camera_calibration.py 文件源码

def perspective_transform(self,  image, debug=True, size_top=70, size_bottom=370):
        height, width = image.shape[0:2]
        output_size = height/2

        #src = np.float32([[(width/2) - size_top, height*0.65], [(width/2) + size_top, height*0.65], [(width/2) + size_bottom, height-50], [(width/2) - size_bottom, height-50]])
        src = np.float32([[512, 450], [675, 454], [707, 560], [347, 568]])
        dst = np.float32([[347, height], [707, height], [707, 0], [347, 0]])
        #dst = np.float32([[(width/2) - output_size, (height/2) - output_size], [(width/2) + output_size, (height/2) - output_size], [(width/2) + output_size, (height/2) + output_size], [(width/2) - output_size, (height/2) + output_size]])

        M = cv2.getPerspectiveTransform(src, dst)
        print(M)
        warped = cv2.warpPerspective(image, M, (width, height), flags=cv2.INTER_LINEAR)

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

        return warped