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FitPlaneToPoints_M
Approximates points with a plane using selected M-estimator for outlier suppression.
Syntax
C++
C#
void avl::FitPlaneToPoints_M
(
const atl::Array<avl::Point3D>& inPoints,
avl::MEstimator::Type inOutlierSuppression,
float inClippingFactor,
int inIterationCount,
atl::Optional<avl::Plane3D&> inInitialPlane,
avl::Plane3D& outPlane,
atl::Optional<atl::Array<avl::Point3D>&> outInliers = atl::NIL,
atl::Optional<atl::Array<float>&> outDistances = atl::NIL,
atl::Optional<float&> outSignedDistanceSum = atl::NIL,
atl::Optional<float&> outDistanceSum = atl::NIL,
atl::Optional<atl::Array<float>&> outSquaredDistances = atl::NIL,
atl::Optional<float&> outSquaredDistanceSum = atl::NIL
)
void FitPlaneToPoints_M
(
Point3D[] inPoints,
MEstimator inOutlierSuppression,
float inClippingFactor,
int inIterationCount,
Plane3D? inInitialPlane,
out Plane3D outPlane,
out Point3D[] outInliers,
out float[] outDistances,
out float? outSignedDistanceSum,
out float? outDistanceSum,
out float[] outSquaredDistances,
out float? outSquaredDistanceSum
)
Parameters
|
Name |
Type |
Range |
Default |
Description |
|
inPoints |
const Array<Point3D>& |
|
|
|
|
inOutlierSuppression |
MEstimator::Type |
|
|
|
|
inClippingFactor |
float |
0.675 - 6.0 |
2.5f |
Multitude of standard deviation within which points are considered inliers |
|
inIterationCount |
int |
0 - |
5 |
Number of iterations of outlier suppressing algorithm |
|
inInitialPlane |
Optional<Plane3D&> |
|
NIL |
Initial approximation (if available) |
|
outPlane |
Plane3D& |
|
|
|
|
outInliers |
Optional<Array<Point3D>&> |
|
NIL |
Points matching the computed plane |
|
outDistances |
Optional<Array<float>&> |
|
NIL |
Distances of the input points to a resulting plane |
|
outSignedDistanceSum |
Optional<float&> |
|
NIL |
Sum of signed distances of the input points to a resulting plane |
|
outDistanceSum |
Optional<float&> |
|
NIL |
Sum of distances of the input points to a resulting plane |
|
outSquaredDistances |
Optional<Array<float>&> |
|
NIL |
Squared distances of the input points to a resulting plane |
|
outSquaredDistanceSum |
Optional<float&> |
|
NIL |
Sum of squared distances of the input points to a resulting plane |
Errors
Error type |
Description |
DomainError |
Empty point array on input in FitPlaneToPoints_M. |