| 193 | } |
| 194 | |
| 195 | uint8_t computeRank(const PointView& view, const PointIdList& ids, |
| 196 | double threshold) |
| 197 | { |
| 198 | using namespace Eigen; |
| 199 | |
| 200 | Matrix3d B = computeCovariance(view, ids); |
| 201 | |
| 202 | JacobiSVD<Matrix3d> svd(B); |
| 203 | svd.setThreshold((float)threshold); |
| 204 | |
| 205 | return static_cast<uint8_t>(svd.rank()); |
| 206 | } |
| 207 | |
| 208 | Eigen::MatrixXd extendedLocalMinimum(const PointView& view, int rows, int cols, |
| 209 | double cell_size, BOX2D bounds) |
no test coverage detected