透视变换(Perspective Transformation)是将图片投影到一个新的视平面(Viewing Plane),也称作投影映射(Projective Mapping)。通用的变换公式为:
u,v是原始图片左边,对应得到变换后的图片坐标x,y,其中。
变换矩阵可以拆成4部分,
表示线性变换,比如scaling,shearing和ratotion。
用于平移,
产生透视变换。所以可以理解成仿射等是透视变换的特殊形式。经过透视变换之后的图片通常不是平行四边形(除非映射视平面和原来平面平行的情况)。
重写之前的变换公式可以得到:
所以,已知变换对应的几个点就可以求取变换公式。反之,特定的变换公式也能新的变换后的图片。简单的看一个正方形到四边形的变换:
变换的4组对应点可以表示成:
根据变换公式得到:
定义几个辅助变量:
都为0时变换平面与原来是平行的,可以得到:
不为0时,得到:
求解出的变换矩阵就可以将一个正方形变换到四边形。反之,四边形变换到正方形也是一样的。于是,我们通过两次变换:四边形变换到正方形+正方形变换到四边形就可以将任意一个四边形变换到另一个四边形。
看一段代码:
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PerspectiveTransform::PerspectiveTransform(
float inA11,
float inA21,
-
float inA31,
float inA12,
-
float inA22,
float inA32,
-
float inA13,
float inA23,
-
float inA33) :
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a11(inA11), a12(inA12), a13(inA13), a21(inA21), a22(inA22), a23(inA23),
-
a31(inA31), a32(inA32), a33(inA33) {}
-
-
PerspectiveTransform PerspectiveTransform::quadrilateralToQuadrilateral(
float x0,
float y0,
float x1,
float y1,
-
float x2,
float y2,
float x3,
float y3,
float x0p,
float y0p,
float x1p,
float y1p,
float x2p,
float y2p,
-
float x3p,
float y3p) {
-
PerspectiveTransform qToS = PerspectiveTransform::quadrilateralToSquare(x0, y0, x1, y1, x2, y2, x3, y3);
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PerspectiveTransform sToQ =
-
PerspectiveTransform::squareToQuadrilateral(x0p, y0p, x1p, y1p, x2p, y2p, x3p, y3p);
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return sToQ.times(qToS);
-
}
-
-
PerspectiveTransform PerspectiveTransform::squareToQuadrilateral(
float x0,
float y0,
float x1,
float y1,
float x2,
-
float y2,
float x3,
float y3) {
-
float dx3 = x0 - x1 + x2 - x3;
-
float dy3 = y0 - y1 + y2 - y3;
-
if (dx3 ==
0.0f && dy3 ==
0.0f) {
-
PerspectiveTransform result(PerspectiveTransform(x1 - x0, x2 - x1, x0, y1 - y0, y2 - y1, y0, 0.0f,
-
0.0f,
1.0f));
-
return result;
-
}
else {
-
float dx1 = x1 - x2;
-
float dx2 = x3 - x2;
-
float dy1 = y1 - y2;
-
float dy2 = y3 - y2;
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float denominator = dx1 * dy2 - dx2 * dy1;
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float a13 = (dx3 * dy2 - dx2 * dy3) / denominator;
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float a23 = (dx1 * dy3 - dx3 * dy1) / denominator;
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PerspectiveTransform result(PerspectiveTransform(x1 - x0 + a13 * x1, x3 - x0 + a23 * x3, x0, y1 - y0
-
+ a13 * y1, y3 - y0 + a23 * y3, y0, a13, a23, 1.0f));
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return result;
-
}
-
}
-
-
PerspectiveTransform PerspectiveTransform::quadrilateralToSquare(
float x0,
float y0,
float x1,
float y1,
float x2,
-
float y2,
float x3,
float y3) {
-
// Here, the adjoint serves as the inverse:
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return squareToQuadrilateral(x0, y0, x1, y1, x2, y2, x3, y3).buildAdjoint();
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}
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PerspectiveTransform PerspectiveTransform::buildAdjoint() {
-
// Adjoint is the transpose of the cofactor matrix:
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PerspectiveTransform result(PerspectiveTransform(a22 * a33 - a23 * a32, a23 * a31 - a21 * a33, a21 * a32
-
- a22 * a31, a13 * a32 - a12 * a33, a11 * a33 - a13 * a31, a12 * a31 - a11 * a32, a12 * a23 - a13 * a22,
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a13 * a21 - a11 * a23, a11 * a22 - a12 * a21));
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return result;
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}
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PerspectiveTransform PerspectiveTransform::times(PerspectiveTransform other) {
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PerspectiveTransform result(PerspectiveTransform(a11 * other.a11 + a21 * other.a12 + a31 * other.a13,
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a11 * other.a21 + a21 * other.a22 + a31 * other.a23, a11 * other.a31 + a21 * other.a32 + a31
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* other.a33, a12 * other.a11 + a22 * other.a12 + a32 * other.a13, a12 * other.a21 + a22
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* other.a22 + a32 * other.a23, a12 * other.a31 + a22 * other.a32 + a32 * other.a33, a13
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* other.a11 + a23 * other.a12 + a33 * other.a13, a13 * other.a21 + a23 * other.a22 + a33
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* other.a23, a13 * other.a31 + a23 * other.a32 + a33 * other.a33));
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return result;
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}
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void PerspectiveTransform::transformPoints(
vector<
float> &points) {
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int max = points.size();
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for (
int i =
0; i < max; i +=
2) {
-
float x = points[i];
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float y = points[i +
1];
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float denominator = a13 * x + a23 * y + a33;
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points[i] = (a11 * x + a21 * y + a31) / denominator;
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points[i +
1] = (a12 * x + a22 * y + a32) / denominator;
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}
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}
对一张透视图片变换回正面图的效果:
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int main(){
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Mat img=imread(
"boy.png");
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int img_height = img.rows;
-
int img_width = img.cols;
-
Mat img_trans = Mat::zeros(img_height,img_width,CV_8UC3);
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PerspectiveTransform tansform = PerspectiveTransform::quadrilateralToQuadrilateral(
-
0,
0,
-
img_width
-1,
0,
-
0,img_height
-1,
-
img_width
-1,img_height
-1,
-
150,
250,
// top left
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771,
0,
// top right
-
0,
1023,
// bottom left
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650,
1023
-
);
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vector<
float> ponits;
-
for(
int i=
0;i<img_height;i++){
-
for(
int j=
0;j<img_width;j++){
-
ponits.push_back(j);
-
ponits.push_back(i);
-
}
-
}
-
tansform.transformPoints(ponits);
-
for(
int i=
0;i<img_height;i++){
-
uchar* t= img_trans.ptr<uchar>(i);
-
for (
int j=
0;j<img_width;j++){
-
int tmp = i*img_width+j;
-
int x = ponits[tmp*
2];
-
int y = ponits[tmp*
2+
1];
-
if(x<
0||x>(img_width
-1)||y<
0||y>(img_height
-1))
-
continue;
-
uchar* p = img.ptr<uchar>(y);
-
t[j*
3] = p[x*
3];
-
t[j*
3+
1] = p[x*
3+
1];
-
t[j*
3+
2] = p[x*
3+
2];
-
}
-
}
-
imwrite(
"trans.png",img_trans);
-
return
0;
-
}
![](https://i-blog.csdnimg.cn/blog_migrate/8615e1a62520e58226534e8d982272db.png)
另外在OpenCV中也实现了基础的透视变换操作,有关函数使用请见下一篇:
【OpenCV】透视变换 Perspective Transformation(续)