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I hate this method for finding points it doesn't take in to account the size of the image. And makes obvious translations way harder.

Instead I recommend solving for X given Y or Y given X

Y = (rho - aX)/b

X= (rho - bX)/a

(Where a = cos(theta) and b = sin(theta)

Now just sub in the intersects you want to find

[fX(Y=0), fY(X=0) | fX(Y=image height), fY(X=image width)]

Better yet let's say you need to know where the line crosses in the middle of the screen. Now you have the formula.

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