最小二乘法平面拟合.doc

最小二乘法平面在介绍平面拟合之前，我先给大家介绍一下有关平面的相关知识（相关介绍来自QVPak 3D,日本三丰） Definition of the Plane FeatureA plane feature is reported as the projection of the centroid of the points used to fit the plane, which is projected onto the plane feature, a measurement of the direction measured as an angle, a measurement of the flatness of the plane and a measurement of the parallelism of the plane.?If measured in a Cartesian coordinate system, the coordinates of the planes centroid are reported as follows:?X: The distance from the origin to the centroid, as measured along the x-axis.?Y: The distance from the origin to the centroid, as measured along the y-axis.?Z: The distance from the origin to the centroid, as measured along the z-axis.?If measured in a Cylindrical coordinate system, the coordinates of the planes centroid are reported as follows:?R: The distance from the z-axis of the coordinate system to the centroid, as measured within a plane which contains the centroid and is orthogonal to the z-axis of the coordinate system.?A: The direction, measured as an angle, between a reference radius vector and a radius vector that contains the centroid and is projected onto the xy-plane. The reference radius vector may be considered to be the x-axis.?Z: The height from the origin to the centroid in the cylindrical coordinate system, as measured along the z-axis.?The other attributes of the plane feature are:?Angle: The angle between the projection of the plane’s normal vector onto the xy-plane and the x-axis of the current coordinate system.?X-angle: The angle between the plane’s normal vector and the x-axis of the current coordinate system. (X-Angle = arc cosine k). The x-angle is a positive number between 0 and 180 degrees.?Y-angle: The angle between the plane’s normal vector and the y-axis of the current coordinate system. (Y-Angle = arc cosine l). The y-angle is a positive number between 0 and 180 degrees.?Z-angle: The angle between the plane’s normal vector and the z-axis o