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FitPlaneToPoints_M
Header: | AVL.h |
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Namespace: | avl |
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<const 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 )
Parameters
Name | Type | Range | Default | Description | |
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inPoints | const Array<Point3D>& | |||
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inOutlierSuppression | MEstimator::Type | |||
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inClippingFactor | float | 0.675 - 6.0 | 2.5f | Multitude of standard deviation within which points are considered inliers |
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inIterationCount | int | 0 - ![]() |
5 | Number of iterations of outlier suppressing algorithm |
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inInitialPlane | Optional<const Plane3D&> | NIL | Initial approximation (if available) | |
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outPlane | Plane3D& | |||
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outInliers | Optional<Array<Point3D>&> | NIL | Points matching the computed plane | |
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outDistances | Optional<Array<float>&> | NIL | Distances of the input points to a resulting plane | |
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outSignedDistanceSum | Optional<float&> | NIL | Sum of signed distances of the input points to a resulting plane | |
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outDistanceSum | Optional<float&> | NIL | Sum of distances of the input points to a resulting plane | |
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outSquaredDistances | Optional<Array<float>&> | NIL | Squared distances of the input points to a resulting plane | |
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outSquaredDistanceSum | Optional<float&> | NIL | Sum of squared distances of the input points to a resulting plane |
Optional Outputs
The computation of following outputs can be switched off by passing value atl::NIL
to these parameters: outPlane, outInliers, outDistances, outSignedDistanceSum, outDistanceSum, outSquaredDistances, outSquaredDistanceSum.
Read more about Optional Outputs.
Errors
List of possible exceptions:
Error type | Description |
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DomainError | Empty point array on input in FitPlaneToPoints_M. |