[VP] 投影空间坐标和线的齐次变换

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一、基本原理公式

1、齐次点在线上，当且仅当： $$x^{T}l=l^{T}x=0$$

2、齐次点和线在应用了变换矩阵H后，新的点 $x_{new}$ 依然在新的线 $l_{new}$ 上：

$$l_{new}=H^{-T}{l}_{old}$$

$$x_{new}=H{x}_{old}$$

$$x_{new}^T{l}_{new}=l_{new}^T{x}_{new}=0$$

二、代码实现

1、证明共线点 $x_1,x_2,x_3$ 在线 $l$ 上

三个共线点：
$$x_3=\left[\begin{array}{c}1\\ 3\\ 1\end{array}\right],x_2=\left[\begin{array}{c}2\\ \frac{56}{11}\\ 1\end{array}\right],x_3=\left[\begin{array}{c}3\\ \frac{79}{11}\\ 1\end{array}\right]$$

在线上 $$2.3x-1.1y+1=0$$

x = sympy.Symbol('x')
y = sympy.Symbol('y')

I = sympy.Matrix([[2.3], [-1.1], [1]])
x = sympy.Matrix([[x], [y], [1]])

I.T*x

得线 $[2.3x-1.1y+1]$

I = np.array(I)

p = np.array([[1], [3], [1]])
q = np.array([[2], [56/11], [1]])
r = np.array([[3], [79/11], [1]])

由此得：
$$x_1:2.3\times 1-1.1\times 3+1=0$$

$$x_2:2.3\times 2-1.1\times \frac{56}{11}+1=0$$

$$x_3:2.3\times 3-1.1\times \frac{79}{11}+1=0$$

ax = plt.figure().add_subplot(projection='3d')

linex = np.linspace(-5, 5, 100)
liney = (2.3*linex+1)/1.1
ax.plot(linex, liney, zs=0, zdir='z', label='line=[2.3,-1.1,1]')

xpoints = np.array([1, 2, 3])
ypoints = np.array([3, 56/11, 79/11])
#zpoints = np.array([1, 1, 1])
ax.scatter(xpoints, ypoints, zs=0, zdir='z', c=['r', 'g', 'b'], label='points')

ax.legend()
ax.set_xlim(-5, 5)
ax.set_ylim(-5, 5)
ax.set_zlim(-3, 3)
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')

plt.show()

2、证明$x_{new}$ 在线 $l_{new}$ 上

假设变换矩阵H为：

$$H=\left[\begin{array}{ccc}0.02& 0.35& 0.02\\ 0.05& 0.16& 0.22\\ 0.41& 0.48& 0.19\end{array}\right]$$

计算
$$l_{new}=H^{-T}{l}_{old}$$

和

$$x_{new}=H{x}_{old}$$

lold = np.array([[2.3], [-1.1], [1]])
xold = np.array([[1, 2, 3], [3, 56/11, 79/11], [1, 1, 1]])

H = np.array([[0.02, 0.35, 0.02], [0.05, 0.16, 0.22], [0.41, 0.48, 0.19]])

lnew = np.matmul(np.linalg.inv(H).T, lold)
lnew = lnew / lnew[2]
xnew = np.matmul(H, xold)
xnew = xnew / xnew[2]

print('New line: \n', lnew, '\n\n New Points: \n', xnew)

得：

ax = plt.figure().add_subplot(projection='3d')

linex = np.linspace(0, 1, 100)
liney = (-lnew[0]*linex-lnew[2])/lnew[1]
ax.plot(linex, liney, zs=0, zdir='z', label='New line')

xpoints = np.array([xnew[0][0], xnew[0][1], xnew[0][2]])
ypoints = np.array([xnew[1][0], xnew[1][1], xnew[1][2]])
ax.scatter(xpoints, ypoints, zs=0, zdir='z', c=['r', 'g', 'y'], label='points')

ax.legend()
ax.set_xlim(0.5, 0.6)
ax.set_ylim(0.25, 0.35)
ax.set_zlim(0, 1)
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')

plt.show()