#include“my_qtproject_api.h“
#include
#include
#include
using?namespace?cv;
using?namespace?std;
float?rad（int?x）{
????return?x*CV_PI/180;
}

Mat?calcpoint2f（const?Mat&imgint?wint?hint?anglexint?angleyint?anglezint?fov）{
????float?z=sqrt（w*w+h*h）/2/tan（rad（fov/2））;
????vector>rx={
????????{1000}
????????{0cos（rad（anglex））-sin（rad（anglex））0}
????????{0-sin（rad（anglex））cos（rad（anglex））0}
????????{0001}
????????};
????vector>ry={
????????{cos（rad（angley））0sin（rad（angley））0}
????????{0100}
????????{-sin（rad（angley））0cos（rad（angley））0}
????????{0001}
????};
????vector>rz={
????????{cos（rad（anglez））sin（rad（anglez））00}
????????{-sin（rad（anglez））cos（rad（anglez））00}
????????{0010}
????????{0001}
????};

????Mat?m_rx=cv::Mat（44CV_32FC1）;
????Mat?m_ry=cv::Mat（44CV_32FC1）;
????Mat?m_rz=cv::Mat（44CV_32FC1）;
????for（int?i=0;i<4;i++）{
????????for（int?j=0;j<4;j++）{
????????????m_rx.at（ij）=rx[i][j];
????????????m_ry.at（ij）=ry[i][j];
????????????m_rz.at（ij）=rz[i][j];
????????}
????}

????Mat?m_r=cv::Mat（44CV_32FC1）;
//????m_r=m_rx*m_ry*m_rz;
????m_r=m_rx*m_ry;
????//generate?four?points
????vector?pcenter={h/2w/200};
????Mat?m_pcenter=cv::Mat（14CV_32FC1）;
????for（int?i=0;i<4;i++）
????????m_pcenter.at（0i）=pcenter[i];

????vector>basepoint={
????????{0000}
????????{w000}
????????{0h00}
????????{wh00}
????};
????Mat?m_base=cv::Mat（44CV_32FC1）;
????for（int?i=0;i<4;i++）{
????????for（int?j=0;j<4;j++）
????????????m_