单应性矩阵和仿射变换_Homography｜单应性

几何变换类型

保距变换 isometry

相似变换 similarity

仿射变换 affine

射影变换 projective -> homography

What is Homography?

A Homography is a transformation ( a 3×3 matrix ) that maps the points in one image to the corresponding points in the other image.

单应性矩阵

homography只针对同一平面

How to calculate a Homography ?

摄影变换的自由度为8，一对点能产生两个方程，共需要4对对应点，即可求取H矩阵；如超过4对，通过最小二乘法或RANSAC求取最优参数

理论推导

假设一对对应点

和

有

，其中

当有n对点时，

，对A进行SVD分解，即

，取

的最后一列求解h，再转换成

矩阵即得到

[U,S,V]=svd(A);

h=V(:,9);

H= reshape(h,3,3);

工程实践

If you have more than 4 corresponding points, it is even better. OpenCV will robustly estimate a homography that best fits all corresponding points.

Usually, these point correspondences are found automatically by matching features like SIFT or SURF between the images.

'''

pts_src and pts_dst are numpy arrays of points

in source and destination images. We need at least

4 corresponding points.

'''

h, status = cv2.findHomography(pts_src, pts_dst)

'''

The calculated homography can be used to warp

the source image to destination. Size is the

size (width,height) of im_dst

'''

im_dst = cv2.warpPerspective(im_src, h, size)

Application

图像矫正

图像扫描

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Reference