replace boost random with std equivalent

filters/include/pcl/filters/boost.h

@@ -46,8 +46,6 @@
 PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.")
 
 // Marking all Boost headers as system headers to remove warnings
-#include <boost/random.hpp>
-#include <boost/random/normal_distribution.hpp>
 #include <boost/dynamic_bitset.hpp>
 #include <boost/mpl/size.hpp>
 #include <boost/fusion/sequence/intrinsic/at_key.hpp>

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

@@ -44,9 +44,8 @@
 #include <Eigen/Cholesky>
 #include <Eigen/Eigenvalues> // for SelfAdjointEigenSolver
 #include <boost/mpl/size.hpp> // for size
-#include <boost/random/mersenne_twister.hpp> // for mt19937
-#include <boost/random/normal_distribution.hpp> // for normal_distribution
-#include <boost/random/variate_generator.hpp> // for variate_generator
+
+#include <random>
 
 //////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT> void
@@ -447,9 +446,9 @@ 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, 1.0);
-  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);
+  std::random_device rd {};
+  std::mt19937 rng {rd ()};
+  std::normal_distribution<> nd (0.0, 1.0);
 
   Eigen::LLT<Eigen::Matrix3d> llt_of_cov;
   Eigen::Matrix3d cholesky_decomp;
@@ -474,7 +473,7 @@ 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))));
       }

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

@@ -47,9 +47,6 @@
 
 // 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/common/utils.h> // pcl::utils::ignore
@@ -71,34 +68,12 @@ namespace pcl
 {
   namespace outofcore
   {
-    template<typename PointT>
-    std::mutex OutofcoreOctreeDiskContainer<PointT>::rng_mutex_;
-
-    template<typename PointT> boost::mt19937
-    OutofcoreOctreeDiskContainer<PointT>::rand_gen_ (static_cast<unsigned int> (std::time(nullptr)));
-
-    template<typename PointT>
-    boost::uuids::basic_random_generator<boost::mt19937> OutofcoreOctreeDiskContainer<PointT>::uuid_gen_ (&rand_gen_);
-
     template<typename PointT>
     const std::uint64_t OutofcoreOctreeDiskContainer<PointT>::READ_BLOCK_SIZE_ = static_cast<std::uint64_t> (2e12);
     template<typename PointT>
     const std::uint64_t OutofcoreOctreeDiskContainer<PointT>::WRITE_BUFF_MAX_ = static_cast<std::uint64_t> (2e12);
 
-    template<typename PointT> void
-    OutofcoreOctreeDiskContainer<PointT>::getRandomUUIDString (std::string& s)
-    {
-      boost::uuids::uuid u;
-      {
-        std::lock_guard<std::mutex> lock (rng_mutex_);
-        u = uuid_gen_ ();
-      }
-
-      std::stringstream ss;
-      ss << u;
-      s = ss.str ();
-    }
-    ////////////////////////////////////////////////////////////////////////////////
+   ////////////////////////////////////////////////////////////////////////////////
 
     template<typename PointT>
     OutofcoreOctreeDiskContainer<PointT>::OutofcoreOctreeDiskContainer () 
@@ -119,9 +94,7 @@ namespace pcl
       {
         if (boost::filesystem::is_directory (path))
         {
-          std::string uuid;
-          getRandomUUIDString (uuid);
-          boost::filesystem::path filename (uuid);
+          boost::filesystem::path filename (boost::filesystem::unique_path());
           boost::filesystem::path file = path / filename;
 
           disk_storage_filename_ = file.string ();
@@ -298,12 +271,14 @@ namespace pcl
       {
         {
           std::lock_guard<std::mutex> lock (rng_mutex_);
-          boost::bernoulli_distribution<double> buffdist (percent);
-          boost::variate_generator<boost::mt19937&, boost::bernoulli_distribution<double> > buffcoin (rand_gen_, buffdist);
+
+          std::random_device buff_dev;
+          std::mt19937 buff_gen (buff_dev ());
+          std::bernoulli_distribution buffdist (percent);
 
           for (std::size_t i = buffstart; i < static_cast<std::uint64_t> (buffcount); i++)
           {
-            if (buffcoin ())
+            if (buffdist (buff_gen))
             {
               dst.push_back (writebuff_[i]);
             }
@@ -318,11 +293,13 @@ namespace pcl
         {
           std::lock_guard<std::mutex> lock (rng_mutex_);
 
-          boost::bernoulli_distribution<double> filedist (percent);
-          boost::variate_generator<boost::mt19937&, boost::bernoulli_distribution<double> > filecoin (rand_gen_, filedist);
+          std::random_device buff_dev;
+          std::mt19937 buff_gen (buff_dev ());
+          std::bernoulli_distribution buffdist (percent);
+
           for (std::uint64_t i = filestart; i < (filestart + filecount); i++)
           {
-            if (filecoin ())
+            if (buffdist (buff_gen))
             {
               offsets.push_back (i);
             }

sample_consensus/include/pcl/sample_consensus/boost.h

@@ -44,4 +44,4 @@
 #endif
 PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.")
 
-#include <boost/random.hpp>
+#include <random>

sample_consensus/include/pcl/sample_consensus/sac.h

@@ -43,11 +43,9 @@
 #include <pcl/sample_consensus/sac_model.h>
 #include <pcl/pcl_base.h>
 
-#include <boost/random/mersenne_twister.hpp> // for mt19937
-#include <boost/random/uniform_01.hpp> // for uniform_01
-
 #include <ctime>
 #include <memory>
+#include <random>
 #include <set>
 
 namespace pcl
@@ -63,7 +61,7 @@ namespace pcl
 
     private:
       /** \brief Constructor for base SAC. */
-      SampleConsensus () {};
+      SampleConsensus () {}
 
     public:
       using Ptr = shared_ptr<SampleConsensus<T> >;
@@ -81,14 +79,15 @@ namespace pcl
         , threshold_ (std::numeric_limits<double>::max ())
         , max_iterations_ (1000)
         , threads_ (-1)
-        , rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
+        , rng_alg_ (rnd_dev_ ())
+        , dist_ (new std::uniform_real_distribution<>(0.0, 1.0))
       {
          // Create a random number generator object
          if (random)
-           rng_->base ().seed (static_cast<unsigned> (std::time (nullptr)));
+           rng_alg_.seed (static_cast<unsigned> (std::time (nullptr)));
          else
-           rng_->base ().seed (12345u);
-      };
+           rng_alg_.seed (12345u);
+      }
 
       /** \brief Constructor for base SAC.
         * \param[in] model a Sample Consensus model
@@ -104,14 +103,15 @@ namespace pcl
         , threshold_ (threshold)
         , max_iterations_ (1000)
         , threads_ (-1)
-        , rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
+        , rng_alg_ (rnd_dev_ ())
+        , dist_ (new std::uniform_real_distribution<>(0.0, 1.0))
       {
          // Create a random number generator object
          if (random)
-           rng_->base ().seed (static_cast<unsigned> (std::time (nullptr)));
+           rng_alg_.seed (static_cast<unsigned> (std::time (nullptr)));
          else
-           rng_->base ().seed (12345u);
-      };
+           rng_alg_.seed (12345u);
+      }
 
       /** \brief Set the Sample Consensus model to use.
         * \param[in] model a Sample Consensus model
@@ -130,7 +130,7 @@ namespace pcl
       }
 
       /** \brief Destructor for base SAC. */
-      virtual ~SampleConsensus () {};
+      virtual ~SampleConsensus () {}
 
       /** \brief Set the distance to model threshold.
         * \param[in] threshold distance to model threshold
@@ -343,17 +343,20 @@ namespace pcl
       /** \brief The number of threads the scheduler should use, or a negative number if no parallelization is wanted. */
       int threads_;
 
-      /** \brief Boost-based random number generator algorithm. */
-      boost::mt19937 rng_alg_;
+      /** \brief Random number generator that produces non-deterministic random numbers. */
+      std::random_device rnd_dev_;
+
+      /** \brief Mersenne Twister random number generator algorithm. */
+      std::mt19937 rng_alg_;
 
-      /** \brief Boost-based random number generator distribution. */
-      std::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;
+      /** \brief Uniform real random number distribution. */
+      std::shared_ptr<std::uniform_real_distribution<>> dist_;
 
       /** \brief Boost-based random number generator. */
       inline double
       rnd ()
       {
-        return ((*rng_) ());
+        return (*dist_)(rng_alg_);
       }
    };
 }

sample_consensus/include/pcl/sample_consensus/sac_model.h

@@ -43,10 +43,8 @@
 #include <ctime>
 #include <limits>
 #include <memory>
+#include <random>
 #include <set>
-#include <boost/random/mersenne_twister.hpp> // for mt19937
-#include <boost/random/uniform_int.hpp> // for uniform_int
-#include <boost/random/variate_generator.hpp> // for variate_generator
 
 #include <pcl/memory.h>
 #include <pcl/console/print.h>
@@ -87,17 +85,17 @@ namespace pcl
         , radius_max_ (std::numeric_limits<double>::max ())
         , samples_radius_ (0.)
         , samples_radius_search_ ()
-        , rng_dist_ (new boost::uniform_int<> (0, std::numeric_limits<int>::max ()))
+        , rng_dev_ (new std::random_device ())
+        , rng_alg_ ((*rng_dev_) ())
+        , rng_dist_ (new std::uniform_int_distribution<> (0, std::numeric_limits<int>::max ()))
         , custom_model_constraints_ ([](auto){return true;})
       {
         // Create a random number generator object
         if (random)
           rng_alg_.seed (static_cast<unsigned> (std::time(nullptr)));
         else
           rng_alg_.seed (12345u);
-
-        rng_gen_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_int<> > (rng_alg_, *rng_dist_)); 
-       }
+      }
 
     public:
       /** \brief Constructor for base SampleConsensusModel.
@@ -110,7 +108,9 @@ namespace pcl
         , radius_max_ (std::numeric_limits<double>::max ())
         , samples_radius_ (0.)
         , samples_radius_search_ ()
-        , rng_dist_ (new boost::uniform_int<> (0, std::numeric_limits<int>::max ()))
+        , rng_dev_ (new std::random_device ())
+        , rng_alg_ ((*rng_dev_) ())
+        , rng_dist_ (new std::uniform_int_distribution<> (0, std::numeric_limits<int>::max ()))
         , custom_model_constraints_ ([](auto){return true;})
       {
         if (random)
@@ -120,9 +120,6 @@ namespace pcl
 
         // Sets the input cloud and creates a vector of "fake" indices
         setInputCloud (cloud);
-
-        // Create a random number generator object
-        rng_gen_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_int<> > (rng_alg_, *rng_dist_)); 
       }
 
       /** \brief Constructor for base SampleConsensusModel.
@@ -139,7 +136,9 @@ namespace pcl
         , radius_max_ (std::numeric_limits<double>::max ())
         , samples_radius_ (0.)
         , samples_radius_search_ ()
-        , rng_dist_ (new boost::uniform_int<> (0, std::numeric_limits<int>::max ()))
+        , rng_dev_ (new std::random_device ())
+        , rng_alg_ ((*rng_dev_) ())
+        , rng_dist_ (new std::uniform_int_distribution<> (0, std::numeric_limits<int>::max ()))
         , custom_model_constraints_ ([](auto){return true;})
       {
         if (random)
@@ -156,10 +155,7 @@ namespace pcl
           indices_->clear ();
         }
         shuffled_indices_ = *indices_;
-
-        // Create a random number generator object
-        rng_gen_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_int<> > (rng_alg_, *rng_dist_)); 
-       };
+      }
 
       /** \brief Destructor for base SampleConsensusModel. */
       virtual ~SampleConsensusModel () {};
@@ -572,14 +568,14 @@ namespace pcl
       /** Data containing a shuffled version of the indices. This is used and modified when drawing samples. */
       Indices shuffled_indices_;
 
+      /** \brief Random number generator that produces non-deterministic random numbers.  */
+      std::shared_ptr<std::random_device> rng_dev_;
+
       /** \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_int<> > rng_dist_;
-
-      /** \brief Boost-based random number generator. */
-      std::shared_ptr<boost::variate_generator< boost::mt19937&, boost::uniform_int<> > > rng_gen_;
+      std::shared_ptr<std::uniform_int_distribution<> > rng_dist_;
 
       /** \brief A vector holding the distances to the computed model. Used internally. */
       std::vector<double> error_sqr_dists_;
@@ -594,7 +590,7 @@ namespace pcl
       inline int
       rnd ()
       {
-        return ((*rng_gen_) ());
+        return ((*rng_dist_) (rng_alg_));
       }
 
       /** \brief A user defined function that takes model coefficients and returns whether the model is acceptable or not. */