- #1
darie2808
- 2
- 0
Hi . I am making a robot that is supposed to detect a red ball with a camera, and then know where the ball is .
The robot has a camera on top of it, that is tilted at an angle ; At each frame the camera detects the red ball and returns 2 coordinates , xp and yp which are the pixel coordinates of the middle of the ball on the image captured .
What i want is to map each point on the ground to a point in the image. In other words to change the perspective from birds eye view to a 2d top view of the ground in front of the robot.
Everything about the camera is known : focal length , the angle at which is tilted, the height at which it is , the horisontal and vertical apperture angles...everything.
All i need is the formula that relates X,Y of the real world to the xp and yp .
I tried several equations that i found online but although all are similar, they are different and none worked .
Note the (0,0) point on the image is in the middle of it.
Help would be much appreciated!
Best wishes ,
Darie
The robot has a camera on top of it, that is tilted at an angle ; At each frame the camera detects the red ball and returns 2 coordinates , xp and yp which are the pixel coordinates of the middle of the ball on the image captured .
What i want is to map each point on the ground to a point in the image. In other words to change the perspective from birds eye view to a 2d top view of the ground in front of the robot.
Everything about the camera is known : focal length , the angle at which is tilted, the height at which it is , the horisontal and vertical apperture angles...everything.
All i need is the formula that relates X,Y of the real world to the xp and yp .
I tried several equations that i found online but although all are similar, they are different and none worked .
Note the (0,0) point on the image is in the middle of it.
Help would be much appreciated!
Best wishes ,
Darie