Opencv 原图像素坐标点透视变换后对应坐标点

已知原图img一像素点坐标p(x,y)，变换前矩阵坐标pts1，变换后矩阵坐标pts2，求变换后p点对应坐标

#求变换矩阵M
M = cv2.getPerspectiveTransform(pts1, pts2)# 坐标转换
def cvt_pos(pos, cvt_mat_t):u = pos[0]v = pos[1]x = (cvt_mat_t[0][0]*u+cvt_mat_t[0][1]*v+cvt_mat_t[0][2])/(cvt_mat_t[2][0]*u+cvt_mat_t[2][1]*v+cvt_mat_t[2][2])y = (cvt_mat_t[1][0]*u+cvt_mat_t[1][1]*v+cvt_mat_t[1][2])/(cvt_mat_t[2][0]*u+cvt_mat_t[2][1]*v+cvt_mat_t[2][2])return (int(x), int(y))# 调用函数
newpoint = cvt_pos(p, M)

例二：opencv的接口

//用于求得透视变换的变换矩阵，
//src::源图像上的四个顶点坐标
//dst::src的坐标在目标图像上的对应坐标
//返回值：3X3的透视变换矩阵
//在车道线检测代码中作用：得到将原始图转换到鸟瞰图的转换矩阵
cv::Mat getPerspectiveTransform(const Point2f* src, const Point2f* dst)
//求得点/点数组在经过变换矩阵m后的对应坐标
//src：目标点，如鸟瞰图中的坐标
//m:src到dst的转换矩阵
//dst:src经过m转换后的对应点
在车道线检测代码中作用：将鸟瞰图中的车道线坐标转换到原始视图下的像素作弊码
void perspectiveTransform(InputArray src, OutputArray dst, InputArray m ) //对图像进行透视变换
//src:输入图像
//dst:输出图像
//M:变换矩阵，如getPerspectiveTransform函数得到的矩阵
//dsize：目标图像的大小
//flags：目标图像的插值方法
//borderMode:外推方法
//borderValue:常量边界时使用
//在车道线检测代码中作用：
//   1.将原始图像转换到鸟瞰图中，进行车道线检测；
//   2.将鸟瞰图转换到原始视图下，以进行结果展示等
void warpPerspective(InputArray src, OutputArray dst, InputArray M, Size dsize, int flags=INTER_LINEAR, int borderMode=BORDER_CONSTANT, const Scalar& borderValue=Scalar())

//====================================================================//
// Created by liheng on 19-2-12.
//Program:将逆透视变换后的坐标点转换到原图中
//Data:2019.2.12
//Author:liheng
//Version:V1.0
//====================================================================//#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/types_c.h>int main()
{//首先读入图像cv::Mat srcImage = cv::imread("../pictures/000177.png",cv::IMREAD_GRAYSCALE);//定义源点和目标点,源点为正常读入的图像的点，目标点为转换后的鸟瞰图上的对应点cv::Point2f srcPoints[4],dstPoints[4];srcPoints[0] = cv::Point2f(369,375);srcPoints[1] = cv::Point2f(545,221);srcPoints[2] = cv::Point2f(650,221);srcPoints[3] = cv::Point2f(793,375);dstPoints[0] = cv::Point2f(339,375);dstPoints[1] = cv::Point2f(339,211);dstPoints[2] = cv::Point2f(823,211);dstPoints[3] = cv::Point2f(823,375);//1°求解变换矩阵cv::Mat m_persctiveMat = cv::getPerspectiveTransform(srcPoints,dstPoints);//读入图像转换为鸟瞰图的矩阵cv::Mat m_unPersctiveMat =cv::getPerspectiveTransform(dstPoints,srcPoints);//鸟瞰图到原始图像的转换矩阵//2°求解鸟瞰图cv::Mat birdViewImage;cv::warpPerspective(srcImage,birdViewImage,m_persctiveMat,cv::Size(srcImage.cols,srcImage.rows),cv::INTER_LINEAR);//鸟瞰图车道线上的两点.Note:此处为了简单，仅选择2点进行变换std::vector<cv::Point2f> leftLine,rightLine;leftLine.push_back(cv::Point2f(661,0));leftLine.push_back(cv::Point2f(366,376));rightLine.push_back(cv::Point2f(1097,0));rightLine.push_back(cv::Point2f(883,376));//3°求解其在原始图像上对应的坐标std::vector<cv::Point2f> unWarpedLeftLine,unWarpedRightLine;cv::perspectiveTransform(leftLine,unWarpedLeftLine,m_unPersctiveMat);cv::perspectiveTransform(rightLine,unWarpedRightLine,m_unPersctiveMat);//线段可视化cv::cvtColor(srcImage,srcImage,CV_GRAY2BGR);cv::line(srcImage,unWarpedLeftLine[0],unWarpedLeftLine[1],cv::Scalar(0,255,0),2);cv::line(srcImage,unWarpedRightLine[0],unWarpedRightLine[1],cv::Scalar(0,255,0),2);cv::cvtColor(birdViewImage,birdViewImage,CV_GRAY2BGR);cv::line(birdViewImage,leftLine[0],leftLine[1],cv::Scalar(0,255,0),2);cv::line(birdViewImage,rightLine[0],rightLine[1],cv::Scalar(0,255,0),2);cv::imshow("srcImage",srcImage);cv::imshow("birdViewImage",birdViewImage);cv::waitKey(0);return 0;
}

  private void InitGetPerspectiveWarpMatrix(){var tl = new Vector2(115,807); var tr = new Vector2(1757,795);var bl = new Vector2(265,152);var br = new Vector2(1610,153); var tm = new Vector2(270,152);var bm = new Vector2(120,800);warpMatrix = GetWarpMatrix(tl,tr,br,bl);TestPerspectiveMatrix(tl, bl,tm,tr, br, bm);}private void TestPerspectiveMatrix(Vector2 tl,Vector2 bl, Vector2 tm,Vector2 tr, Vector2 br, Vector2 bm){var testPointTl = GetDstPointFromSrcPoint(tl, warpMatrix);var testPointTr = GetDstPointFromSrcPoint(tr, warpMatrix);var testPointBl = GetDstPointFromSrcPoint(bl, warpMatrix);var testPointBr = GetDstPointFromSrcPoint(br, warpMatrix);Debug.Log("Test InputPointTl "+tl +" outPut = "+testPointTl);Debug.Log("Test InputPointTr "+tr +" outPut = "+testPointTr);Debug.Log("Test InputPointBl "+bl+" outPut = "+testPointBl);Debug.Log("Test InputPointBr "+br +" outPut = "+testPointBr);var testA = new Vector2(124,964);var testB = new Vector2(50,195);        var testC = new Vector2(1680,195);var testE = new Vector2(946,156);var testF = new Vector2(946,794);var testG = new Vector2(574,156);var testH = new Vector2(485,796);var testI = new Vector2(344,195);var testJ = new Vector2(1459,195);var testK = new Vector2(233,738);var testL = new Vector2(1552,735);var testPA = GetDstPointFromSrcPoint(testA, warpMatrix);var testPB = GetDstPointFromSrcPoint(testB, warpMatrix);var testPC = GetDstPointFromSrcPoint(testC, warpMatrix);var testPE = GetDstPointFromSrcPoint(testE, warpMatrix);var testPF = GetDstPointFromSrcPoint(testF, warpMatrix);var testPG = GetDstPointFromSrcPoint(testG, warpMatrix);var testPH = GetDstPointFromSrcPoint(testH, warpMatrix);var testPI = GetDstPointFromSrcPoint(testI, warpMatrix);var testPJ = GetDstPointFromSrcPoint(testJ, warpMatrix);var testPK = GetDstPointFromSrcPoint(testK, warpMatrix);var testPL = GetDstPointFromSrcPoint(testL, warpMatrix);Debug.Log("Test========== InputPointA "+testA+" outPut = "+testPA);Debug.Log("Test========= InputPointB "+testB +" outPut = "+testPB);Debug.Log("Test========= InputPointC "+testC +" outPut = "+testPC);Debug.Log("Test========== InputPointE "+testE+" outPut = "+testPE);Debug.Log("Test========= InputPointF "+testF +" outPut = "+testPF);Debug.Log("Test========= InputPointG "+testG +" outPut = "+testPG);Debug.Log("Test========= InputPointH "+testH +" outPut = "+testPH);Debug.Log("Test========= InputPointI "+testI +" outPut = "+testPI);Debug.Log("Test========= InputPointJ "+testJ +" outPut = "+testPJ);Debug.Log("Test========= InputPointK "+testK +" outPut = "+testPK); Debug.Log("Test========= InputPointL "+testL +" outPut = "+testPL); var inputMat = webcamTexToMat.rgbaMat;Texture2D inputTexture = Resources.Load("InputTexture") as Texture2D;Mat outputMat = new Mat(inputTexture.height, inputTexture.width, CvType.CV_8UC4);Imgproc.cvtColor(inputMat, outputMat, Imgproc.COLOR_RGB2GRAY);Imgproc.warpPerspective(inputMat, outputMat,warpMatrix, new Size(inputMat.rows(), inputMat.cols()));Mat outputMat0 = inputMat.clone();Texture2D outputTexture = new Texture2D(outputMat0.cols(), outputMat0.rows(), TextureFormat.RGBA32, false);Utils.matToTexture2D(outputMat0, outputTexture);imgPer.gameObject.GetComponent<RawImage>().texture = outputTexture;}private void ShowLittelScreen(){var inputMat = webcamTexToMat.rgbaMat;Mat outputMat0 = inputMat.clone();Texture2D outputTexture = new Texture2D(outputMat0.cols(), outputMat0.rows(), TextureFormat.RGBA32, false);Utils.matToTexture2D(outputMat0, outputTexture);Debug.Log("OutputTxture..............."+outputTexture.name);imgPer.gameObject.GetComponent<RawImage>().texture = outputTexture; }private void InitTrainData(){//faceXml_path = Application.streamingAssetsPath + "/haarcascade_frontalface_alt2.xml"; faceXml_path = Application.streamingAssetsPath + "/golfcascade.xml"; classifier = new CascadeClassifier(faceXml_path); }private Mat GetWarpMatrix(Vector2 tl, Vector2 tr, Vector2 br, Vector2 bl){// Mat srcRectMat = new Mat(4, 1, CvType.CV_32FC2);// Mat dstRectMat = new Mat(4, 1, CvType.CV_32FC2);//// var srcCameraMat = webcamTexToMat.rgbaMat;// srcRectMat.put(0, 0, tl.x, tl.y, tr.x, tr.y, bl.x, bl.y, br.x, br.y);// //dstRectMat.put(0, 0, 0.0, srcCameraMat.rows(),srcCameraMat.cols(),srcCameraMat.rows(), 0.0, 0.0,srcCameraMat.rows(), 0);// dstRectMat.put(0, 0,//     0, 0,//     3800, 0,//     0,1800,//     3800,1800);//// Point[] pointArr = new Point[4];// pointArr[0] = new Point(tl.x, tl.y);// pointArr[1] = new Point(tr.x, tr.y);// pointArr[2] = new Point(bl.x, bl.y);// pointArr[3] = new Point(br.x, br.y);// var srcP = new MatOfPoint2f(pointArr);//// Point[] dstPointArr = new Point[4];// dstPointArr[0] = new Point(0,1080);// dstPointArr[1] = new Point(1920, 1080);// dstPointArr[2] = new Point(0,0);// dstPointArr[3] = new Point(1080,0);// var dstP = new MatOfPoint2f(dstPointArr);Texture2D inputTexture = Resources.Load("InputTexture") as Texture2D;  Mat inputMat = new Mat(inputTexture.height, inputTexture.width, CvType.CV_8UC4);  //Mat outputMat = new Mat(inputTexture.height, inputTexture.width, CvType.CV_8UC4);  Mat srcRectMat = new Mat(4, 1, CvType.CV_32FC2);  Mat dstRectMat = new Mat(4, 1, CvType.CV_32FC2);  srcRectMat.put(0, 0, tl.x, tl.y, tr.x, tr.y, bl.x, bl.y, br.x, br.y);  dstRectMat.put(0, 0, // 0.0, inputMat.rows(), // inputMat.cols(), inputMat.rows(), // 0.0, 0.0, // inputMat.rows(), 0);  0.0, 1690, 3690,1690, 0.0, 0.0, 3690, 0);  // Debug.Log("TargetPoint tl = "+0+", "+inputMat.rows() +//           " tr = "+inputMat.cols() + " , "+ inputMat.rows()+//           " bl = "+0+" , "+0 + //           " br = "+inputMat.rows() + " , "+0);//Mat perspectiveTransformHomo =Calib3d.findHomography(srcP,dstP);Mat perspectiveTransform = Imgproc.getPerspectiveTransform(srcRectMat, dstRectMat);Debug.Log("PerspectiveMatrix: "+perspectiveTransform +" type = "+CvType.typeToString(perspectiveTransform.type()));Debug.Log("matrix = "+perspectiveTransform.dump());//Debug.Log("matrixHomo = "+perspectiveTransformHomo.dump());//perspectiveTransform.convertTo(perspectiveTransform, CvType.CV_32FC2);return perspectiveTransform;//return perspectiveTransformHomo;//return getPerspectiveTransform(target_pt, origin_pt);//可逆}private Vector2 GetDstPointFromSrcPoint(Vector2 inputPoint, Mat warpMatrix){var outPutPoint = new Vector2();// Mat inputMat = new Mat(3,1, CvType.CV_64FC1);// //Mat outPutMat = new Mat(3,1, CvType.CV_64FC1);//// //Mat inputMat = new Mat(3,1, CvType.CV_32FC2);// inputMat.put(0, 0, inputPoint.x,inputPoint.y);// Mat outMat = warpMatrix * inputMat;//// var p = new Point();// p.x = inputPoint.x;// p.y = inputPoint.y;//// //Core.perspectiveTransform(inputMat, outPutMat,warpMatrix);//// // Debug.Log("Matrix1: "+outMat+// //           " cols="+outMat.cols()+ " rows="+outMat.rows()+" channels()="+outMat.channels()+// //           " type = "+CvType.typeToString(outMat.type()));// Debug.Log("TestMatrix1: "+outMat.dump());// //Debug.Log("TestMatrix2: "+outPutMat.dump());////  var xx =  (float) (outMat.get(0,0)[0]);//  Debug.Log("outMat float x = "+xx);//  //  var yy = (float) (outMat.get(1,0)[0]);//  Debug.Log("outMat double y = "+yy);//  //  outPutPoint.x = math.round(xx) ;//  outPutPoint.y = math.round(yy);outPutPoint = cvt_pos(inputPoint, warpMatrix);return outPutPoint;}private Vector2 cvt_pos(Vector2 pos, Mat cvt_mat_t){var desPos = new Vector2();var u = pos[0];var v = pos[1];var x = (cvt_mat_t.get(0,0)[0] * u +cvt_mat_t.get(0,1)[0] * v + cvt_mat_t.get(0,2)[0]) /(cvt_mat_t.get(2,0)[0] * u + cvt_mat_t.get(2,1)[0] * v + cvt_mat_t.get(2,2)[0]);var y = (cvt_mat_t.get(1,0)[0] * u + cvt_mat_t.get(1,1)[0] * v + cvt_mat_t.get(1,2)[0]) /(cvt_mat_t.get(2,0)[0] * u + cvt_mat_t.get(2,1)[0] * v + cvt_mat_t.get(2,2)[0]);desPos.x = (float) x;desPos.y = (float) y;return desPos;}

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