Parallel Lines - Draw shortest connection line

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Hello,

I am currently facing a problem in one of my projects, I have 2 parallel lines, each defined by 2 QPoints and I want to draw the line and get the Points of the line that is the shortest and stands upright on both lines.

I've search around but could not find an answer, I have a bit of knowledge on OpenCV but I'm mostly a beginner

Thanks in advance