lane_detection_module.py 文件源码

def perspective_transform(image, corners, debug=False, xoffset=0):

     height, width = image.shape[0:2]
     output_size = height/2

     new_top_left=np.array([corners[0,0],0])
     new_top_right=np.array([corners[3,0],0])
     offset=[xoffset,0]    
     img_size = (image.shape[1], image.shape[0])
     src = np.float32([corners[0],corners[1],corners[2],corners[3]])
     dst = np.float32([corners[0]+offset,new_top_left+offset,new_top_right-offset ,corners[3]-offset]) 

     M = cv2.getPerspectiveTransform(src, dst)

     warped = cv2.warpPerspective(image, M, (width, height), flags=cv2.INTER_LINEAR)

     if debug:
         drawQuad(image, src, [255, 0, 0])
         drawQuad(warped, dst, [255, 255, 0])
         plt.imshow(image)
         plt.show()
         plt.imshow(warped)
         plt.show()

     return warped,  src,  dst