【计算机视觉基础】IPM

IPM

code

#if 0
void xyp2ipmpcv::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;
    minMaxLocxylim.row0), &xmin, &xmax);
    minMaxLocxylim.row1), &ymin, &ymax);

    double stepcol = xmax - xmin) / sz.width;
    double steprow = ymax - ymin) / sz.height;

    cv::Mat tempx = cv::Mat::ones1, xyp.cols, CV_64FC1) * xmin;
    cv::Mat tempy = cv::Mat::ones1, xyp.cols, CV_64FC1) * ymax;

    ipmp = cv::Mat::zeros2, xyp.cols, CV_64FC1);
    ipmp.rowRange0, 1) =  xyp.rowRange0, 1) - tempx ) / stepcol;
    ipmp.rowRange1, 2) =  tempy - xyp.rowRange1, 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::Mat2, 4, CV_64FC1, uvlimist);

     //I2G
    cv::Mat xylimit;
    imagetogrounduvlmt, xylimit, h, roll, pitch, camera_param_KK);
     //G2I
    cv::Mat uvgd;
    cv::Size sz = cv::SizePROB_W, PROB_H);//Sizesrcimage.cols, srcimage.rows)
    groundtoimagexylimit, 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.convertTooutimage, CV_8UC1);
        cv::Mat ipm3 = cv::Mat::zerosPROB_H, PROB_W, CV_8UC3);
        cv::cvtColoroutimage, ipm3, COLOR_GRAY2BGR);

        //
        //cv::Mat uvp = cv::Mat::zeros2, probp.size), CV_8UC1);
        cv::Mat uvp = cv::Mat::zeros2, 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;
        imagetogrounduvp, xyp, h, roll, pitch, camera_param_KK);
        xyp2ipmpxyp, ipmps, xylimit, sz);
        ipmps.convertToipmps, 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::circleipm3, ipmp, 3, cv::Scalar240, 32, 160), -1); //
                //cv::putTextorig, std::to_stringi), pt, CV_FONT_NORMAL, 0.1, cv::Scalar255, 255, 255));
            }
            else if plabel[i] == 0)//-undifined
            {
                cv::circleipm3, ipmp, 3, cv::Scalar255, 255, 0), -1); //
                //cv::putTextorig, std::to_stringi), pt, CV_FONT_NORMAL, 0.1, cv::Scalar255, 255, 255));
            }
    
        }

        cv::imshow"ipmp", ipm3);
        cv::waitKey1);//unit-ms.
        sprintfoutput_path,"./ipmp/00000%05d.png",cnt);
        cv::imwriteoutput_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