Reimplement fitHyperplane such that the fit is done in a total LS sense (use eigen decomposition). Added optional feedback on the stability of the actual fit (think about fitting a 3D plane on data lying on a line...)
Reimplement fitHyperplane such that the fit is done in a total LS sense
(use eigen decomposition).
Added optional feedback on the stability of the actual fit (think about fitting a 3D plane
on data lying on a line...)

robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen