def line_cross_point(line1, line2):
# line1 0= ax+by+c, compute the cross point of line1 and line2
if line1[0] != 0 and line1[0] == line2[0]:
print('Cross point does not exist')
return None
if line1[0] == 0 and line2[0] == 0:
print('Cross point does not exist')
return None
if line1[1] == 0:
x = -line1[2]
y = line2[0] * x + line2[2]
elif line2[1] == 0:
x = -line2[2]
y = line1[0] * x + line1[2]
else:
k1, _, b1 = line1
k2, _, b2 = line2
x = -(b1-b2)/(k1-k2)
y = k1*x + b1
return np.array([x, y], dtype=np.float32)
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