全景图展开Python代码

以下是一个简单的 Python 代码示例，用于将全景图展开为平面图像：

import cv2
import numpy as np

# 加载全景图像
panorama = cv2.imread('panorama.jpg')

# 设置投影参数
h, w = panorama.shape[:2]
f = 0.8 * w  # 焦距
K = np.array([[f, 0, w/2], [0, f, h/2], [0, 0, 1]])  # 内参矩阵

# 计算投影矩阵
R = np.eye(3)  # 旋转矩阵
T = np.array([0, 0, 0])  # 平移矩阵
P = K.dot(np.hstack([R, T.reshape(3, -1)]))  # 投影矩阵

# 计算输出图像的大小和坐标范围
roi = cv2.warpPerspective(np.zeros_like(panorama), P, (w*2, h))
x_min, y_min = np.inf, np.inf
x_max, y_max = -np.inf, -np.inf
for x, y in [(0, 0), (0, h), (w, 0), (w, h)]:
    x_, y_, _ = P.dot([x, y, 1])
    x_ /= y_
    y_ /= y_
    x_min = min(x_min, x_)
    y_min = min(y_min, y_)
    x_max = max(x_max, x_)
    y_max = max(y_max, y_)
x_min, y_min = int(x_min), int(y_min)
x_max, y_max = int(x_max), int(y_max)
w_ = x_max - x_min
h_ = y_max - y_min

# 将全景图像展开到输出图像
for x in range(w):
    for y in range(h):
        x_, y_, _ = P.dot([x, y, 1])
        x_ /= y_
        y_ /= y_
        x_ -= x_min
        y_ -= y_min
        roi[int(y_), int(x_)] = panorama[y, x]

# 显示结果
cv2.imshow('panorama', panorama)
cv2.imshow('unwrapped', roi)
cv2.waitKey(0)