注:以下内容为以计算机视觉一些公式为例叙述Latex公式的书写规范,全部公式来自于吴福朝编著的《计算机视觉中的数学方法》一书,仅作练习用,请勿转载。如有侵权,请告知删除。
a
x
t
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b
y
t
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c
t
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0
axt+byt+ct=0
axt+byt+ct=0
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y
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t
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T
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l
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b
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T
\mathbf{p}=(xt,yt,t)^T,\mathbf{l}=(a,b,c)^T
p=(xt,yt,t)T,l=(a,b,c)T
l
T
p
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0
\mathbf{l}^T\mathbf{p}=0
lTp=0
$axt+byt+ct=0$
$\mathbf{p}=(xt,yt,t)^T,\mathbf{l}=(a,b,c)^T$
$\mathbf{l}^T\mathbf{p}=0$
p
∞
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x
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y
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0
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\mathbf{p}_{\infty}=(x,y,0)
p∞=(x,y,0)
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0
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0
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1
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\mathbf{l}_{\infty}=(0,0,1)
l∞=(0,0,1)
$\mathbf{p}_{\infty}=(x,y,0)$
$\mathbf{l}_{\infty}=(0,0,1)$
[ x ] × = ( 0 − t y t 0 − x − y x 0 ) [\mathbf{x}]_{\times}=\left(\begin{matrix}0&-t&y\\ t&0&-x\\ -y&x&0\end{matrix}\right) [x]×=⎝⎛0t−y−t0xy−x0⎠⎞
r
a
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k
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[
x
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×
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=
2
rank([\mathbf{x}]_{\times})=2
rank([x]×)=2
x
1
×
x
2
=
[
x
1
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×
x
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\mathbf{x}_1\times\mathbf{x}_2=[\mathbf{x}_1]_{\times}\mathbf{x}_2
x1×x2=[x1]×x2
[
x
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×
x
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0
=
x
T
[
x
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×
[\mathbf{x}]_{\times}\mathbf{x}=0=\mathbf{x}^T[\mathbf{x}]_{\times}
[x]×x=0=xT[x]×
y
T
[
x
]
×
y
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0
\mathbf{y}^T[\mathbf{x}]_{\times}\mathbf{y}=0
yT[x]×y=0
$[\mathbf{x}]_{\times}=\left(\begin{matrix}0&-t&y\\
t&0&-x\\
-y&x&0\end{matrix}\right)$
$rank([\mathbf{x}]_{\times})=2$
$\mathbf{x}_1\times\mathbf{x}_2=[\mathbf{x}_1]_{\times}\mathbf{x}_2$
$[\mathbf{x}]_{\times}\mathbf{x}=0=\mathbf{x}^T[\mathbf{x}]_{\times}$
$\mathbf{y}^T[\mathbf{x}]_{\times}\mathbf{y}=0$
l
=
p
1
×
p
2
⟺
\mathbf{l}=\mathbf{p}_1\times\mathbf{p}_2\;\;\iff\;\;
l=p1×p2⟺ 线过点
p
2
T
[
p
1
]
×
p
3
⟺
\mathbf{p}_2^T[\mathbf{p}_1]_{\times}\mathbf{p}_3\;\;\iff\;\;
p2T[p1]×p3⟺ 三点共线
$\mathbf{l}=\mathbf{p}_1\times\mathbf{p}_2\;\;\iff\;\;$ 线过点
$\mathbf{p}_2^T[\mathbf{p}_1]_{\times}\mathbf{p}_3\;\;\iff\;\;$ 三点共线
( p 1 , p 2 ; p 3 , p 4 ) = d e t ( p ^ 1 , p ^ 3 ) d e t ( p ^ 2 , p ^ 3 ) : d e t ( p ^ 1 , p ^ 4 ) d e t ( p ^ 2 , p ^ 4 ) (\mathbf{p}_1,\mathbf{p}_2;\mathbf{p}_3,\mathbf{p}_4)=\frac{det(\mathbf{\hat{p}}_1,\mathbf{\hat{p}}_3)}{det(\mathbf{\hat{p}}_2,\mathbf{\hat{p}}_3)}:\frac{det(\mathbf{\hat{p}}_1,\mathbf{\hat{p}}_4)}{det(\mathbf{\hat{p}}_2,\mathbf{\hat{p}}_4)} (p1,p2;p3,p4)=det(p^2,p^3)det(p^1,p^3):det(p^2,p^4)det(p^1,p^4)
p
3
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p
1
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λ
1
p
2
\mathbf{p}_3=\mathbf{p}_1+\lambda_1\mathbf{p}_2
p3=p1+λ1p2
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4
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1
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λ
2
p
2
\mathbf{p}_4=\mathbf{p}_1+\lambda_2\mathbf{p}_2
p4=p1+λ2p2
= λ 1 λ 2 =\frac{\lambda_1}{\lambda_2} =λ2λ1
$(\mathbf{p}_1,\mathbf{p}_2;\mathbf{p}_3,\mathbf{p}_4)=\frac{det(\mathbf{\hat{p}}_1,\mathbf{\hat{p}}_3)}{det(\mathbf{\hat{p}}_2,\mathbf{\hat{p}}_3)}:\frac{det(\mathbf{\hat{p}}_1,\mathbf{\hat{p}}_4)}{det(\mathbf{\hat{p}}_2,\mathbf{\hat{p}}_4)}$
$\mathbf{p}_3=\mathbf{p}_1+\lambda_1\mathbf{p}_2$
$\mathbf{p}_4=\mathbf{p}_1+\lambda_2\mathbf{p}_2$
$=\frac{\lambda_1}{\lambda_2}$
= − 1 ⟺ =-1\;\;\iff\;\; =−1⟺ 调和共轭
$=-1\;\;\iff\;\;$ 调和共轭
( l 1 , l 2 ; l 3 , l 4 ) = k 1 − k 3 k 2 − k 3 : k 1 − k 4 k 2 − k 4 (\mathbf{l}_1,\mathbf{l}_2;\mathbf{l}_3,\mathbf{l}_4)=\frac{k_1-k_3}{k2-k_3}:\frac{k_1-k_4}{k_2-k_4} (l1,l2;l3,l4)=k2−k3k1−k3:k2−k4k1−k4
$(\mathbf{l}_1,\mathbf{l}_2;\mathbf{l}_3,\mathbf{l}_4)=\frac{k_1-k_3}{k2-k_3}:\frac{k_1-k_4}{k_2-k_4}$
(
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l
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(\mathbf{l}_1,\mathbf{l}_2;\mathbf{l}_3,\mathbf{l}_4)=(\mathbf{p}_1,\mathbf{p}_2;\mathbf{p}_3,\mathbf{p}_4)
(l1,l2;l3,l4)=(p1,p2;p3,p4)
四共点直线被另一直线截于点
p
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p
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\mathbf{p}_1,\mathbf{p}_2,\mathbf{p}_3,\mathbf{p}_4
p1,p2,p3,p4
$(\mathbf{l}_1,\mathbf{l}_2;\mathbf{l}_3,\mathbf{l}_4)=(\mathbf{p}_1,\mathbf{p}_2;\mathbf{p}_3,\mathbf{p}_4)$
四共点直线被另一直线截于点$\mathbf{p}_1,\mathbf{p}_2,\mathbf{p}_3,\mathbf{p}_4$