一、已知每条直线的一个点和方向(点斜式直线)
cv::Point2d get2lineIPoint(cv::Vec4f lineParam1, cv::Vec4f lineParam2)
{
//Vec4f :参数的前半部分给出的是直线的方向,而后半部分给出的是直线上的一点
cv::Point2d result(-1, -1);
double cos_theta = lineParam1[0];
double sin_theta = lineParam1[1];
double x = lineParam1[2];
double y = lineParam1[3];
double k = sin_theta / cos_theta;
double b = y - k * x;
cos_theta = lineParam2[0];
sin_theta = lineParam2[1];
x = lineParam2[2];
y = lineParam2[3];
double k1 = sin_theta / cos_theta;
double b1 = y - k1 * x;
result.x = (b1 - b) / (k - k1);
result.y = k * result.x + b;
return result;
}