public override void Estimate(List <Point3D> datas)
{
double sum_x = 0;
double sum_y = 0;
double sum_z = 0;
foreach (Point3D temp in datas)
{
sum_x += temp.x;
sum_y += temp.y;
sum_z += temp.z;
}
sum_x /= datas.Count;
sum_y /= datas.Count;
sum_z /= datas.Count;
DenseMatrix jacobian = new DenseMatrix(datas.Count, 3);
foreach (Point3D temp in datas)
{
Vector <double> gradient = new DenseVector(3);
gradient[0] = temp.x - sum_x;
gradient[1] = temp.y - sum_y;
gradient[2] = temp.z - sum_z;
jacobian.SetRow(datas.IndexOf(temp), gradient);
}
MathNet.Numerics.LinearAlgebra.Double.Factorization.Svd
svd = jacobian.Svd(true);
// get matrix of left singular vectors with first n columns of U
Matrix <double> U1 = svd.U().SubMatrix(0, datas.Count, 0, 3);
// get matrix of singular values
Matrix <double> S = new DiagonalMatrix(3, 3, svd.S().ToArray());
// get matrix of right singular vectors
Matrix <double> V = svd.VT().Transpose();
Vector <double> parameters = new DenseVector(3);
parameters = V.Column(2);
x = sum_x;
y = sum_y;
z = sum_z;
i = parameters[0];
j = parameters[1];
k = parameters[2];
}
