沙姆模型推导过程

沙姆模型推导过程

点P在世界坐标系下的坐标为
$$P_{世界}=\left[\begin{array}{l}X\\ Y\\ Z\end{array}\right]$$

利用旋转矩阵R、平移向量T构成的外参数，将P{世界}映射到小孔相机坐标系下，点P在小孔相机坐标系下的坐标为
$$P_{小孔}=\left[\begin{array}{l}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right]=R(\left[\begin{array}{l}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right]-T)$$
点P和点Ps在同一条直线上，由透视变换，点Ps可表示为：
$$P_{s_{小孔}}=\lambda P_{小孔}=\lambda \left[\begin{array}{l}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right]$$

引入沙姆旋转角度${\tau }_x$和${\tau }_y$，使得垂直平面旋转为倾斜平面，旋转矩阵为$R_{\tau }$，

$$\begin{array}{rl}{R}_{\tau }& =\left[\begin{array}{ccc}\cos \left({\tau }_y\right)& 0& \sin \left({\tau }_y\right)\\ 0& 1& 0\\ -\sin \left({\tau }_y\right)& 0& \cos \left({\tau }_y\right)\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\tau }_x\right)& -\sin \left({\tau }_x\right)\\ 0& \sin \left({\tau }_x\right)& \cos \left({\tau }_x\right)\end{array}\right]\\ & =\left[\begin{array}{ccc}\cos \left({\tau }_y\right)& \sin \left({\tau }_x\right)\sin \left({\tau }_y\right)& \cos \left({\tau }_x\right)\sin \left({\tau }_y\right)\\ 0& \cos \left({\tau }_x\right)& -\sin \left({\tau }_x\right)\\ -\sin \left({\tau }_y\right)& \sin \left({\tau }_x\right)\cos \left({\tau }_y\right)& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)\end{array}\right]\end{array}$$

垂直平面的法向量为$\vec{n}=(0,0,1)$，将法向量进行旋转，得到倾斜平面的法向量${\vec{n}}_s=R_{\tau }\vec{n}$，

$$\begin{array}{rl}{\vec{n}}_s=R_{\tau }\vec{n}& =\left[\begin{array}{ccc}\cos \left({\tau }_y\right)& \sin \left({\tau }_x\right)\sin \left({\tau }_y\right)& \cos \left({\tau }_x\right)\sin \left({\tau }_y\right)\\ 0& \cos \left({\tau }_x\right)& -\sin \left({\tau }_x\right)\\ -\sin \left({\tau }_y\right)& \sin \left({\tau }_x\right)\cos \left({\tau }_y\right)& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)\end{array}\right]\left[\begin{array}{l}0\\ 0\\ 1\end{array}\right]\\ & =\left[\begin{array}{c}\cos \left({\tau }_{xx}\right)\sin \left({\tau }_y\right)\\ -\sin \left({\tau }_x\right)\\ \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)\end{array}\right]\end{array}$$

则倾斜平面上的向量$\overrightarrow{o_c{P}_s}$点乘法向量${\vec{n}}_s$为零，如下所示：

$$\overrightarrow{o_c{P}_s}\cdot {\vec{n}}_s=0\iff \left[\begin{array}{c}\lambda X^{\prime }\\ \lambda Y^{\prime }\\ \lambda Z^{\prime }-1\end{array}\right]\cdot \left[\begin{array}{c}\cos {\tau }_x\sin {\tau }_y\\ -\sin {\tau }_x\\ \cos {\tau }_x\cos {\tau }_y\end{array}\right]=0$$

可求得$\lambda$，
$$\lambda =\frac{\cos {\tau }_x\sin {\tau }_y}{X^{\prime }\cos {\tau }_x\sin {\tau }_y-Y^{\prime }\sin {\tau }_y+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}$$
将$\lambda$代入，可得$P_{s_{小孔}}$
$$P_{s_{小孔}}=\frac{\cos {\tau }_x\sin {\tau }_y}{X^{\prime }\cos {\tau }_x\sin {\tau }_y-Y^{\prime }\sin {\tau }_y+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}\cdot \left[\begin{array}{l}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right]$$

旋转坐标系，将小孔相机坐标系转到沙姆相机坐标系，则$P_{s_{沙姆}}=R_{\tau }^t{P}_{s_{小孔}}$
注意：由于旋转矩阵$R_{\tau }$是倾斜平面到垂直平面的旋转矩阵，所以旋转坐标系时，应左乘$R_{\tau }$的逆。
具体原因可参考： https://blog.csdn.net/Lee_Mon_Tree/article/details/136880423?spm=1001.2014.3001.5502
$$P_{s_{沙姆}}=R_{\tau }^t{P}_{s_{小孔}}=\left[\begin{array}{ccc}\cos \left({\tau }_y\right)& 0& -\sin \left({\tau }_y\right)\\ \sin \left({\tau }_x\right)\sin \left({\tau }_y\right)& \cos \left({\tau }_x\right)& \sin \left({\tau }_x\right)\cos \left({\tau }_y\right)\\ \cos \left({\tau }_x\right)\sin \left({\tau }_y\right)& -\sin \left({\tau }_x\right)& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)\end{array}\right]\left[\begin{array}{c}\lambda X^{\prime }\\ \lambda Y^{\prime }\\ \lambda Z^{\prime }\end{array}\right]$$

$$=\left[\begin{array}{c}\frac{\cos {\tau }_x\cos {\tau }_y\left(X^{\prime }\cos {\tau }_y-Z^{\prime }\sin {\tau }_y\right)}{X^{\prime }\sin {\tau }_y\cos {\tau }_x-Y^{\prime }\sin {\tau }_x+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}+\sin {\tau }_y\\ \frac{\cos {\tau }_x\cos {\tau }_y\left(X^{\prime }\sin {\tau }_x\sin {\tau }_y+Y^{\prime }\cos {\tau }_x+Z^{\prime }\sin {\tau }_x\cos {\tau }_y\right)}{X^{\prime }\sin {\tau }_y\cos {\tau }_x-Y^{\prime }\sin {\tau }_x+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}-\sin {\tau }_x\cos {\tau }_y\\ 1\end{array}\right]$$

$$=\left[\begin{array}{ccc}\cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& 0& \sin \left({\tau }_y\right)\\ 0& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& -\sin \left({\tau }_x\right)\cos \left({\tau }_y\right)\\ 0& 0& 1\end{array}\right]{\mathbf{R}}_{\tau }^t\left[\begin{array}{c}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right]$$

此时求出来的$P_{s_{沙姆}}$的坐标是在沙姆相机坐标系下的坐标
$$\begin{gathered} P_{s_{沙姆}}=\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=\left[\begin{array}{c}\frac{\cos {\tau }_x\cos {\tau }_y\left(X^{\prime }\cos {\tau }_y-Z^{\prime }\sin {\tau }_y\right)}{X^{\prime }\sin {\tau }_y\cos {\tau }_x-Y^{\prime }\sin {\tau }_x+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}+\sin {\tau }_y\\ \frac{\cos {\tau }_x\cos {\tau }_y\left(X^{\prime }\sin {\tau }_x\sin {\tau }_y+Y^{\prime }\cos {\tau }_x+Z^{\prime }\sin {\tau }_x\cos {\tau }_y\right)}{X^{\prime }\sin {\tau }_y\cos {\tau }_x-Y^{\prime }\sin {\tau }_x+Z^{\prime }\cos {\tau }_x\cos {\tau }_y}-\sin {\tau }_x\cos {\tau }_y\\ 1\end{array}\right] \\ =\left[\begin{array}{ccc}\cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& 0& \sin \left({\tau }_y\right)\\ 0& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& -\sin \left({\tau }_x\right)\cos \left({\tau }_y\right)\\ 0& 0& 1\end{array}\right]{\mathbf{R}}_{\tau }^t\left[\begin{array}{c}{X}^{\prime }\\ Y^{\prime }\\ Z^{\prime }\end{array}\right] \end{gathered}$$
上述求得点$P_{s_{沙姆}}$在沙姆相机坐标系下的坐标（z=1），该坐标乘上内参矩阵，得到像素坐标系下的坐标：

$$\begin{array}{r}{P}_{s_{u,v}}=\left[\begin{array}{l}u\\ v\\ 1\end{array}\right]=K\left[\begin{array}{ccc}\cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& 0& \sin \left({\tau }_y\right)\\ 0& \cos \left({\tau }_x\right)\cos \left({\tau }_y\right)& -\sin \left({\tau }_x\right)\cos \left({\tau }_y\right)\\ 0& 0& 1\end{array}\right]{\mathbf{R}}_{\tau }^t\mathbf{R}\left(\left[\begin{array}{l}X\\ Y\\ Z\end{array}\right]-\mathbf{T}\right)\end{array}$$

符号说明：
（1）OwXwYwZw：世界坐标系
（2）OcXcYcZc：小孔相机坐标系（镜头平面与成像平面垂直）
（3）OsXsYsZs：沙姆相机坐标系（镜头平面与成像平面倾斜）
（4）点P：世界坐标系中的一个目标点
（5）点Pc：直线OP与垂直像平面的交点
（6）点Ps：直线OP与倾斜像平面的交点
（7）旋转矩阵Rτ：垂直像平面到倾斜像平面的旋转