OpenCV计算两条直线的交点

 

 为了计算矩形框与直线的交点P1、P2，需要分别计算矩形4条边与直线的交点。

bool
getCrossPoint(
    std::pair<cv::Point2i, cv::Point2i> &out,
    cv::Rect2i rc, cv::Point2i p1, cv::Point2i p2)
{
    // LOG(INFO) << "getCrossPoint: begin";

    std::vector<cv::Point2i> pts;

    cv::Point2i ptt;
    if (getCrossPoint(ptt, p1, p2, 
            cv::Point2i(rc.x, rc.y),
            cv::Point2i(rc.x + rc.width, rc.y)) && 
        (ptt.x >= rc.x && ptt.x < rc.x + rc.width))
    {
        // LOG(INFO) << "getCrossPoint: ptt="  << ptt.x << "," << ptt.y;
        pts.push_back(ptt);
    }

    cv::Point2i ptb;
    if (getCrossPoint(ptb, p1, p2, 
        cv::Point2i(rc.x, rc.y + rc.height), 
        cv::Point2i(rc.x + rc.width, rc.y + rc.height)) && 
        (ptb.x >= rc.x && ptb.x < rc.x + rc.width))
    {
        // LOG(INFO) << "getCrossPoint: ptb="  << ptb.x << "," << ptb.y;
        pts.push_back(ptb);
    }

    cv::Point2i ptl;
    if (getCrossPoint(ptl, p1, p2, 
            cv::Point2i(rc.x, rc.y),
            cv::Point2i(rc.x, rc.y + rc.height)) && 
        (ptl.y >= rc.y && ptl.y < rc.y + rc.height))
    {
        // LOG(INFO) << "getCrossPoint: ptl="  << ptl.x << "," << ptl.y;
        pts.push_back(ptl);
    }

    cv::Point2i ptr;
    if (getCrossPoint(ptr, p1, p2, 
        cv::Point2i(rc.x + rc.width, rc.y), 
        cv::Point2i(rc.x + rc.width, rc.y + rc.height)) &&  
        (ptr.y >= rc.y && ptr.y < rc.y + rc.height))
    {
        // LOG(INFO) << "getCrossPoint: ptr="  << ptr.x << "," << ptr.y;
        pts.push_back(ptr);
    }

    // LOG(INFO) << "getCrossPoint:"  << pts.size();
    if (pts.size() >= 2)
    {
        out = std::make_pair(pts.front(), pts.back());
        return true;
    }

    return false;
}

计算两条直线的交点，算法来源于python用opencv实现直线检测和计算交点，现翻译为C++实现。

bool
getCrossPoint(
    cv::Point2i &out, 
    cv::Point2i p1, cv::Point2i p2, 
    cv::Point2i p3, cv::Point2i p4)
{
    int x1 = p1.x;
    int y1 = p1.y;
    int x2 = p2.x;
    int y2 = p2.y;

    int x3 = p3.x;
    int y3 = p3.y;
    int x4 = p4.x;
    int y4 = p4.y;

    double k1, b1;
    bool k1_None = false;
    if (x2 - x1 == 0)
    {
        k1_None = true;
    }
    else
    {
        k1 = (double)(y2 - y1) / (double)(x2 - x1); //求出LineA斜率
        b1 = (double)y1 - (double)x1 * k1;
    }

    double k2, b2;
    bool k2_None = false;
    if (x4 - x3 == 0)
    {
        k2_None = true;
        b2 = 0;
    }
    else
    {
        k2 = (double)(y4 - y3) / (double)(x4 - x3); //求出LineB斜率
        b2 = (double)y3 - (double)x3 * k2;
    }

    if (k1_None)
    {
        if (!k2_None)
        {
            out.x = x1;
            out.y = k2 * x1 + b2;
            LOG(INFO) << "1 x=" << out.x << ", y=" << out.y;
            return true;
        }
    }
    else if (k2_None)
    {
        out.x = x3;
        out.y = k1 * x3 + b1;
        LOG(INFO) << "2 x=" << out.x << ", y=" << out.y;
        return true;
    }
    else if (k2 != k1)
    {
        out.x = (double)(b2 - b1) / (double)(k1 - k2);
        out.y = k1 * (double)out.x + b1;
        LOG(INFO) << "3 x=" << out.x << ", y=" << out.y;
        return true;
    }

    out.x = 0;
    out.y = 0;
    return false;
}

最后发现OpenCV貌似自带了可以实现此功能的函数：cv::clipLine，后面验证一下。

/** @brief Clips the line against the image rectangle.

The function cv::clipLine calculates a part of the line segment that is entirely within the specified
rectangle. it returns false if the line segment is completely outside the rectangle. Otherwise,
it returns true .
@param imgSize Image size. The image rectangle is Rect(0, 0, imgSize.width, imgSize.height) .
@param pt1 First line point.
@param pt2 Second line point.
 */
CV_EXPORTS bool clipLine(Size imgSize, CV_IN_OUT Point& pt1, CV_IN_OUT Point& pt2);

/** @overload
@param imgSize Image size. The image rectangle is Rect(0, 0, imgSize.width, imgSize.height) .
@param pt1 First line point.
@param pt2 Second line point.
*/
CV_EXPORTS bool clipLine(Size2l imgSize, CV_IN_OUT Point2l& pt1, CV_IN_OUT Point2l& pt2);

/** @overload
@param imgRect Image rectangle.
@param pt1 First line point.
@param pt2 Second line point.
*/
CV_EXPORTS_W bool clipLine(Rect imgRect, CV_OUT CV_IN_OUT Point& pt1, CV_OUT CV_IN_OUT Point& pt2);