Check sigmaz #156
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Check sigmaz #156
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No need to recompute them from the plane parameters and the input points.
fit_plane now returns plane function and sum of residuals. Test on value of the residuals introduced.
Suppress warning due to change in behavior from np 1.14.0 with rcond.
For singula matrices, the sum of residuals should be zero, not nan.
Use SVD decomposition explicitely, since numpy lstsq does not work on stack of matrices.
new vectorized implementation compared agains previous serial version.
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Looked at issue #153 : the calculation of sigma_z has been vectorized, together with the extraction of xyz coordinates from the point-cloud for multiple neighbourhoods. It gives a speedup when the number of neighbourhoods is large (2X for ~150000), it should be largest for neighbourhoods with similar number of points.