Function robot_calibration::getPlane

• Defined in File eigen_geometry.hpp

Function Documentation

inline bool robot_calibration::getPlane(Eigen::MatrixXd points, Eigen::Vector3d &normal, double &d)

Find the plane parameters for a point cloud.

The equation of the plane will be ax + by + cz + d = 0, where a, b, and c are the normal.

Parameters:

• points – Point cloud to determine plane parameters

• normal – The calculated normal, returned by reference

• d – The calculated d value in the plane equation