I have a problem and I do not understand how to turn image coordinates into world coordinates. I would really love to help.
Thanks .
this is my code...
% Initialization steps.
clc;
clearvars;
close all;
workspace;
fontSize = 16;
objects = imaqfind; %find video input objects in memory % מחפש את כל קלטי הוידאו שבזכרון
delete(objects) %delete a video input object from memory %מאפס את כל קלטי הוידאו
load('cameraParams1.mat')% נתונים מהקליברציה
focalLength = [cameraParams.FocalLength(1), cameraParams.FocalLength(2)]; % [fx, fy] in pixel units
principalPoint = [cameraParams.PrincipalPoint(1), cameraParams.PrincipalPoint(2)]; % [cx, cy] optical center in pixel coordinates
imageSize = cameraParams.ImageSize; % [nrows, mcols] 480x640
camIntrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize); %מאחסן את הפרמטרים של המצלמה
videoName = 'test3.mp4';
videoReader = VideoReader(videoName);
timeStamp = 0.06667; % time from the beginning of the video
videoReader.CurrentTime = timeStamp; % point to the chosen frame
frame = readFrame(videoReader); % read frame at timeStamp seconds
imshow(frame) % display frame
% fullFileName = 'https://ww2.mathworks.cn/matlabcentral/answers/uploaded_files/988570/road.png';
grayImage = rgb2gray(frame);
figure
imshow(grayImage)
grayImage(grayImage<170)=0;
figure
imshow(grayImage, []);
%impixelinfo;
mask = logical(grayImage > 140 & grayImage < 255);
mask = bwareafilt(mask, 2);
mask = bwskel(mask);
mask2 = imopen(mask, strel('line', 3, 0));
mask(mask2) = 0;
mask = logical(mask);
figure
imshow(mask);
% make center line
[r,c] = find(mask);
rs = sort(unique(r));
cens = [];
for i = 1 : length(rs)
mi = mask(rs(i),:);
[~,ci] = find(mi);
if max(ci) - min(ci) < 1e1
continue;
end
cens = [cens; mean([max(ci) min(ci)]) rs(i)];
end
% make line
p = polyfit(cens(:,2), cens(:,1), 2);
yt = linspace(min(rs), max(rs), 1e3);
xt = polyval(p, yt);
hold on; plot(xt, yt, 'g-', 'LineWidth',3)
figure; imshow(frame);
hold on; plot(xt, yt, 'g-', 'LineWidth',3)
image3D = cat(3, slice1, slice2, slice3, slice4, slice5);
for slice = 1 : totalNumberOfSlices
thisSlice = GetSlice(mask); % Whatever you have to do to get one 2D image.
if slice == 1
image3D = thisSlice;
else
image3D = cat(3, image3D, thisSlice);
end
end
