相机与世界(一)
齐次坐标系引入齐次坐标可以让级联的仿射变换变成矩阵连乘。n+1维齐次坐标是对n维奇卡尔坐标的扩展。[xy]=[xy1]=[2x2y2]=[wxwyw]\begin{bmatrix}x\\y\end{bmatrix}=\begin{bmatrix}x\\y\\1\end{bmatrix}=\begin{bmatrix}2x\\2y\\2\end{bmatrix}=\begin...
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