OpenCV编程->图像三维空间旋转并投影到XY平面

//////////////////////////////////////////////////////////////////
	//////////////////////////旋转矩阵  平移矩阵测试//////////////////
	//////////////////////////////////////////////////////////////////
	//	旋转矩阵R 转为旋转向量 rvecs
	Mat rvecs; //旋转向量
	Rodrigues(R,rvecs);
	Point3f point3f;
	Mat map1(img2.rows, img2.cols, CV_32FC1);
	Mat map2(img2.rows, img2.cols, CV_32FC1);
	Mat object_Matrix = (Mat_<double>(3, 1) << 0, 0, 0);
	//对图像的坐标进行变换
	for (int i = 0; i < img2.rows; i++)
	{
		for (int j = 0; j < img2.cols; j++)
		{
			object_Matrix.at<double>(0, 0) = i;
			object_Matrix.at<double>(1, 0) = j;
			object_Matrix.at<double>(2, 0) = 0;
			object_Matrix = object_Matrix + T;
			object_Matrix = R*object_Matrix;
			map1.at<float>(i, j) = object_Matrix.at<double>(1, 0);
			map2.at<float>(i, j) = object_Matrix.at<double>(0, 0);
		}
	}
	Mat imgk;
	remap(img1, imgk, map1, map2, CV_INTER_LINEAR);