摄像头测试代码

在main.c文件中img_processing();函数里pts_left和pts_right两个数组储存边线坐标

app/gl_transform_table.c

@@ -0,0 +1,26 @@
+#include "zf_common_headfile.h"
+#include "gl_headfile.h"
+
+
+float H_inv[3][3] = {};
+
+// 逆变换，俯视->原图
+void transform(float X, float Y, int* x, int* y) {
+    // Apply inverse transformation
+    double p[3] = {X, Y, 1.0};
+    double q[3] = {0.0, 0.0, 0.0};
+    for (int i = 0; i < 3; i++) {
+        for (int j = 0; j < 3; j++) {
+            q[i] += H_inv[i][j] * p[j];
+        }
+    }
+
+    *x =(int) (q[0] / q[2]);
+    *y = (int) (q[1] / q[2]);
+}
+
+
+const float UndistInverseMapH[90][140]  =   {};
+
+
+const float UndistInverseMapW[90][140]  =   {};