From 65edb5ecf612c1873e9a5143bc60e074ec5ce459 Mon Sep 17 00:00:00 2001
From: kleeman <akleeman@gmail.com>
Date: Tue, 22 Oct 2019 15:05:49 -0700
Subject: [PATCH] add a gp_ransac_strategy method for specialized
 is_valid_candidate

---
 include/albatross/src/models/ransac_gp.hpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/include/albatross/src/models/ransac_gp.hpp b/include/albatross/src/models/ransac_gp.hpp
index 39af791f..6d640221 100644
--- a/include/albatross/src/models/ransac_gp.hpp
+++ b/include/albatross/src/models/ransac_gp.hpp
@@ -247,6 +247,17 @@ auto gp_ransac_strategy(const InlierMetric &inlier_metric,
       inlier_metric, consensus_metric, indexing_function);
 }
 
+template <typename InlierMetric, typename ConsensusMetric,
+          typename IndexingFunction, typename IsValidCandidateMetric>
+auto gp_ransac_strategy(const InlierMetric &inlier_metric,
+                        const IndexingFunction &indexing_function,
+                        const ConsensusMetric &consensus_metric,
+                        const IsValidCandidateMetric &is_valid_candidate) {
+  return GaussianProcessRansacStrategy<
+      InlierMetric, ConsensusMetric, IndexingFunction, IsValidCandidateMetric>(
+      inlier_metric, consensus_metric, indexing_function);
+}
+
 } // namespace albatross
 
 #endif /* INCLUDE_ALBATROSS_MODELS_RANSAC_GP_H_ */