plane_fitting_ransac.h

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#pragma once
 
#include <optional>
 
#include <Eigen/Geometry>
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>
 
 
// This header exposes minimal includes. For templates, include *.hpp.
 
 
namespace Eigen
{
    using Hyperplane3f = Hyperplane<float, 3>;
}
 
 
namespace visionx::tools
{
 
    struct PlaneFittingResult
    {
        pcl::PointIndices::Ptr inliers;
        Eigen::Hyperplane3f plane = Eigen::Hyperplane3f(Eigen::Vector3f::UnitZ(), 0);
    };
 
 
#define DECLARE_fitPlaneRansac_PointT(PointT)  \
    std::optional<PlaneFittingResult> fitPlaneRansac(  \
            pcl::PointCloud< PointT >::Ptr cloud, double distanceThreshold = 1.0,  \
            pcl::PointIndices::Ptr indices = nullptr)
 
 
    DECLARE_fitPlaneRansac_PointT(pcl::PointXYZ);
    DECLARE_fitPlaneRansac_PointT(pcl::PointXYZRGB);
    DECLARE_fitPlaneRansac_PointT(pcl::PointXYZRGBA);
    DECLARE_fitPlaneRansac_PointT(pcl::PointXYZRGBL);
 
 
#undef DECLARE_fitPlaneRansac_PointT
 
}