计算两直线交点

对于两直线a1*x + b1*y = c1, a2*x + b2*y = c2

由克莱姆法则得，D = a1 * b2 -  b1*a2, D1 =c1*b2 - b1*c2, D2 = a1*c2 - c1*a2

解得交点： x = D1 / D, y = D2 / D

直线方程用两点法可表示为 （y2 - y1）*x - (x2 - x1)*y = x1*(y2 - y1) - y1*(x2 - x1)

a = （y2 - y1）, b =  - (x2 - x1), c = x1*(y2 - y1) - y1*(x2 - x1)

bool Intersection(CvPoint astart, CvPoint aend, CvPoint bstart, CvPoint bend, CvPoint &pt)

{

float dxa = astart.x - aend.x;

float dxb = bstart.x - bend.x;

float dya = astart.y - aend.y;

float dyb = bstart.y - bend.y;

float p = astart.x * aend.y - astart.y * aend.x;

float q = bstart.x * bend.y - bstart.y * bend.x;

float denom = dxa * dyb - dya * dxb;

if(abs(denom) < 1e-12)

return false;

float x =(p * dxb - dxa * q) / denom;

float y = (p * dyb - dya *q) / denom;

pt.x = cvRound(x);

pt.y = cvRound(y);

return true; 

}