Plane.m
ccb224d9fe7baterrier-plotUpdate

Plane.m
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			classdef Plane < handle



			properties
			normal
			point
			fitPerformance
			end



			methods

			function obj = Plane()
			obj.normal = [];
			obj.point = [];

			obj.fitPerformance.points = [];
			obj.fitPerformance.residuals = [];
			obj.fitPerformance.RMSE = [];
			obj.fitPerformance.R2 = [];
			end

			function fit(obj,points)
			% Fit current plane to given points
			[coeff,score,roots] = pca(points);
			normal = cross(coeff(:,1),coeff(:,2));
			normal = normal/norm(normal);

			meanPoint = mean(points,1);
			estimatedPoints = repmat(meanPoint,size(points,1),1) +...
			score(:,1:2)*coeff(:,1:2)';
			residuals = points - estimatedPoints;

			error = vecnorm(residuals,2,2);
			RMSE = norm(error)/sqrt(size(points,1));

			sumSquareError = sum(error.^2);
			total = vecnorm(points - meanPoint,2,2)';
			sumSquareTotal = sum(total.^2);
			R2 = 1-(sumSquareError/sumSquareTotal); %http://en.wikipedia.org/wiki/Coefficient_of_determination

			obj.normal = normal';
			obj.point = meanPoint;
			obj.setFitPerformance(points,residuals,RMSE,R2);
			end

			function setFitPerformance(obj,points,residuals,RMSE,R2)
			obj.fitPerformance.points = points;
			obj.fitPerformance.residuals = residuals;
			obj.fitPerformance.RMSE = RMSE;
			obj.fitPerformance.R2 = R2;
			end

			function setPointOnPlane(obj,point)
			obj.point = point;
			end

			function projectedPoints = projectOnPlane(obj,points)
			N2 = obj.normal.'*obj.normal;
			projectedPoints = points(eye(3)-N2)+repmat(obj.pointN2,size(points,1),1);
			end

			end



			end