opencv 图像透视变换

import cv2
import numpy as np
import random

# 弧度转换
def rad(x):
    return x * np.pi / 180

# 图像透视变换
def transform(img, anglex=0, angley=0, anglez=0, fov=42):
    '''
    图像透视变换

    :param img: 输入原始图像BGR图像
    :param anglex: x方向旋转角度
    :param angley: y方向旋转角度
    :param anglez: z方向旋转角度
    :param fov:
    :return:
    '''
    w, h = img.shape[0:2]
    z = np.sqrt(w ** 2 + h ** 2) / 2 / np.tan(rad(fov / 2))
    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), borderMode=cv2.BORDER_REPLICATE)
    return result


if __name__ == '__main__':
    # 测试图片路径
    path = r'./000000.jpg'
    image = cv2.imread(path)
    x = 0
    y = 0
    z = 0
    fov = 20

    while True:
        x = random.randint(70, 75)
        x = random.randint(70, 75)
        z = random.randint(70, 75)
        result = transform(image, anglex=x, angley=y, anglez=z, fov=fov)
        cv2.imshow('r', result)
        cv2.waitKey(1000)