单应性变换、仿射变换、透视变换，RANSC，opencv

参考：https://blog.csdn.net/qq_29462849/article/details/80728757
参考：https://blog.csdn.net/mogebuyi/article/details/83036369
参考：https://docs.opencv.org/4.5.2/d9/d0c/group__calib3d.html#ga59b0d57f46f8677fb5904294a23d404a

一、 仿射变换与透视变换

1、透视变换（单应性变换 Homography）：

$$\left[\begin{array}{c}X\\ Y\\ W\end{array}\right]=\left[\begin{array}{ccc}m11& m12& m13\\ m21& m22& m23\\ m31& m32& m33\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$$

• 长方形映射为一般四边形

2、仿射变换：

$$\left[\begin{array}{c}X\\ Y\\ W\end{array}\right]=\left[\begin{array}{ccc}m11& m12& m13\\ m21& m22& m23\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$$

$$\left[\begin{array}{c}X\\ Y\end{array}\right]=\left[\begin{array}{ccc}{A}_{11}& A_{12}& b_1\\ A_{21}& A_{22}& b_2\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$$

• 长方形映射为平行四边形

3、平移：

$$\left[\begin{array}{c}X\\ Y\\ W\end{array}\right]=\left[\begin{array}{ccc}1& 0& m13\\ 0& 1& m23\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$$

• 长方形映射为长方形

二、使用RANSAC图像配准

1、透视变换

Mat cv::findHomography	(	InputArray 	srcPoints,
														InputArray 	dstPoints,
														OutputArray 	mask,
														int 	method = 0,
														double 	ransacReprojThreshold = 3 )	

# 例子
cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0)

dst = cv2.perspectiveTransform(pts, M)

2、仿射变换

cv::Mat cv::estimateAffine2D	(InputArray 	from,
																InputArray 	to,
																OutputArray 	inliers = noArray(),
																int 	method = RANSAC,
																double 	ransacReprojThreshold = 3,
																size_t 	maxIters = 2000,
																double 	confidence = 0.99,
																size_t 	refineIters = 10 )		

$$\left[\begin{array}{c}x\\ y\end{array}\right]=\left[\begin{array}{cc}{a}_{11}& a_{12}\\ a_{21}& a_{22}\end{array}\right]\left[\begin{array}{c}X\\ Y\end{array}\right]+\left[\begin{array}{c}{b}_1\\ b_2\end{array}\right]$$