# -*- coding:utf-8 -*-
import cv2
import numpy as np
def rad(x):
return x * np.pi / 180
def coordinate_transform(img,anglex,angley,anglez,fov):
z = np.sqrt(w ** 2 + h ** 2) / 2 / np.tan(rad(fov / 2))
# 齐次变换矩阵
rx = np.array([[1, 0, 0, 0],
[0, np.cos(rad(anglex)), -np.sin(rad(anglex)), 0],
[0, -np.sin(rad(anglex)), np.cos(rad(anglex)), 0, ],
[0, 0, 0, 1]], np.float32)
ry = np.array([[np.cos(rad(angley)), 0, np.sin(rad(angley)), 0],
[0, 1, 0, 0],
[-np.sin(rad(angley)), 0, np.cos(rad(angley)), 0, ],
[0, 0, 0, 1]], np.float32)
rz = np.array([[np.cos(rad(anglez)), np.sin(rad(anglez)), 0, 0],
[-np.sin(rad(anglez)), np.cos(rad(anglez)), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], np.float32)
r = rx.dot(ry).dot(rz)
# 四对点的生成
pcenter = np.array([h / 2, w / 2, 0, 0], np.float32)
p1 = np.array([0, 0, 0, 0], np.float32) - pcenter
p2 = np.array([w, 0, 0, 0], np.float32) - pcenter
p3 = np.array([0, h, 0, 0], np.float32) - pcenter
p4 = np.array([w, h, 0, 0], np.float32) - pcenter
dst1 = r.dot(p1)
dst2 = r.dot(p2)
dst3 = r.dot(p3)
dst4 = r.dot(p4)
list_dst = [dst1, dst2, dst3, dst4]
org = np.array([[0, 0],
[w, 0],
[0, h],
[w, h]], np.float32)
dst = np.zeros((4, 2), np.float32)
# 投影至成像平面
for i in range(4):
dst[i, 0] = list_dst[i][0] * z / (z - list_dst[i][2]) + pcenter[0]
dst[i, 1] = list_dst[i][1] * z / (z - list_dst[i][2]) + pcenter[1]
warpR = cv2.getPerspectiveTransform(org, dst)
result = cv2.warpPerspective(img, warpR, (h, w))
return result
if __name__ == '__main__':
base_dir = 'no_connect/'
imgname = r'167.jpg'
img=cv2.imread(base_dir+imgname)
img = cv2.imread(base_dir+imgname)
h,w,ch = img.shape # 获取图片大小(长,宽,通道数)
img = cv2.resize(img, (w * 2, h * 2), cv2.INTER_LINEAR) #放大
cv2.imshow("original", img)
# 扩展图像,保证内容不超出可视范围
img = cv2.copyMakeBorder(img, 20, 20, 20, 20, cv2.BORDER_CONSTANT, value=(100,100,100))
h,w,ch = img.shape # 获取图片大小(长,宽,通道数)
fov = 10
w,h = img.shape[0:2] #必须要注意,此处不是h,w = img.shape[0:2],要不然图像会h,w会相反
print('1',img.shape)
#沿x轴进行顺时针变换
anglex = 0
angley = 0
anglez = 0
result=coordinate_transform(img,anglex,angley,anglez,fov)
cv2.imshow("result1", result)
#沿y轴进行顺时针变换
anglex = 0
angley = -50
anglez = 0
result=coordinate_transform(result,anglex,angley,anglez,fov)
print(result.shape)
print(h)
# for i in range(h):
# for j in range(w):
# for c in range(3):
# if result[i,j,c]==0:
# result[i, j, c]=100
cv2.imshow("result2", result)
# cv2.imwrite('transform.jpg',result)
cv2.waitKey(0)
cv2.destroyAllWindows()