9 #ifndef ransac_optimizers_H 10 #define ransac_optimizers_H 36 template <
typename NUMTYPE>
38 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
x,
39 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
y,
40 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
z,
41 std::vector<std::pair<size_t, TPlane>>& out_detected_planes,
42 const double threshold,
const size_t min_inliers_for_valid_plane = 10);
54 template <
typename NUMTYPE>
56 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
x,
57 const Eigen::Matrix<NUMTYPE, Eigen::Dynamic, 1>&
y,
58 std::vector<std::pair<size_t, TLine2D>>& out_detected_lines,
59 const double threshold,
const size_t min_inliers_for_valid_line = 5);
64 template <
class POINTSMAP>
66 const POINTSMAP* points_map,
67 std::vector<std::pair<size_t, TPlane>>& out_detected_planes,
68 const double threshold,
const size_t min_inliers_for_valid_plane)
71 points_map->getAllPoints(xs, ys, zs);
73 xs, ys, zs, out_detected_planes, threshold,
74 min_inliers_for_valid_plane);
void ransac_detect_3D_planes(const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &z, std::vector< std::pair< size_t, TPlane >> &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane=10)
Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing p...
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
This base provides a set of functions for maths stuff.
void ransac_detect_2D_lines(const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, std::vector< std::pair< size_t, TLine2D >> &out_detected_lines, const double threshold, const size_t min_inliers_for_valid_line=5)
Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing li...