IPM
code
#if 0
void xyp2ipmp(cv::Mat& xyp, cv::Mat& ipmp, cv::Mat& xylim, Size& sz){
//xylimist_[0]-latteral/xylimist_[1]-longitudinal...
//ipmp-row0-cols-latteral/ipmp-row1-rows-longitudinal...
double xmin = 0, xmax = 0, ymin = 0, ymax = 0;
minMaxLoc(xylim.row(0), &xmin, &xmax);
minMaxLoc(xylim.row(1), &ymin, &ymax);
double stepcol = (xmax - xmin) / sz.width;
double steprow = (ymax - ymin) / sz.height;
cv::Mat tempx = cv::Mat::ones(1, xyp.cols, CV_64FC1) * xmin;
cv::Mat tempy = cv::Mat::ones(1, xyp.cols, CV_64FC1) * ymax;
ipmp = cv::Mat::zeros(2, xyp.cols, CV_64FC1);
ipmp.rowRange(0, 1) = ( xyp.rowRange(0, 1) - tempx ) / stepcol;
ipmp.rowRange(1, 2) = ( tempy - xyp.rowRange(1, 2) ) / steprow;
for (int i = 0; i < xyp.cols; i++ )
{
double y = ipmp.at<double>(1, i);
if( y > ymax){
ipmp.at<double>(1, i) = ymax;
}
}
}
#endif
code
#if 0
//IPM-parameters...
double left_upper_x = 1;//left
double left_upper_y = 330;//top-greater than 320...
double right_down_x = 1280;//right...
double right_down_y = 720;//bottom...
double uvlimist[8] = { left_upper_x, right_down_x, left_upper_x, right_down_x,
left_upper_y, left_upper_y, right_down_y, right_down_y };
cv::Mat uvlmt = cv::Mat(2, 4, CV_64FC1, uvlimist);
//I2G
cv::Mat xylimit;
imagetoground(uvlmt, xylimit, h, roll, pitch, camera_param_KK);
//G2I
cv::Mat uvgd;
cv::Size sz = cv::Size(PROB_W, PROB_H);//Size(srcimage.cols, srcimage.rows)
groundtoimage(xylimit, uvgd, sz, h, roll, pitch, camera_param_KK );
#endif
code
#if 1
//IPM...
cv::Mat outimage, coord;
src2ipm( prob, uvgd, outimage, coord, sz, h, roll, pitch, camera_param_KK );
outimage.convertTo(outimage, CV_8UC1);
cv::Mat ipm3 = cv::Mat::zeros(PROB_H, PROB_W, CV_8UC3);
cv::cvtColor(outimage, ipm3, COLOR_GRAY2BGR);
//
//cv::Mat uvp = cv::Mat::zeros(2, probp.size(), CV_8UC1);
cv::Mat uvp = cv::Mat::zeros(2, probp.size(), CV_64FC1);//data-type...
for (unsigned int i = 0; i <probp.size(); i++ )
{
uvp.at<double>(0, i) = probp[i].x;//cols-width.
uvp.at<double>(1, i) = probp[i].y;//rows-height.
//std::cout << uvp.at<double>(0, i) << "-----" << probp[i].x <<std::endl;
//std::cout << uvp.at<double>(1, i) << "-----" << probp[i].y <<std::endl;
}
cv::Mat ipmps, xyp;
//std::cout << "uvp:" << uvp << std::endl;
imagetoground(uvp, xyp, h, roll, pitch, camera_param_KK);
xyp2ipmp(xyp, ipmps, xylimit, sz);
ipmps.convertTo(ipmps, CV_32SC1);
for (unsigned int i = 0; i <probp.size(); i++ )
{
cv::Point ipmp;
ipmp.x = ipmps.at<int>(0, i);
ipmp.y = ipmps.at<int>(1, i);
if (plabel[i] == 1)//-barrier
{
cv::circle(ipm3, ipmp, 3, cv::Scalar(240, 32, 160), -1); //
//cv::putText(orig, std::to_string(i), pt, CV_FONT_NORMAL, 0.1, cv::Scalar(255, 255, 255));
}
else if (plabel[i] == 0)//-undifined
{
cv::circle(ipm3, ipmp, 3, cv::Scalar(255, 255, 0), -1); //
//cv::putText(orig, std::to_string(i), pt, CV_FONT_NORMAL, 0.1, cv::Scalar(255, 255, 255));
}
}
cv::imshow("ipmp", ipm3);
cv::waitKey(1);//unit-ms.
sprintf(output_path,"./ipmp/00000%05d.png",cnt);
cv::imwrite(output_path, ipm3);
#endif
参考
1. matlab_逆透视变换详解 及 代码实现(一);
2. matlab_逆透视变换详解 及 代码实现(二);
完