title: Obtaining Least square adjusted single line by intersecting many 3D planes
body: <p>I am working with many 3D planes and looking for a Least square solution for below case.</p>
  <blockquote>
  <p>IF I am having many number of 3D planes knowing only one point and the
  normal vector (for eg. O1 and N1), and all those planes intersect each
  other and make nearly very close 3d lines, then how to compute the
  least square adjusted one single 3d line to represent all those
  intersections.</p>
  </blockquote>
  <p>To get a clear idea, I have inserted a figure.</p>
  <ul>
  <li>Known: one point and the normal vector of each plane.</li>
  <li>Find: Least Square fitted single line3d</li>
  </ul>
  <p><img src="https://i.stack.imgur.com/kIZ4L.jpg" alt="enter image description here" /></p>
  <p>as i want to do this with c++, i use c++ tag too.</p>