37 template <
typename NUMTYPE>
39 const CVectorDynamic<NUMTYPE>& x,
const CVectorDynamic<NUMTYPE>& y,
40 const CVectorDynamic<NUMTYPE>& 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 CVectorDynamic<NUMTYPE>& x,
const CVectorDynamic<NUMTYPE>& y,
57 std::vector<std::pair<size_t, TLine2D>>& out_detected_lines,
58 const double threshold,
const size_t min_inliers_for_valid_line = 5);
63 template <
class POINTSMAP>
65 const POINTSMAP* points_map,
66 std::vector<std::pair<size_t, TPlane>>& out_detected_planes,
67 const double threshold,
const size_t min_inliers_for_valid_plane)
70 points_map->getAllPoints(xs, ys, zs);
72 xs, ys, zs, out_detected_planes, threshold,
73 min_inliers_for_valid_plane);