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    cv::Mat abe;
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    cv::Mat abe;
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    cv::solve(A, bb, abe, cv::DECOMP_SVD);
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    cv::solve(A, bb, abe, cv::DECOMP_SVD);
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    float a = abe.at<float>(0, 0);
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    float a = abe.at<float>(0, 0);
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    float b = abe.at<float>(1, 0);
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    float b = abe.at<float>(1, 0);
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    float c = -(nx*a+ny*b+d)/nz + 1;
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    float c = -(nx*a+ny*b+d)/nz;
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    point[0] = a;
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    point[0] = a;
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    point[1] = b;
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    point[1] = b;
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    point[2] = c;
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    point[2] = c;
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