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kujason / avod

Code for 3D object detection for autonomous driving
MIT License
933 stars 349 forks source link

About plain equation: all_y = -(a * all_x + c * all_z + d) / b #136

Closed placeforyiming closed 4 years ago

placeforyiming commented 5 years ago

Why we need the equation like this? I mean, the y for plain in terms of x and z can be interpreted as y=ax+bz+c, why we need four parameters here?

kujason commented 4 years ago

Yes, it is true that the plane coefficients can be represented with 3 values if desired. However, representing them as (a,b,c,d) is easier to understand and verify since they directly represent the plane's unit normal (a, b, c), and an offset distance (d)