相机标定之单应性矩阵求取

//imgx 图像坐标点
//xw  世界坐标点
void getHomoMatrix(vector<float> &imgx,vector<float> &imgy,vector<float> &xw,vector<float>&yw){

	Mat hom;
	Mat m(2*imgx.size(), 9, CV_32F);

	for (int i = 0; i < imgx.size()*2; i += 2) {

		float *pre=m.ptr<float>(i);
		float *rear = m.ptr<float>(i + 1);
		pre[0] = xw[i/2];
		pre[1] = yw[i / 2];
		pre[2] = 1.0f;
		pre[3] = 0;
		pre[4] = 0;
		pre[5] = 0;
		pre[6] = -imgx[i / 2]*xw[i / 2];
		pre[7] = -imgx[i / 2]*yw[i / 2];
		pre[8] = -imgx[i / 2];
	
		rear[0] = 0;
		rear[1] = 0;
		rear[2] = 0;
		rear[3] = xw[i / 2];
		rear[4] = yw[i / 2];
		rear[5] = 1.0f;
		rear[6] = -imgy[i / 2]*xw[i / 2];
		rear[7] = -imgy[i / 2]*yw[i / 2];
		rear[8] = -imgy[i / 2];
	}
	//转换成最小二乘法的形式
	Mat m2=m.t()*m;
	
	Mat ev, evector;
	eigen(m2,ev,evector);
	//获取最小特征值所对应的特征向量 
	float *homoMatrix = evector.ptr<float>(8);
	
	for (int i = 0; i < ix.size(); i++) {

	 float pc=xw[i] * homoMatrix[0]+yw[i]*homoMatrix[1]+homoMatrix[2];
	 float pc2= xw[i] * homoMatrix[3] + yw[i] * homoMatrix[4]  + homoMatrix[5];
	 float pc3= xw[i] * homoMatrix[6] + yw[i] * homoMatrix[7]  + homoMatrix[8];

	 float xx = pc / pc3;
	 float yy = pc2 / pc3;
	 cout << xx <<""<< yy << ":" << ix[i] << " "<<iy[i]<<endl;
	}



}

原理参考链接:四点求取单应性矩阵