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FitPlaneToPoints_M

Approximates points with a plane using selected M-estimator for outlier suppression.

Header:	AVL.h

Syntax

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.