Fit 3d plane based on C++
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Input a 3d point cloud or depth image of depth camera and calibration information and fitting a 3D plane
Point cloud format ： X Y Z
depth is the distance between the point and camera.
Conversion of depth to point cloud through camera calibration information
camera calibration:
fx 0 cx
0 fy cy
0 0 1
formualtion
X = (x - cx) / fx * depth
Y = (y - cy) / fy * depth
Z = depth