本源码实现了图像由2维到3维的转换，是平面图转化到了俯视图，对于道路边缘检测有很重要的辅助作用。-Realize the source of the image by a two-dimensional to three-dimensional conversion, is transformed into a top plan view of the road edge detection for a very important supporting role.

Suppose I have an image of a floor plan like source image and you want to refine all these lines. you have to get all coordinates, draw lines that will result the final result image

鸟瞰图变换实例，通过读取摄像机内外参数矩阵和放仿射变换的到的单应性矩阵，获得平面视图的“俯视图”。-Aerial view transform instance, affine transformation to homography by reading the internal and external camera parameters matrix and put, get a plan view of the " plan view."