66 static std::optional<vpPlane> estimatePlane(
const vpImage<uint16_t> &I_depth_raw,
double depth_scale,
68 const unsigned int avg_nb_of_pts_to_estimate = 500,
69 std::optional<std::reference_wrapper<
vpImage<vpRGBa> > > heat_map = {});
72 static constexpr auto MinPointNbToEstimatePlane{20u};
73 static constexpr auto MaxSubSampFactorToEstimatePlane{20u};