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Fix SampleConsensusModel constructor to not use a virtual function #6305

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Fix SampleConsensusModel constructor to not use a virtual function #6305

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7a3ea8f
Fix SampleConsensusModel constructor to not use a virtual function
Jul 10, 2025
c95a001
add numeric for iota
Jul 10, 2025
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48 changes: 18 additions & 30 deletions sample_consensus/include/pcl/sample_consensus/sac_model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
#include <boost/random/uniform_int.hpp> // for uniform_int
#include <boost/random/variate_generator.hpp> // for variate_generator
#include <random>
#include <numeric>
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Suggested change
#include <numeric>
#include <numeric> // for iota

I assume?


#include <pcl/memory.h>
#include <pcl/console/print.h>
Expand Down Expand Up @@ -101,41 +102,14 @@ namespace pcl
}

public:
/** \brief Constructor for base SampleConsensusModel.
* \param[in] cloud the input point cloud dataset
* \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
*/
SampleConsensusModel (const PointCloudConstPtr &cloud, bool random = false)
: input_ ()
, radius_min_ (-std::numeric_limits<double>::max ())
, 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 ()))
, custom_model_constraints_ ([](auto){return true;})
{
if (random)
rng_alg_.seed (std::random_device()());
else
rng_alg_.seed (12345u);

// 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.
* \param[in] cloud the input point cloud dataset
* \param[in] indices a vector of point indices to be used from \a cloud
* \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
*/
SampleConsensusModel (const PointCloudConstPtr &cloud,
const Indices &indices,
bool random = false)
SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices = Indices(), const bool random = false)
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Could adding a default value for indices not create a possible ambiguity if only the cloud parameter is given? Then there would not be a way to distinguish between this ctor and SampleConsensusModel (const PointCloudConstPtr &cloud, const bool random = false), right?

: input_ (cloud)
, indices_ (new Indices (indices))
, indices_(new Indices(indices))
, radius_min_ (-std::numeric_limits<double>::max ())
, radius_max_ (std::numeric_limits<double>::max ())
, samples_radius_ (0.)
Expand All @@ -148,6 +122,13 @@ namespace pcl
else
rng_alg_.seed (12345u);

// If no indices are provided, use all points
if (indices_->empty())
{
indices_->resize(cloud->size());
std::iota(indices_->begin(), indices_->end(), 0);
}

if (indices_->size () > input_->size ())
{
PCL_ERROR("[pcl::SampleConsensusModel] Invalid index vector given with size "
Expand All @@ -160,7 +141,14 @@ namespace pcl

// 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.
* \param[in] cloud the input point cloud dataset
* \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
*/
SampleConsensusModel (const PointCloudConstPtr &cloud, const bool random = false)
: SampleConsensusModel(cloud, Indices(), random) {};

/** \brief Destructor for base SampleConsensusModel. */
virtual ~SampleConsensusModel () = default;
Expand Down