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Computing the intersection of two planes in PCL point cloud processing (51)

2022-04-23 20:10:00 【Point cloud apprentice】

PCL Computing the intersection of two planes in point cloud processing （ Fifty-one ）

Preface
One 、 Algorithm description
Two 、 Experimental code ：

Preface

In three-dimensional space , The intersection of two planes
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One 、 Algorithm description

It is known that ：
1 The equation of plane number is A1x+B1y+C1z+D1=0
2 The equation of plane number is A2x+B2y+C2z+D2=0
To be asked ：
The intersection equation of the above two planes ：(x-a)/d=(y-b)/e=(z-c)/f
among ：(a,b,c) For a point on the intersection line ,（d,e,f） Is the direction vector of the intersection line

The direction vector can be obtained by cross multiplying the plane normal vector , Then suppose that the intersection line crosses xoz Plane , But even b=0, seek a,b,（ Of course, you can also assume other ） The specific calculation method is as follows