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I would like to cast rays from the camera and check the intersected points on the table, which is I assume at (0,0,0) with normal (0,1,0).. so for example I choose a point on a table by mouse, then I cast rays from the origin (0,0,0) to the plane, but the problem is I get a false point, that is not on the plane but still positive.

here is a picture to show what I'm doing

//Generate a camera intrinsic matrix
            Mat K = (Mat_<double>(3, 3)
                << 1600, 0,src.cols/2,
                0, 1600,src.rows/2,
                0, 0, 1);



            Mat invCameraIntrinsics = K.inv();
            cout << "inv" << invCameraIntrinsics;
            std::vector<cv::Vec3d> pointsTransformed3D;

            std::vector<cv::Vec3d> points3D;
            for (int i = 0; i < corners.size(); i++)
            {
                cv::Vec3d pt;

                pt[2] = 1.0f;

                pt[0] = (corners[i].x );
                pt[1] = (corners[i].y );

                points3D.push_back(pt);
            }

            cv::transform(points3D, pointsTransformed3D, invCameraIntrinsics);


            std::vector<Ray> rays;
            for (int i = 0; i < pointsTransformed3D.size(); i++)
            {

                Ray ray;

                ray.origin = Vec3f(0, 0, 0);
                ray.direction = Vec3f(pointsTransformed3D[i][0], pointsTransformed3D[i][1], pointsTransformed3D[i][2]);

                rays.push_back(ray);
            }


            std::vector<cv::Vec3f> contacts;

            for (int i = 0; i < pointsTransformed3D.size(); i++)
            {
                Vec3f pt(pointsTransforme/

I would like to cast rays from the camera and check the intersected points on the table, which is I assume at (0,0,0) with normal (0,1,0).. so for example I choose a point on a table by mouse, then I cast rays from the origin (0,0,0) to the plane, but the problem is I get a false point, that is not on the plane but still positive.

here is a picture to show what I'm doing

//Generate a camera intrinsic matrix
            Mat K = (Mat_<double>(3, 3)
                << 1600, 0,src.cols/2,
                0, 1600,src.rows/2,
                0, 0, 1);



            Mat invCameraIntrinsics = K.inv();
            cout << "inv" << invCameraIntrinsics;
            std::vector<cv::Vec3d> pointsTransformed3D;

            std::vector<cv::Vec3d> points3D;
            for (int i = 0; i < corners.size(); i++)
            {
                cv::Vec3d pt;

                pt[2] = 1.0f;

                pt[0] = (corners[i].x );
                pt[1] = (corners[i].y );

                points3D.push_back(pt);
            }

            cv::transform(points3D, pointsTransformed3D, invCameraIntrinsics);


            Mat rot = (Mat_<double>(3, 3)
                << 0.8744617, 0.2258282, -0.4293233,
                0.0608088, 0.8270180, 0.5588771,
                0.4812683, -0.5148232, 0.7094631);

            std::vector<cv::Point3d> pointsRotated;
            Mat translVec(3, 1, CV_64F);
            translVec.at<double>(0, 0) = 21.408294677734375;
            translVec.at<double>(1, 0) = 531.1319580078125;
            translVec.at<double>(2, 0) = 705.74224853515625;

            const Mat camera_translation = (-rot * translVec);
            cv::transform(pointsTransformed3D, pointsRotated, rot.inv());

            std::vector<Ray> rays;
            for (int i = 0; i < pointsTransformed3D.size(); i++)
            {

                Ray ray;

                ray.origin = Vec3f(0, 0, 0);
Vec3f(camera_translation.at<double>(0,0), camera_translation.at<double>(1,0),
                    camera_translation.at<double>(2,0));
                ray.direction = Vec3f(pointsTransformed3D[i][0], pointsTransformed3D[i][1], pointsTransformed3D[i][2]);

                rays.push_back(ray);
            }
             std::vector<cv::Vec3f> contacts;

            for (int i = 0; i < pointsTransformed3D.size(); i++)
            {
                Vec3f pt(pointsTransforme/
pt(0, 0,0);

                cv::Vec3f contact;
                std::pair<bool, double> test = linePlaneIntersection(rays[i].direction, rays[i].origin, Vec3f(0, 1, 0), pt);
                if (test.first == true)
                {
                    cv::Vec3f contact(rays[i].origin + (rays[i].direction) * test.second);
                    contacts.push_back(contact);
                }
            }

I would like to cast rays from the camera and check the intersected points on the table, which is I assume at (0,0,0) with normal (0,1,0).. so for example I choose a point on a table by mouse, then I cast rays from the origin (0,0,0) to the plane, but the problem is I get a false point, that is not on the plane but still positive.

here is a picture to show what I'm doing

//Generate a camera intrinsic matrix
            Mat K = (Mat_<double>(3, 3)
                << 1600, 0,src.cols/2,
                0, 1600,src.rows/2,
                0, 0, 1);



            Mat invCameraIntrinsics = K.inv();
            cout << "inv" << invCameraIntrinsics;
            std::vector<cv::Vec3d> pointsTransformed3D;

            std::vector<cv::Vec3d> points3D;
            for (int i = 0; i < corners.size(); i++)
            {
                cv::Vec3d pt;

                pt[2] = 1.0f;

                pt[0] = (corners[i].x );
                pt[1] = (corners[i].y );

                points3D.push_back(pt);
            }

            cv::transform(points3D, pointsTransformed3D, invCameraIntrinsics);


            Mat rot = (Mat_<double>(3, 3)
                << 0.8744617, 0.2258282, -0.4293233,
                0.0608088, 0.8270180, 0.5588771,
                0.4812683, -0.5148232, 0.7094631);

            std::vector<cv::Point3d> pointsRotated;
            Mat translVec(3, 1, CV_64F);
            translVec.at<double>(0, 0) = 21.408294677734375;
            translVec.at<double>(1, 0) = 531.1319580078125;
            translVec.at<double>(2, 0) = 705.74224853515625;

            const Mat camera_translation = (-rot * translVec);
            cv::transform(pointsTransformed3D, pointsRotated, rot.inv());

            std::vector<Ray> rays;
            for (int i = 0; i < pointsTransformed3D.size(); pointsRotated.size(); i++)
            {

                Ray ray;

                ray.origin = Vec3f(camera_translation.at<double>(0,0), camera_translation.at<double>(1,0),
                    camera_translation.at<double>(2,0));
                ray.direction = Vec3f(pointsTransformed3D[i][0], pointsTransformed3D[i][1], pointsTransformed3D[i][2]);
Vec3f(pointsRotated[i][0], pointsRotated[i][1], pointsRotated[i][2]);

                rays.push_back(ray);
            }
            std::vector<cv::Vec3f> contacts;

            for (int i = 0; i < pointsTransformed3D.size(); pointsRotated.size(); i++)
            {
                Vec3f pt(0, 0,0);

                cv::Vec3f contact;
                std::pair<bool, double> test = linePlaneIntersection(rays[i].direction, rays[i].origin, Vec3f(0, 1, 0), pt);
                if (test.first == true)
                {
                    cv::Vec3f contact(rays[i].origin + (rays[i].direction) * test.second);
                    contacts.push_back(contact);
                }
            }