9 #ifndef ransac_optimizers_H
10 #define ransac_optimizers_H
38 template <
typename NUMTYPE>
40 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
x,
41 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
y,
42 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
z,
43 std::vector<std::pair<size_t, TPlane>>& out_detected_planes,
44 const double threshold,
const size_t min_inliers_for_valid_plane = 10);
56 template <
typename NUMTYPE>
58 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
x,
59 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
y,
60 std::vector<std::pair<size_t, TLine2D>>& out_detected_lines,
61 const double threshold,
const size_t min_inliers_for_valid_line = 5);
66 template <
class POINTSMAP>
68 const POINTSMAP* points_map,
69 std::vector<std::pair<size_t, TPlane>>& out_detected_planes,
70 const double threshold,
const size_t min_inliers_for_valid_plane)
73 points_map->getAllPoints(xs, ys, zs);
75 xs, ys, zs, out_detected_planes, threshold,
76 min_inliers_for_valid_plane);