一、单应矩阵的引出
根据《16个相机参数》的推导,
z c [ u v 1 ] = K ⋅ [ R T 0 1 ] [ x w y w z w 1 ] = K ⋅ [ r 1 r 2 r 3 T ] [ x w y w z w 1 ] z_c\begin{bmatrix}u\\ v\\ 1\end{bmatrix}=K·\begin{bmatrix} R&T \\0&1\end{bmatrix} \begin{bmatrix}x_w\\y_w\\z_w\\1\end{bmatrix}=K·\begin{bmatrix}r_1&r_2&r_3&T \end{bmatrix}\begin{bmatrix}x_w\\y_w\\z_w\\1\end{bmatrix} zc⎣⎡uv1⎦⎤=K⋅[R0T1]⎣⎢⎢⎡xwywzw1⎦⎥⎥⎤=K⋅[r1r2r3T]⎣⎢⎢⎡xwy