page_dewarp.py 文件源码

def project_xy(xy_coords, pvec):

    # get cubic polynomial coefficients given
    #
    #  f(0) = 0, f'(0) = alpha
    #  f(1) = 0, f'(1) = beta

    alpha, beta = tuple(pvec[CUBIC_IDX])

    poly = np.array([
        alpha + beta,
        -2*alpha - beta,
        alpha,
        0])

    xy_coords = xy_coords.reshape((-1, 2))
    z_coords = np.polyval(poly, xy_coords[:, 0])

    objpoints = np.hstack((xy_coords, z_coords.reshape((-1, 1))))

    image_points, _ = cv2.projectPoints(objpoints,
                                        pvec[RVEC_IDX],
                                        pvec[TVEC_IDX],
                                        K, np.zeros(5))

    return image_points