To understand a better way Bird eye view using inverse perspective mapping algorithm

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Sushil Sharma
Sushil Sharma 2019-5-27
Dear Community,
I am trying to understand a better way Bird eye View using inverse perspective mapping,
So I use pin hole camera model for projective projection, As far as I am able to projective 3D to 2D view but When I am using IPM technique I get some different result,
If someone help me to figure out, I would really appreciate,
For a simpilcity I attached my image after projection
% Region of Interest (in meters)
x_min = 0;
x_max = 30;
y_min = -15;
y_max = 15;
% Image resolution:
imageSize = [640,480];
% Focal length
fu=150; fv=150;
% 3D camera rotations:
yaw = 0*pi/180;
roll = 30*pi/180;
pitch = 15*pi/180;
% 3D camera position:
O_Rcam = [-20;0;10];
I look forward from you,
SushilCapture.PNG

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