import numpy as np
import cv2

from globals import initial_right_down_ca, initial_left_down_ca, initial_right_up_ca, initial_left_up_ca, \
    initial_right_down_world, initial_right_up_world, initial_left_down_world, initial_left_up_world


def pixel_to_world(pixel_point):
    """
    计算仿射变换矩阵并使用它将像素坐标转换为世界坐标
    """
    # 使用全局变量定义像素坐标和世界坐标
    pixel_coords = {
        'right_down': initial_right_down_ca,
        'left_down': initial_left_down_ca,
        'right_up': initial_right_up_ca,
        'left_up': initial_left_up_ca
    }

    world_coords = {
        'right_down': initial_right_down_world,
        'left_down': initial_left_down_world,
        'right_up': initial_right_up_world,
        'left_up': initial_left_up_world
    }

    src = np.array([
        pixel_coords['right_down'],
        pixel_coords['left_down'],
        pixel_coords['right_up']
    ], dtype=np.float32)

    dst = np.array([
        world_coords['right_down'],
        world_coords['left_down'],
        world_coords['right_up']
    ], dtype=np.float32)

    # 使用OpenCV计算仿射变换矩阵
    affine_matrix = cv2.getAffineTransform(src, dst)

    # 将像素坐标转换为世界坐标
    pixel_point = np.array([pixel_point], dtype=np.float32)
    world_point = cv2.transform(pixel_point[None, :, :], affine_matrix)

    return world_point[0][0]

# # 示例调用
# initial_right_down_ca = [100, 200]
# initial_left_down_ca = [50, 200]
# initial_right_up_ca = [100, 150]
# initial_left_up_ca = [50, 150]
#
# initial_right_down_world = [1, 2]
# initial_left_down_world = [0.5, 2]
# initial_right_up_world = [1, 1.5]
# initial_left_up_world = [0.5, 1.5]
#
# pixel_point = (75, 175)
# world_point = pixel_to_world(pixel_point)
# print("世界坐标:", world_point)