根据Ziv Yaniv的RANSAC直线检测算法，开发出在一些三维点中检测出若干空间平面的算法。-Based on Ziv Yaniv s RANSAC straight line detecting algorithm, these codes could find some 3D planes in some 3D points.

基于harris的角点检测算法和hough直线检测。去判断图片角点和线存在的位置-base on the haries corner detect algorithm and hough line detection. find the corner and line on the picture.