namespace :
cv::vec2d;
void src2ipm(cv::Mat &srcimage, cv::Mat& uvgrid, cv::Mat& outimage, cv::Mat& coord, cv::Size& sz, double ht, double roll, double pitch, double* camera_param_KK){ 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); double means = cv::mean(srcimage).val[0]; outimage = cv::Mat::zeros(sz.height, sz.width, CV_64FC1); coord = cv::Mat::zeros(sz.height, sz.width, CV_64FC2);// for (int i = 0; i < sz.height; i++) { for (int j = 0; j < sz.width; j++) { float ui = uvgrid.at<double>(0, i*sz.width + j); float vi = uvgrid.at<double>(1, i*sz.width + j); //cout << “vi: ” << vi << endl; if (ui<0 || ui>1278) outimage.at<double>(i, j) = means / 255; else { int x1 = (int)ui, x2 = (int)(ui + 1); int y1 = (int)vi, y2 = (int)(vi + 1); float x = ui – (float)x1; float y = vi – (float)y1; double val = srcimage.at<uchar>(y1, x1)*(1 – x)*(1 – y) + srcimage.at<uchar>(y1, x2)*x*(1 – y) + srcimage.at<uchar>(y2, x1)*(1 – x)*y + srcimage.at<uchar>(y1, x1)* x* y; outimage.at<double>(i, j) = val/255; // coord.at<cv::Vec2d>(i, j)[1] = height*(fy*s1 + cy*c1 – y1*c1) / (fy*c1 – cy*s1 + y1*s1)*(1 – y) + height*(fy*s1 + cy*c1 – y2*c1) / (fy*c1 – cy*s1 + y2*s1)*y; double y_w = coord.at<cv::Vec2d>(i, j)[1]; coord.at<cv::Vec2d>(i, j)[0] = (s1*y_w + height*c1)*(cx – x1) / fx; //Vec2d } } } outimage = outimage*255; //cout << “coordinate.rows: ” << coordinate_.rows << “— coordinate.cols: ” << coordinate_.cols << endl; //imshow(“ipm”, outimage); //cv::waitKey(0); //imwrite(“./ipm.png”, outimage);}
cv::Mat temp = cv::Mat::ones(3, uv.cols, CV_64FC1);
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… std::cout << “start probp2ipmp: ” << std::endl; 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_8UC1); ipmp.rowRange(0, 1) = ( xyp.rowRange(0, 1) – tempx ) / stepcol; ipmp.rowRange(1, 2) = ( tempy – xyp.rowRange(1, 2) ) / steprow; }
save image:
char output_path[100];
sprintf(output_path,”./ipmp/00000%05d.png”,cnt);cv::imwrite(output_path, ipm3);
总有看腻的时候，不论何等荣华的身份，
