Three-dimensional coordinates of points in space to the projection plane

Code:

 struct PlaneEquation {
  double A;
  double B;
  double C;
  double D;
 };

 

1 PointType RanSac :: projectPointToPlane (PointType & pt, PlaneEquation & on)
 2  {
 3      PointType ptemp;
4      double abc = pe.A + pe.B pe.A * * * pe.B + pe.C pe.C;
5  
6      ptemp.x = ((pe.B * * pe.C pe.C pe.B +) * pt.x - pe.A * (* pt.y + pe.C pe.B * pt.z + pe.D)) / ABC;
7      ptemp.y = ((pe.A * * pe.C pe.C pe.A +) * pt.y - pe.B * (pe.A * * pt.z + pt.x + pe.C the .D)) / ABC;
8      ptemp.z = ((pe.A * * pe.B pe.B pe.A +) * pt.z - pe.C * (pe.A * * pt.y + pt.x + pe.B the .D)) / ABC;
9  
October      return ptemp;
11 }