SAC: add getInliers, getModel, getModelCoefficients to avoid copying data#6304
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Adding new methods to `SampleConsensus` so getInliers, getModel and getModelCoefficients return a const reference.
mvieth
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changelog: enhancement
mvieth
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Jul 8, 2025
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Thanks for implementing this! I have a few comments.
Co-authored-by: Markus Vieth <39675748+mvieth@users.noreply.github.com>
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Thanks a lot, I have applied the suggestions. |
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You'll need to review the other places to changed them as well - adding & and consts. |
mvieth
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Jul 9, 2025
Co-authored-by: Markus Vieth <39675748+mvieth@users.noreply.github.com>
larshg
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Jul 10, 2025
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Pull Request Overview
This PR refactors SampleConsensus APIs to return const references for inliers, model, and coefficients, and updates all internal call sites to use these new getters.
- Introduced
const &overloads forgetInliers(),getModel(), andgetModelCoefficients()insac.h - Updated segmentation and registration modules to use return-value getters instead of out-parameter calls
- Removed redundant variable declarations and replaced
sac.get*()calls accordingly
Reviewed Changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| tools/sac_segmentation_plane.cpp | Replaced out-param calls with returned values for inliers/coeff |
| segmentation/include/pcl/segmentation/impl/sac_segmentation.hpp | Updated .segment() to assign from return‐value getters |
| segmentation/include/pcl/segmentation/impl/cpc_segmentation.hpp | Switched to return‐value getters and direct assignment |
| sample_consensus/include/pcl/sample_consensus/sac.h | Added const-reference overloads for getModel, getInliers(), getModelCoefficients() |
| registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp | Used const auto& and return‐value getters for inliers/coeffs |
| registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus.hpp | Same updates as in 2D version |
Comments suppressed due to low confidence (1)
sample_consensus/include/pcl/sample_consensus/sac.h:310
- Add unit tests covering the new const‐reference getters (
getInliers(),getModel(),getModelCoefficients()) to validate that they return the correct data and to prevent future regressions.
inline const Indices&
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This reverts commit 83391b5.
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Sorry for not carefully checking Copilot's suggestions; the last commit has been reverted. |
larshg
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Jul 10, 2025
mvieth
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Adding new methods to
SampleConsensussogetInliers,getModelandgetModelCoefficientsreturn a const reference.Usages within PCL has been replaced.