python opencv 投影变换 黑边

  

   

    

     

    
    

     

      def rotate_3(img,angle_vari=10):
     
    
   

    

     

    
    

     

       w, h = img.shape[0:2]
     
    
   

    

     

    
    

     

       fov = 42
     
    
   

    

     

    
    

     

       anglex = np.random.uniform(-angle_vari, angle_vari)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       angley = np.random.uniform(-5, 5)
     
    
   

    

     

    
    

     

       anglez = np.random.uniform(-4, 4)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       print(anglex,angley,anglez)
     
    
   

    

     

    
    

     
 # 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(w ** 2 + h ** 2) / 2 / np.tan(rad(fov / 2))
     
    
   

    

     

    
    

     
 # 齐次变换矩阵
     
    
   

    

     

    
    

     

       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.
     
    
  
 

文章来源: blog.csdn.net，作者：网奇，版权归原作者所有，如需转载，请联系作者。

原文链接：blog.csdn.net/jacke121/article/details/111866372