fitPlane.m
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fitPlane.m
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			function [normal,meanX,residuals,rmse,R2] = fitPlane(X)

			% 2 lines below are commented to replace princomp by pca
			%[coeff,score,roots] = princomp(X);
			%normal = coeff(:,3);
			[coeff,score,roots] = pca(X);
			normal = cross(coeff(:,1),coeff(:,2));
			[Xn,Xm] = size(X);
			meanX = mean(X,1);
			Xfit = repmat(meanX,Xn,1) + score(:,1:2)*coeff(:,1:2)';
			residuals = X - Xfit;
			error = diag(pdist2(residuals,zeros(Xn,Xm)));
			sse = sum(error.^2);
			rmse = norm(error)/sqrt(Xn);

			for i=1:Xn;
			tot(i) = norm(meanX-X(i,:));
			end

			sst = sum(tot.^2);

			R2 = 1-(sse/sst); %http://en.wikipedia.org/wiki/Coefficient_of_determination
			end