#include <PlaneFitting.hpp>

Classes
class	Result

class	ResultNormal

Public Types
typedef Eigen::Matrix< Scalar, 3, 1 >	Vector3

typedef Eigen::Matrix< Scalar, 3, 3 >	Matrix3

Public Member Functions
	PlaneFitting ()

	PlaneFitting (const Vector3 &p, Scalar weight=1.0)

void	scale (Scalar scale)
	scale the statistics Note that this will not have influence on the solution, but will only change the relative weighting towards additional datums. More...

void	clear ()
	clears all previous input to the update method More...

void	update (const PlaneFitting &other)

void	update (const Vector3 &p, Scalar weight=1.0)

Result	solve () const
	Solve the regression and return a result object. More...

Vector3	getCoeffs () const
	Get the coefficients of the fitted plane. More...

Matrix3	getCovariance () const
	calculate the covariance matrix More...

ResultNormal	solveNormal () const

Vector3	getNormal () const

Public Attributes
Scalar	x

Scalar	y

Scalar	z

Scalar	xx

Scalar	yy

Scalar	xy

Scalar	xz

Scalar	yz

Scalar	zz

Scalar	n

Detailed Description

template<class Scalar>
class numeric::PlaneFitting< Scalar >

Performs a linear least squares regression of a plane to a set of points in 3D space. The points are added incrementally using the update method, and can be weighted according to their contribution to the fit. A call to getCoeffs() will solve the regression and return the coefficients of the fitted plane. Note that the linear least squares fit is over the distance on the z-axis, and not actually the shortest distance to the plane.

Member Typedef Documentation

◆ Matrix3

template<class Scalar>

typedef Eigen::Matrix<Scalar,3,3> numeric::PlaneFitting< Scalar >::Matrix3

◆ Vector3

template<class Scalar>

typedef Eigen::Matrix<Scalar,3,1> numeric::PlaneFitting< Scalar >::Vector3

Constructor & Destructor Documentation

◆ PlaneFitting() [1/2]

template<class Scalar>

numeric::PlaneFitting< Scalar >::PlaneFitting ( )

inline

◆ PlaneFitting() [2/2]

template<class Scalar>

numeric::PlaneFitting< Scalar >::PlaneFitting	(	const Vector3 &	p,
		Scalar	weight = `1.0`
	)

inlineexplicit

Member Function Documentation

◆ clear()

template<class Scalar>

void numeric::PlaneFitting< Scalar >::clear ( )

inline

clears all previous input to the update method

◆ getCoeffs()

template<class Scalar>

Vector3 numeric::PlaneFitting< Scalar >::getCoeffs ( ) const

inline

Get the coefficients of the fitted plane.

will return all zeros if no input was given to the update() method.

Note this function will call the solve function internally. If you need both coefficients and covariance matrix it is more efficient to call solve directly.

Returns: is a three vector <a,b,c> such that the plane is given by z = a * x + b * y + c

◆ getCovariance()

template<class Scalar>

Matrix3 numeric::PlaneFitting< Scalar >::getCovariance ( ) const

inline

calculate the covariance matrix

Note this function will call the solve function internally. If you need both coefficients and covariance matrix it is more efficient to call solve directly.