python写透视挂_透视变换任意角度三维透视 python c++ opencv两种语言

效果图：键盘控制各个x，y，z，还有fov数值

一开始的w, h = img.shape[0:2]这里宽、高错乱，原因未知，只能这么用

python版本的：

# -*- coding:utf-8 -*-

import cv2

import numpy as np

def rad(x):

return x * np.pi / 180

img = cv2.imread("./dog.jpeg")

cv2.namedWindow("original",0)

cv2.imshow("original", img)

# 扩展图像，保证内容不超出可视范围

img = cv2.copyMakeBorder(img, 200, 200, 200, 200, cv2.BORDER_CONSTANT, 0)

w, h = img.shape[0:2]

anglex = 0

angley = 30

anglez = 0 #是旋转

fov = 42

while 1:

# 镜头与图像间的距离，21为半可视角，算z的距离是为了保证在此可视角度下恰好显示整幅图像

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))

cv2.namedWindow("result",0)

cv2.imshow("result", result)

c = cv2.waitKey(30)

# anglex += 3 #auto rotate

# anglez += 1 #auto rotate

# angley += 2 #auto rotate

# 键盘控制

if 27 == c: # Esc quit

break;

if c == ord('w'):

anglex += 1

if c == ord('s'):

anglex -= 1

if c == ord('a'):

angley += 1

# dx=0

if c == ord('d'):

angley -= 1

if c == ord('u'):

anglez += 1

if c == ord('p'):

anglez -= 1

if c == ord('t'):

fov += 1

if c == ord('r'):

fov -= 1

if c == ord(' '):

anglex = angley = anglez = 0

if c == ord('q'):

print("======================================")

print('旋转矩阵：\n', r)

print("angle alpha: ", anglex, 'angle beta: ', angley, "dz: ", anglez, ": ", z)

cv2.destroyAllWindows()

c++ 版本：

#include

#include "opencv2/opencv.hpp"

using namespace std;

using namespace cv;

double rad(double x)

{

return x * CV_PI / 180.0;

}

int main(int argc, char *argv[])

{

Mat img = imread("dog.jpeg");

namedWindow("original",0);

imshow("original",img);

copyMakeBorder(img,img,200,200,200,200,BORDER_CONSTANT,0);

// int w = img.cols;

// int h = img.rows;

int h = img.cols;

int w = img.rows;

double anglex = 0;

double angley = -62.72;

double anglez = 32;

double fov = 56;

while(1)

{

double z = sqrt(w*w + h*h)/2.0/tan(rad(fov/2.0));

double arr_x[4][4] = {1,0,0,0,

0,cos(rad(anglex)),-sin(rad(anglex)),0,

0,-sin(rad(anglex)),cos(rad(anglex)),0,

0,0,0,1};

Mat rx(4,4,CV_64F,arr_x);

double arr_y[4][4] = {cos(rad(angley)),0,sin(rad(angley)),0,

0,1,0,0,

-sin(rad(angley)),0,cos(rad(angley)),0,

0,0,0,1};

Mat ry(4,4,CV_64F,arr_y);

double arr_z[4][4] = {cos(rad(anglez)),sin(rad(anglez)),0,0,

-sin(rad(anglez)),cos(rad(anglez)),0,0,

0,0,1,0,

0,0,0,1};

Mat rz(4,4,CV_64F,arr_z);

Mat r = rx*ry*rz;

double arr_center[4] = {h/2.0,w/2.0,0,0};

Mat pcenter(1,4,CV_64F,arr_center);

double arr_t1[4] = {0,0,0,0},arr_t2[4] = {w,0,0,0}, arr_t3[4] = {0,h,0,0}, arr_t4[4] = {w,h,0,0};

Mat m_t1(1,4,CV_64F,arr_t1),m_t2(1,4,CV_64F,arr_t2),m_t3(1,4,CV_64F,arr_t3),m_t4(1,4,CV_64F,arr_t4);

Mat p1 = m_t1 - pcenter;

Mat p2 = m_t2 - pcenter;

Mat p3 = m_t3 - pcenter;

Mat p4 = m_t4 - pcenter;

Mat r_transpose;

transpose(r,r_transpose);

Mat dst1 = p1 * r_transpose;

Mat dst2 = p2 * r_transpose;

Mat dst3 = p3 * r_transpose;

Mat dst4 = p4 * r_transpose;

vector list_dst = {dst1,dst2,dst3,dst4};

Point2f org[4] = {Point2f(0,0),Point2f(w,0),Point2f(0,h),Point2f(w,h)};

Point2f dst[4];

for(int i=0;i<4;i++)

{

dst[i].x = list_dst[i].at(0,0) * z / (z - list_dst[i].at(0,2)) + pcenter.at(0,0);

dst[i].y = list_dst[i].at(0,1) * z / (z - list_dst[i].at(0,2)) + pcenter.at(0,1);

}

Mat result;

cv::Mat warpMatrix = cv::getPerspectiveTransform(org, dst);

cv::warpPerspective(img, result, warpMatrix, Size(h,w));

namedWindow("result",0);

imshow("result",result);

char c = waitKey(0);

if(27 == c)

{

break;

}

if('w' == c)

{

anglex += 1;

}

if('s' == c)

{

anglex -= 1;

}

if('a' == c)

{

angley += 1;

}

if('d' == c)

{

angley -= 1;

}

if('u' == c)

{

anglez += 1;

}

if('p' == c)

{

anglez -= 1;

}

if('t' == c)

{

fov += 1;

}

if('r' == c)

{

fov -= 1;

}

if(' ' == c)

{

anglex = 0;

angley = 0;

anglez = 0;

}

if('q' == c)

{

cout<<"angle alpha(anglex): "<

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