ransac.hpp

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#pragma once
 
#include "ground_removal/ground_removal.hpp"
 
class RANSAC : public GroundRemoval {
public:
  RANSAC(const double epsilon, const int n_tries);
 
  RANSAC() = default;
 
  void ground_removal(const sensor_msgs::msg::PointCloud2::SharedPtr& trimmed_point_cloud,
                      sensor_msgs::msg::PointCloud2::SharedPtr& ground_removed_point_cloud,
                      GroundGrid& ground_grid) const override;
 
private:
  double epsilon;  
  int n_tries;     
};