How to create bird's Eye View Image

I'm trying to activate the bird's eye function from video , and the image I get is not going well, does anyone know why?

(the untitled file, is the image from the video)

height = 0.15; % mounting height in meters from the ground -

pitch = 30; % pitch of the camera in degrees -

yaw = 0; % yaw of the camera in degrees

roll = 0; % roll of the camera in degrees

sensor = monoCamera(camIntrinsics, height, 'Pitch', pitch,'Yaw',yaw,'Roll',roll);

videoName = 'test.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

% Using vehicle coordinates, define area to transform

distAheadOfSensor = 1.; % in meters, as previously specified in monoCamera height input-

spaceToOneSide = 0.5; % all other distance quantities are also in meters-

bottomOffset = 0.15;

outView = [bottomOffset, distAheadOfSensor, -spaceToOneSide, spaceToOneSide]; % [xmin, xmax, ymin, ymax]

imageSize = [NaN, 1000]; % output image width in pixels; height is chosen automatically to preserve units per pixel ratio

birdsEyeConfig = birdsEyeView(sensor, outView, imageSize);

birdsEyeImage = transformImage(birdsEyeConfig, frame);

Answer 1

[cui,xingxing]

please make sure your camera intrinsic matrix is correct and your video frame is always match your extrinsic params(mounting height, orientation), during whole video frame , ground is always flat.