diff --git a/src/height_map/data/processed_depth_vals.json b/src/height_map/data/processed_depth_vals.json
new file mode 100644
index 00000000..5a76ae7b
--- /dev/null
+++ b/src/height_map/data/processed_depth_vals.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/height_map/data/raw_depth_vals.json b/src/height_map/data/raw_depth_vals.json
new file mode 100644
index 00000000..56e5da01
--- /dev/null
+++ b/src/height_map/data/raw_depth_vals.json
@@ -0,0 +1,59402 @@
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+    "(7, 2)": 3.131430868556314, 
+    "(207, 106)": 1.9246336737030707
+}
\ No newline at end of file
diff --git a/src/height_map/height_map.py b/src/height_map/height_map.py
new file mode 100644
index 00000000..cbba0ed2
--- /dev/null
+++ b/src/height_map/height_map.py
@@ -0,0 +1,97 @@
+import json
+import os
+from typing import Dict, Tuple
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+HEIGHT: int = 180
+WIDTH: int = 330
+RAW_DEPTH_VALS_PATH: str = (
+    f"{os.path.dirname(os.path.abspath(__file__))}/data/raw_depth_vals.json"
+)
+PROCESSED_DEPTH_VALS_PATH: str = (
+    f"{os.path.dirname(os.path.abspath(__file__))}/data/processed_depth_vals.json"
+)
+
+
+def load_depth_vals(depth_vals_path: str) -> Dict[str, float]:
+    with open(depth_vals_path) as f:
+        depth_vals = json.load(f)
+    return depth_vals
+
+
+def process_raw_depth_vals(raw_depth_vals: Dict[str, float]) -> np.ndarray:
+    depth_vals = np.zeros((HEIGHT, WIDTH), dtype=float)
+    points = np.zeros((HEIGHT * WIDTH, 3), dtype=float)
+    for y in range(HEIGHT):
+        for x in range(WIDTH):
+            depth = raw_depth_vals[str((x, y))]
+            depth_vals[y, x] = depth
+            points[y * WIDTH + x] = x, y, depth
+    return points
+
+
+def least_squares(raw_depth_vals_path: str, drawit: bool = True) -> np.ndarray:
+    """Generate the parameters for the planar approximation using least squares.
+    From https://math.stackexchange.com/questions/99299/best-fitting-plane-given-a-set-of-points.
+
+    I preserved the mathematical logic and the plotting implementation from the
+    given reference.
+    """
+    raw_depth_vals = load_depth_vals(raw_depth_vals_path)
+    points = process_raw_depth_vals(raw_depth_vals)
+
+    # Do fit
+    b = points[:, 2].T
+    A = np.block([points[:, 0:2], np.ones_like(points[:, 0:1])])
+
+    # Manual solution
+    fit = np.linalg.inv(A.T @ A) @ A.T @ b
+    errors = b - A @ fit
+    residual = np.linalg.norm(errors)
+
+    print("solution: %f x + %f y + %f = z" % (fit[0], fit[1], fit[2]))
+    print("errors: \n", errors)
+    print("residual:", residual)
+
+    if drawit:
+        xs, ys, zs = points[:, 0], points[:, 1], points[:, 2]
+
+        # Plot raw data
+        plt.figure()
+        ax = plt.subplot(111, projection="3d")
+        ax.scatter(xs, ys, zs, color="b")
+
+        # Plot plane
+        xlim = ax.get_xlim()
+        ylim = ax.get_ylim()
+        x_grid, y_grid = np.meshgrid(
+            np.arange(xlim[0], xlim[1]), np.arange(ylim[0], ylim[1])
+        )
+        z_grid = fit[0] * x_grid + fit[1] * y_grid + fit[2]
+        ax.plot_wireframe(x_grid, y_grid, z_grid, color="k")
+
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
+        ax.set_zlabel("z")
+        plt.show()
+    return fit
+
+
+def generate_processed_depth_vals(
+    raw_depth_vals_path: str, processed_depth_vals_path: str
+):
+    a, b, c = least_squares(raw_depth_vals_path)
+
+    processed_depth_vals: Dict[Tuple[int, int], float] = {
+        f"({x}, {y})": a * x + b * y + c for x in range(WIDTH) for y in range(HEIGHT)
+    }
+    with open(processed_depth_vals_path, "w") as f:
+        json.dump(processed_depth_vals, f)
+
+    least_squares(processed_depth_vals_path)
+
+
+if __name__ == "__main__":
+    generate_processed_depth_vals(RAW_DEPTH_VALS_PATH, PROCESSED_DEPTH_VALS_PATH)