points.py 文件源码

def plane_fit(points, tolerance=None):
    '''                                   
    Given a set of points, find an origin and normal using least squares
    Arguments
    ---------
    points: (n,3)
    tolerance: how non-planar the result can be without raising an error

    Returns
    ---------
    C: (3) point on the plane
    N: (3) normal vector
    '''

    C = points[0]
    x = points - C
    M = np.dot(x.T, x)
    N = np.linalg.svd(M)[0][:,-1]

    if not (tolerance is None):
        normal_range  = np.ptp(np.dot(N, points.T))
        if normal_range > tol.planar:
            log.error('Points have peak to peak of %f', normal_range)
            raise ValueError('Plane outside tolerance!')
    return C, N