三维空间中点到平面的投影点坐标
代码：
struct PlaneEquation {
double A;
double B;
double C;
double D;
};
1 PointType RanSac::projectPointToPlane(PointType &pt, PlaneEquation &pe) 2 { 3 PointType ptemp; 4 double abc = pe.A*pe.A + pe.B*pe.B + pe.C*pe.C; 5 6 ptemp.x = ((pe.B*pe.B + pe.C*pe.C)*pt.x - pe.A*(pe.B*pt.y + pe.C*pt.z + pe.D)) / abc; 7 ptemp.y = ((pe.A*pe.A + pe.C*pe.C)*pt.y - pe.B*(pe.A*pt.x + pe.C*pt.z + pe.D)) / abc; 8 ptemp.z = ((pe.A*pe.A + pe.B*pe.B)*pt.z - pe.C*(pe.A*pt.x + pe.B*pt.y + pe.D)) / abc; 9 10 return ptemp; 11 }
