python opencv 旋转图片
# -*- coding:utf-8 -*- import cv2 import numpy as np import sys #origin_img_path = "J:\\Select_pic\\20230203\\1001123756063.jpg" origin_img_path = "J:\\Select_pic\\20230203\\1001131714512.jpg" img = cv2.imread(origin_img_path) # cv2.imshow("original", img) # 可选,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) #img = cv2.resize(img, (640,360), interpolation = cv2.INTER_AREA) img_w, img_h = img.shape[0:2] rotate_anglex = 0 rotate_angley = 30 rotate_anglez = -27 # 是旋转 img_fov = 1 r = 0 def get_rad1(x): return x * np.pi / 180 def get_imgWarpR(): global rotate_anglex,rotate_angley,rotate_anglez,img_fov,img_w,img_h,r # 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(img_w ** 2 + img_h ** 2) / 2 / np.tan(get_rad1(img_fov / 2)) # 齐次变换矩阵 rx = np.array([[1, 0, 0, 0],[0, np.cos(get_rad1(rotate_anglex)), -np.sin(get_rad1(rotate_anglex)), 0],[0, -np.sin(get_rad1(rotate_anglex)), np.cos(get_rad1(rotate_anglex)), 0, ],[0, 0, 0, 1]], np.float32) ry = np.array([[np.cos(get_rad1(rotate_angley)), 0, np.sin(get_rad1(rotate_angley)), 0],[0, 1, 0, 0],[-np.sin(get_rad1(rotate_angley)), 0, np.cos(get_rad1(rotate_angley)), 0, ],[0, 0, 0, 1]], np.float32) rz = np.array([[np.cos(get_rad1(rotate_anglez)), np.sin(get_rad1(rotate_anglez)), 0, 0],[-np.sin(get_rad1(rotate_anglez)), np.cos(get_rad1(rotate_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([img_h / 2, img_w / 2, 0, 0], np.float32) p1 = np.array([0, 0, 0, 0], np.float32) - pcenter p2 = np.array([img_w, 0, 0, 0], np.float32) - pcenter p3 = np.array([0, img_h, 0, 0], np.float32) - pcenter p4 = np.array([img_w, img_h, 0, 0], np.float32) - pcenter img_dst1 = r.dot(p1) img_dst2 = r.dot(p2) img_dst3 = r.dot(p3) img_dst4 = r.dot(p4) list_img_dst = [img_dst1, img_dst2, img_dst3, img_dst4] img_org = np.array([[0, 0],[img_w, 0],[0, img_h],[img_w, img_h]], np.float32) img_dst = np.zeros((4, 2), np.float32) # 投影至成像平面 for i in range(4): img_dst[i, 0] = list_img_dst[i][0] * z / (z - list_img_dst[i][2]) + pcenter[0] img_dst[i, 1] = list_img_dst[i][1] * z / (z - list_img_dst[i][2]) + pcenter[1] warpR = cv2.getPerspectiveTransform(img_org, img_dst) return warpR def control(): global rotate_anglex,rotate_angley,rotate_anglez,img_fov,r # 键盘控制 if 27 == c: # Esc quit sys.exit() if c == ord('w'): rotate_anglex += 1 if c == ord('s'): rotate_anglex -= 1 if c == ord('a'): rotate_angley += 1 print(rotate_angley) # dx=0 if c == ord('d'): rotate_angley -= 1 if c == ord('u'): rotate_anglez += 1 if c == ord('p'): rotate_anglez -= 1 if c == ord('t'): img_fov += 1 if c == ord('r'): img_fov -= 1 if c == ord(' '): rotate_anglex = rotate_angley = rotate_anglez = 0 if c == ord('e'): print("======================================") print('Rotation Matrix:') print(r) print('angle alpha(rotate_anglex):') print(rotate_anglex) print('angle beta(rotate_angley):') print(rotate_angley) print('dz(rotate_anglez):') print(rotate_anglez) while True: warpR = get_imgWarpR() result = cv2.warpPerspective(img, warpR, (img_h, img_w)) cv2.namedWindow('result',2) cv2.imshow("result", result) c = cv2.waitKey(30) control() cv2.destroyAllWindows()
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