Size类型如何调用和定义

cv::Size sz = cv::Size(PROB_W, PROB_H);//Size(srcimage.cols, srcimage.rows)
groundtoimage(xylimit, uvgd, sz, h, roll, pitch, camera_param_KK );
sz.height
sz.width

//groundtoimage...
void groundtoimage( cv::Mat& xylimt, cv::Mat& uvgrid, cv::Size& sz, double ht, double roll, double pitch, double* camera_param_KK )
{
    //std::cout << "sz.height: " << sz.height << " ------ sz.width: " << sz.width << std::endl; 
    int height = (int)(ht*1000); //unit-mm.
    double fx = camera_param_KK[0];
    double fy = camera_param_KK[4];
    double cx = camera_param_KK[2]; 
    double cy = camera_param_KK[5]; 

    double c1 = cos(pitch*PI / 180);
    double s1 = sin(pitch*PI / 180);
    double c2 = cos(roll*PI / 180);
    double s2 = sin(roll*PI / 180);
    cv::Mat Tx = (cv::Mat_<double>(3, 3) << 1, 0, 0,
         0, c1, s1,
         0, -s1, c1);
    cv::Mat Tf = (cv::Mat_<double>(3, 3) << fx, 0, cx,
         0, fy, cy,
         0, 0, 1);

    double xmin = 0, xmax = 0, ymin = 0, ymax = 0;
    minMaxLoc(xylimt.row(0), &xmin, &xmax);
    minMaxLoc(xylimt.row(1), &ymin, &ymax);
    //std::cout << "xmin: " << xmin << " xmax: " << xmax << std::endl;
    //std::cout << "ymin: " << ymin << " ymax: " << ymax << std::endl;
    double steprow = (ymax - ymin) / sz.height;
    double stepcol = (xmax - xmin) / sz.width;
    cv::Mat xygrid = cv::Mat::zeros(2, sz.height*sz.width, CV_64FC1);

    float y = ymax;
    for (int i = 1; i <= sz.height; i++)
    {
        float x = xmin;
        for (int j = 0; j < sz.width; j++)
        {
            xygrid.at<double>(0, (i - 1)*sz.width + j) = x;
            xygrid.at<double>(1, (i - 1)*sz.width + j) = y;
            x = x + stepcol;
        }
        y = y - steprow;
    }

    cv::Mat temp1, temp2;
    xygrid.rowRange(0, 2).copyTo(temp2);
    temp1 = cv::Mat::ones(1, temp2.cols, CV_64FC1)*(-height);
    cv::vconcat(temp2, temp1, temp2);    

    cv::Mat T = Tf*Tx;
    temp2 = T * temp2;  

    temp2.row(0) = temp2.row(0) / temp2.row(2);
    temp2.row(1) = temp2.row(1) / temp2.row(2);
    temp2.rowRange(0, 2).copyTo(uvgrid);

}

re:

1. Opencv Mat的三种常用类型简介;

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