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Remove ceres/internal/random.h in favor of <random>

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Fixes https://github.com/ceres-solver/ceres-solver/issues/854

Change-Id: Id30b8dc2221f9afe4eb83f3a9304b9b2bc7e05d4
This commit is contained in:
Sameer Agarwal
2022-08-07 15:49:48 -07:00
parent d881b5ccf3
commit 5d0bca14dd
19 changed files with 153 additions and 196 deletions
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examples/bal_problem.cc
+15 -8
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@@ -32,15 +32,15 @@
#include <algorithm>
#include <cstdio>
#include <cstdlib>
#include <fstream>
#include <functional>
#include <random>
#include <string>
#include <vector>
#include "Eigen/Core"
#include "ceres/rotation.h"
#include "glog/logging.h"
#include "random.h"
namespace ceres::examples {
namespace {
@@ -55,9 +55,9 @@ void FscanfOrDie(FILE* fptr, const char* format, T* value) {
}
}
void PerturbPoint3(const double sigma, double* point) {
void PerturbPoint3(std::function<double()> dist, double* point) {
for (int i = 0; i < 3; ++i) {
point[i] += RandNormal() * sigma;
point[i] += dist();
}
}
@@ -297,14 +297,19 @@ void BALProblem::Perturb(const double rotation_sigma,
CHECK_GE(point_sigma, 0.0);
CHECK_GE(rotation_sigma, 0.0);
CHECK_GE(translation_sigma, 0.0);
std::mt19937 prng;
std::normal_distribution point_noise_distribution(0.0, point_sigma);
double* points = mutable_points();
if (point_sigma > 0) {
for (int i = 0; i < num_points_; ++i) {
PerturbPoint3(point_sigma, points + 3 * i);
PerturbPoint3(std::bind(point_noise_distribution, std::ref(prng)),
points + 3 * i);
}
}
std::normal_distribution rotation_noise_distribution(0.0, point_sigma);
std::normal_distribution translation_noise_distribution(0.0,
translation_sigma);
for (int i = 0; i < num_cameras_; ++i) {
double* camera = mutable_cameras() + camera_block_size() * i;
@@ -314,12 +319,14 @@ void BALProblem::Perturb(const double rotation_sigma,
// representation.
CameraToAngleAxisAndCenter(camera, angle_axis, center);
if (rotation_sigma > 0.0) {
PerturbPoint3(rotation_sigma, angle_axis);
PerturbPoint3(std::bind(rotation_noise_distribution, std::ref(prng)),
angle_axis);
}
AngleAxisAndCenterToCamera(angle_axis, center, camera);
if (translation_sigma > 0.0) {
PerturbPoint3(translation_sigma, camera + camera_block_size() - 6);
PerturbPoint3(std::bind(translation_noise_distribution, std::ref(prng)),
camera + camera_block_size() - 6);
}
}
}