max_iterations_ (1000)
, threads_ (-1)
, rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
, rng_alg_ (random ? std::random_device{}() : 12345u)
, rng_ (new std::uniform_real_distribution<> {})
{
// Create a random number generator object
if (random)
rng_->base ().seed (static_cast<unsigned> (std::time (nullptr)));
else
rng_->base ().seed (12345u);
};

/** \brief Constructor for base SAC.
Expand All @@ -102,13 +99,9 @@ namespace pcl
, threshold_ (threshold)
, max_iterations_ (1000)
, threads_ (-1)
, rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
, rng_alg_ (random ? std::random_device{}() : 12345u)
, rng_ (new std::uniform_real_distribution<> {})
{
// Create a random number generator object
if (random)
rng_->base ().seed (static_cast<unsigned> (std::time (nullptr)));
else
rng_->base ().seed (12345u);
};

/** \brief Set the Sample Consensus model to use.
Expand Down Expand Up @@ -342,16 +335,16 @@ namespace pcl
int threads_;

/** \brief Boost-based random number generator algorithm. */
boost::mt19937 rng_alg_;
std::mt19937 rng_alg_;

/** \brief Boost-based random number generator distribution. */
std::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;
std::shared_ptr<std::uniform_real_distribution<> > rng_;

/** \brief Boost-based random number generator. */
inline double
rnd ()
{
return ((*rng_) ());
return ((*rng_) (rng_alg_));
}
};
}