Image Fusion With Aruco

A image funsion proposal for vertical cameras' view fusion and positioning, using in distributed passenger tracking computation.

1 Requirements

1. OpenCV 4
2. OpenCV aruco模块
3. OpenCV stitching模块

2 Compiles

$ make

3 Usage

Run in MacOS

$ cd ./bin
$ ./main [mode] [input dir] [change dir]

3.1 Params Instruction

3.1.1 mode

mode	说明
DEBUG	正变换
IDEBUG	反变换
change	测试换图片

3.1.2 input dir

input dir	说明
aruco3	3张aruco初始化
aruco4	4张aruco初始化
aruco5	5张aruco初始化
aruco6	6张aruco初始化

3.1.3 change dir

change dir
aruco3
aruco4
aruco5
aruco6
xovis3
xovis4
xovis5
xovis6

4 Algorithm Procedure

4.1 General Proceduate

4.2 Mark Procedure

4.3 Coordinate Tranformation

5 Results

5.1 Result 1: aruco6

5.2 4 Images Transformation（320，240） => （800，600）

As you can see, when I click a point in one of the camera views (320, 240), the composite view will show up the correct points.

5.3 Reverse Transformation（800，600） => （320，240）

When I click a point in the composite view, and similar a track. All the camera view will show up the correct points.

5.4 Another set of Images' result: aruco6 => xovis3