Skip to content

Fix SampleConsensusModel constructor to not use a virtual function #6305

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Fix SampleConsensusModel constructor to not use a virtual function #6305

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7a3ea8f
Fix SampleConsensusModel constructor to not use a virtual function
Jul 10, 2025
c95a001
add numeric for iota
Jul 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
48 changes: 18 additions & 30 deletions sample_consensus/include/pcl/sample_consensus/sac_model.h
View file
Open in desktop
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>

#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)
: 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