From 7a3ea8f2163ac0d3c3fd3a7dfdaeb84d46805219 Mon Sep 17 00:00:00 2001
From: jmackay2 <jmackay2>
Date: Wed, 9 Jul 2025 23:06:41 -0400
Subject: [PATCH 1/2] Fix SampleConsensusModel constructor to not use a virtual
 function

---
 .../include/pcl/sample_consensus/sac_model.h  | 47 +++++++------------
 1 file changed, 17 insertions(+), 30 deletions(-)

diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model.h b/sample_consensus/include/pcl/sample_consensus/sac_model.h
index 39f066a7254..3a9bcb6ef0d 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model.h
@@ -101,41 +101,14 @@ 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) 
         : 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.)
@@ -148,6 +121,13 @@ 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 "
@@ -160,7 +140,14 @@ 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;

From c95a001fcea35db2402a0abc0e1da8ba5534f73f Mon Sep 17 00:00:00 2001
From: jmackay2 <jmackay2>
Date: Thu, 10 Jul 2025 00:43:30 -0400
Subject: [PATCH 2/2] add numeric for iota

---
 sample_consensus/include/pcl/sample_consensus/sac_model.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model.h b/sample_consensus/include/pcl/sample_consensus/sac_model.h
index 3a9bcb6ef0d..dada7ae0d07 100644
--- a/sample_consensus/include/pcl/sample_consensus/sac_model.h
+++ b/sample_consensus/include/pcl/sample_consensus/sac_model.h
@@ -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>
 
 #include <pcl/memory.h>
 #include <pcl/console/print.h>