Birds eye view giving problems- co ordinate geometry-distance calculation

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My objective is to get a birds eye view of the image and using this, detect lane markings and vehicles and calculate distance from detected objects. Warp perspective is giving me a lot of issues.

Now I am using as input to opencv a video captured from a camera placed in a moving car. I only have the video. So will this birds eye view be of any help to me? is it even possible to get it?? I do not have camera parameters or any other details. Calculating distance is also imperative. I am using VC++ 2010

Please shed some light on this. i want to do something very similar to images shown in this link. thats the first step. generate a top-dow view of a road using warpPerspective() opencv the code m using:and its not working:

    int main(void)
    {
     Mat input,dst;
     Point2f inputQuad[4];
       // Output Quadilateral or World plane coordinates
       Point2f outputQuad[4];

       // Lambda Matrix
       Mat lambda( 2, 4, CV_32FC1 );
          //Input and Output Image;

          //Load the image
             input = imread( “C:/176955961.jpg”, 1 );
           imshow(“original”, input);//300×168
         // Set the lambda matrix the same type and size as input
            // Set the lambda matrix the same type and size as input
           lambda = Mat::zeros( input.rows, input.cols, input.type() );

             // The 4 points that select quadilateral on the input ,                         from top-left in clockwise order
                 // These four pts are the sides of the rect box used as input
            inputQuad[0] = Point2f( 200,50 );
            inputQuad[1] = Point2f( 300,50);
            inputQuad[2] = Point2f( 0,350 );
            inputQuad[3] = Point2f( input.cols,350);

                             // The 4 points where the mapping is to be done , from top-left in clockwise order
                 outputQuad[0] = Point2f( 0,0 );
                 outputQuad[1] = Point2f( input.cols,0);
                  outputQuad[2] = Point2f( 100,input.rows);
                  outputQuad[3] = Point2f( input.cols-100,input.rows);

              // Get the Perspective Transform Matrix i.e. lambda
                lambda = getPerspectiveTransform( inputQuad, outputQuad );
             // Apply the Perspective Transform just found to the src image
             warpPerspective(input,dst,lambda,dst.size() );
             imshow(“cpp”,dst);
             return 0;

}

asked 33 secs ago

gaurav gopalkrishna

1

Birds eye view giving problems- co ordinate geometry-distance calculation