9 #ifndef ransac_optimizers_H
10 #define ransac_optimizers_H
33 template <
typename NUMTYPE>
35 const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1> &x,
36 const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1> &y,
37 const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1> &z,
38 std::vector<std::pair<size_t,TPlane> > &out_detected_planes,
39 const double threshold,
40 const size_t min_inliers_for_valid_plane = 10
48 template <
typename NUMTYPE>
50 const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1> &x,
51 const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1> &y,
52 std::vector<std::pair<size_t,TLine2D> > &out_detected_lines,
53 const double threshold,
54 const size_t min_inliers_for_valid_line = 5
60 template <
class POINTSMAP>
62 const POINTSMAP * points_map,
63 std::vector<std::pair<size_t,TPlane> > &out_detected_planes,
64 const double threshold,
65 const size_t min_inliers_for_valid_plane
69 points_map->getAllPoints(xs,ys,zs);