calls calls calls calls calls calls calls estimate solve3DFullRansac solve3DFull solve3DFull solve3DFullRansac solve3DFull solve3DFullRansac UML时序图（UML Sequence Diagram） estimate solve3DFullRansac solve3DFull solve3DFullRansac 调用 调用 调用 返回 返回 estimate solve3DFullRansac solve3DFull solve3DFullRansac UML活动图（UML Activity Diagram） 调用 调用 调用 调用 调用 结束 开始 estimate solve3DFullRansac solve3DFull solve3DFullRansac solve3DFull 结束 UML类图（UML Class Diagram） RadarEgoVelocityEstimator +estimate(radar_scan_msg: PointCloud2, v_r: Vector3, sigma_v_r: Vector3, inlier_radar_msg: PointCloud2, outlier_radar_msg: PointCloud2) +solve3DFullRansac(radar_data: Matrix, v_r: Vector3, sigma_v_r: Vector3, inlier_idx_best: Vector, outlier_idx_best: Vector) +solve3DFull(radar_data: Matrix, v_r: Vector3, sigma_v_r: Vector3, estimate_sigma: bool) Vector3 + x: Real + y: Real + z: Real PointCloud2 + header: Header + data: Data Matrix + rows: int + cols: int + data: Data Header + ... Data + ... 调用图（Call Graph） calls calls calls calls calls calls calls estimate solve3DFullRansac solve3DFull solve3DFull solve3DFullRansac solve3DFull solve3DFullRansac 数据流图（Data Flow Diagram） 处理 数据流 数据流 数据流 数据流 输出结果 输入数据 estimate solve3DFullRansac solve3DFull solve3DFullRansac solve3DFull 输出数据
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