| 505 | } |
| 506 | |
| 507 | void EventLocalPlaneSacProblem::getSelectedDistancesToModel(const model_t &model, |
| 508 | const std::vector<int> &indices, |
| 509 | std::vector<double> &scores) const { |
| 510 | scores.resize(indices.size()); |
| 511 | for (int i = 0; i < static_cast<int>(indices.size()); ++i) { |
| 512 | const auto &[x, y, t] = _data.at(indices.at(i)); |
| 513 | scores.at(i) = PointToPlaneDistance(x, y, t, model(0), model(1), model(2)); |
| 514 | } |
| 515 | } |
| 516 | |
| 517 | void EventLocalPlaneSacProblem::optimizeModelCoefficients(const std::vector<int> &inliers, |
| 518 | const model_t &model, |
nothing calls this directly
no outgoing calls
no test coverage detected