三维投影

from scipy import linalg
from numpy import *
from pylab import *
class Camera(object):
    def __init__(self, P):
        self.P=P
        self.K=None#标定矩阵
        self.R=None#照相机旋转
        self.t=None#照相机平移
        self.c=None#照相机中心  
    def project(self, X):
        x=dot(self.P, X)
        for i in range(3):
            x[i]/=x[2]
        return x
if __name__=="__main__":
    points=loadtxt('C:/Users/xpp/Desktop/3D/bt.p3d')#载入点数据
    points=points.swapaxes(0,1)#交换维度   
    points=vstack((points,ones(points.shape[1])))#齐次坐标 
    P=hstack((eye(3),array([[0],[0],[-10]])))#设置照相机参数
    cam=Camera(P)
    x=cam.project(points)#绘制投影
    figure()
    plot(x[0],x[1],'k.',color='pink')
    show()