67 arma::colvec mins = arma::min(M, 1);
68 arma::colvec maxs = arma::max(M, 1);
69 arma::colvec centers = (maxs+mins) / 2.0;
70 M.each_col() -= centers;
94 arma::svd(U, s, V, M);
95 return std::vector<T>({U[6], U[7], U[8]});
static vector< T > bestFittingPlaneOrthoNormal(Mat< T > &M, bool center=true)
Compute the orthonormal of best fitting plane for given Matrix of coordinates.
Handle plane fitting operations.
Definition: PlaneFitter.h:14
static void centerCoordinatesMatrix(Mat< T > &M)
Modify coordinates at matrix M so it is centered at originWaypoint.
Definition: PlaneFitter.h:66