计算直线与平面的交点

COSummer

于 2023-01-09 16:10:38 发布

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分类专栏：图像处理算法 deep learning 文章标签：平面算法

本文链接：https://blog.csdn.net/Zzhouzhou237/article/details/128616225

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PsrFunctionResult ComputePlaneLineIntersectPoint( const PsrPoint &pointOfPlane,
                                                                 const PsrVector3D &normalOfPlane,
                                                                 const PsrPoint &pointOfLine,
                                                                 const PsrVector3D &directionOfLine,
                                                                 PsrPoint &intersectPoint)
{
    PsrLOG_FUNC_TRACE();
    /*
    case1:   centerline need to be extend.
    Plane is decided by the lumen's endpoint and tangent of centerline's endpoint.
    Line is decided by the centerline's endpoint and tangent of centerline's endpoint.

    case2:    lumen or wall need to be extend.
    Plane is decided by the sliceInfo's normal and center.
    Line is decided by the lumen or wall's endpoint and tangent of centerline's endpoint.

    input: 
    pointOfPlane:    the point in the plane. (n1,n2,n3)
    normalOfPlane: the normal vector of the plane. (vp1, vp2, vp3)
    pointOfLine:        the point of the line.  (m1, m2, m3)
    directionOfLine: the direction vector of the plane. (v1, v2, v3).
    output:
    intersectPoint:     the intersectPoint. 
    equation of line:
    x = m1+v1*t;
    y = m2+v2*t;
    z = m3+v3*t;
    equation of plane:
    vp1*(x-n1)+vp2*(y-n2)+vp3*(z-n3)=0;
    so: t = ((n1-m1)*vp1 + (n2-m2)*vp2 + (n3-m3)*vp3)/(vp1*v1+vp2*v2+vp3*v3).
    if:  vp1*v1+vp2*v2+vp3*v3 ==0, no intersecPoint.
    intersecPoint:
    intersecPoint.x = m1+v1*t;
    intersecPoint.y = m2+v2*t;
    intersecPoint.z = m3+v3*t;
    */

    PsrVector3D pointOfPlaneSource(pointOfPlane);
    PsrVector3D pointOfLineSource(pointOfLine);
    PsrVector3D intersectPointSource;

    //factor = vp1*v1+vp2*v2+vp3*v3. if factor==0, there is no crosspoint.
    double factor =  normalOfPlane.Dot(directionOfLine);
    if (factor == 0)
    {
        return PsrFunctionResult(SUCCESS_NO_CROSSPOINT);
    }
    else
    {
        double factorOfLine;   // factorOfLine is the factor "t" of equation line.
        // t = (pointOfPlane-pointOfLine).(normalOfPlane)/factor.
        factorOfLine = pointOfPlaneSource.Substract(pointOfLineSource).Dot(normalOfPlane)/factor;
        // intersecPoint = pointOfLine + (directionOfLine * factorOfLine).
        intersectPointSource = pointOfLineSource.Add(directionOfLine.Scalar(factorOfLine));
        intersectPoint.SetPoint(intersectPointSource.X(),intersectPointSource.Y(),intersectPointSource.Z());
        return PsrFunctionResult::ReturnOK();
    }
}