there are many things that need to adhere to stric definitions in order for this code to function. much of it is implicitly guaranteed, but is very fragile and certainly not explicitly guaranteed.
these include but are not limited to:
<Plane definitions where the points are co-linear, meaning that no plane is defined.
<out of bound accesses for array items such as cameraid
<a host of issues where certain values may recieve nan status and these propogate to further values
there are many things that need to adhere to stric definitions in order for this code to function. much of it is implicitly guaranteed, but is very fragile and certainly not explicitly guaranteed.
these include but are not limited to: <Plane definitions where the points are co-linear, meaning that no plane is defined. <out of bound accesses for array items such as cameraid <a host of issues where certain values may recieve nan status and these propogate to further values