The answer to the question here https://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect by Gareth Rees is the best explanation.
We need to expand this to fit the co-ordinates
From https://stackoverflow.com/a/565282/429476
$$ \begin{align} t= (q-p) \times \vec s / \vec r \times \vec s\
| #!/usr/bin/env python3 | |
| import math | |
| import cv2 | |
| import numpy as np | |
| import depthai as dai | |
| import argparse | |
| import open3d as o3d | |
| import time |
| #!/usr/bin/env python3 | |
| import cv2 | |
| import numpy as np | |
| import depthai as dai | |
| import argparse | |
| # Weights to use when blending depth/rgb image (should equal 1.0) | |
| rgbWeight = 0.4 | |
| depthWeight = 0.6 |
