1. 基本概念
2. 投影
So how do we represent this as a matrix equation?
We need to introduce homogeneous coordinates(齐次坐标).
2.1 透视投影
2.2 世界->摄像机坐标变换
2.3 计算旋转矩阵简单方法
2.4 摄像机外部参数(R,T)
2.5 摄像机内部参数
仿射变换=线性变换+平移
“affine” transformation: it is a type of 2D to 2D mapping defined by 6 parameters.
2.6 投影总结