| Algorithm 1: IPM Transformation |
| 1 Input: Source image I |
| 2 Output: IPM image IT |
| 3 For each pixel of coordinates (uT, vT) of IT |
| 4 x = k uT + x0 |
| 5 z = j vT + z0 |
| 6 y = 0 |
| 7 (u, v) = Projection(xW, yW, zW) |
| 8 IT(uT, vT) = I(u, v) |
| 9 End For |
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