[人工智能]opencv根据方向向量计算直线交点

1. 计算两条直线的方向向量，以及直线上的两点

   double deltaX_X1 = endPoint.x - orgin.x;
   double deltaY_X1 = endPoint.y -orgin.y;
   double deltaX_X2 = endPoint.x - orgin.x;
   double deltaY_X2 = endPoint.y - orgin.y;
   double lineLengthX1 = sqrt(deltaX_X1*deltaX_X1+deltaY_X1*deltaY_X1);
   double lineLengthX2 = sqrt(deltaX_X2*deltaX_X2+deltaY_X2*deltaY_X2);
   X1DirectionVector.push_back(deltaX_X1/lineLengthX1);
   X1DirectionVector.push_back(deltaY_X1/lineLengthX1);
   X2DirectionVector.push_back(deltaX_X2/lineLengthX2);
   X2DirectionVector.push_back(deltaY_X2/lineLengthX2);

2. 计算交点

//交点计算
cv::Point intersectionPointCalculate(std::vector<double> X1DirectionVec,cv::Point point1, std::vector<double> X2DirectionVec,cv::Point point2)
{
    cv::Point crossPoint(9999,9999);
    if((X1DirectionVec.at(0)!=0) && X2DirectionVec.at(0)!=0)
    {
        double ka = X1DirectionVec.at(1)/X1DirectionVec.at(0);
        double kb = X2DirectionVec.at(1)/X2DirectionVec.at(0);
        double x = ((-1)*kb*double(point2.x)+double(point2.y)+ka*double(point1.x)-double(point1.y)) / (ka - kb);
        crossPoint.x = int(x);
        crossPoint.y = ka*(x-double(point1.x))+double(point1.y);
        //std::cout<<"point1: "<<point1<<" point2: "<<point2<<" ka: "<<ka<<" kb "<<kb<<" crossPoint: "<<crossPoint<<std::endl;
    }
    if((X1DirectionVec.at(0)==0) && X2DirectionVec.at(0)==0)
    {
        //std::cout<<"tensioner coordinate calculate error!"<<std::endl;
    }
    if((X1DirectionVec.at(0)==0) && X2DirectionVec.at(0)!=0)
    {
         double kb = X2DirectionVec.at(1)/X2DirectionVec.at(0);
         crossPoint.x = point1.x;
         crossPoint.y = kb*(crossPoint.x-point2.x)+point2.y;
    }
    if((X1DirectionVec.at(0)!=0) && X2DirectionVec.at(0)==0)
    {
        double ka = X1DirectionVec.at(1)/X1DirectionVec.at(0);
        crossPoint.x = point2.x;
        crossPoint.y = ka*(crossPoint.x-point1.x)+point1.y;
    }
    return crossPoint;
}