point2PlaneDistance.m

function distance = point2PlaneDistance(data, plane, num_beams, num_scans, num_targets)
    distance.ring(num_beams) = struct();
    for n = 1:num_beams
        X = [];
        points_array = [];
        sum_points = 0;
        sum_targets = 0;
        for t = 1:num_targets
            point =[];
            for s = 1:num_scans
                point = [point data(t).scan(s).ring(n).points];
            end
            num_points = size(point, 2); 
            if num_points > 0
                plane_centroids = repmat(plane{t}.centroid, [1, num_points]);
                points_array = [points_array point];
                diff = [point - plane_centroids];
                normals = repmat(plane{t}.unit_normals, [1, num_points]);
%                 X = [X abs(dot(normals, diff(1:3,:)))];
                X = [X dot(normals, diff(1:3,:))];
                sum_targets = sum_targets + 1;
            end
            sum_points = sum_points + num_points;
        end
        distance.ring(n).ring = n;
        distance.ring(n).num_points = sum_points;
        distance.ring(n).num_targets = sum_targets;
        if sum_points > 0
%             distance.ring(n).mean = abs(mean(X,2));
            distance.ring(n).mean = mean(abs(X),2);
            distance.ring(n).sum = sum(abs(X));
            ring_centroid = mean(points_array, 2);
            distance.ring(n).ring_centroid = ring_centroid(1:3)';
            distance.ring(n).z_axis = ring_centroid(3);
            distance.ring(n).std = std(X);
        else
            distance.ring(n).ring_centroid = [0, 0, 0];
            distance.ring(n).z_axis = 0;
            distance.ring(n).mean = 0;
            distance.ring(n).sum = 0;
            distance.ring(n).std = 0;
        end
        distance.ring(n).mean_in_mm = distance.ring(n).mean * 1e3;
        distance.ring(n).std_in_mm = distance.ring(n).std * 1e3;
    end
    distance.mean = mean(abs([distance.ring(:).mean]));
%     distance.std = std([distance.ring(:).mean]);
end