详解DLT直接线性变换算法及代码示例
详解DLT直接线性变换算法及代码示例-CSDN博客
import numpy as np
def dlt(points_3d, points_2d):
# 将输入数据转换为齐次坐标形式
points_3d_hom = np.hstack((points_3d, np.ones((points_3d.shape[0], 1))))
points_2d_hom = np.hstack((points_2d, np.ones((points_2d.shape[0], 1))))
# 构建线性方程组
A = []
for i in range(points_3d_hom.shape[0]):
X, x = points_3d_hom[i], points_2d_hom[i]
A.append([
-X[0], -X[1], -X[2], -1, 0, 0, 0, 0, x[0]*X[0], x[0]*X[1], x[0]*X[2], x[0]
])
A.append([
0, 0, 0, 0, -X[0], -X[1], -X[2], -1, x[1]*X[0], x[1]*X[1], x[1]*X[2], x[1]
])
A = np.array(A)
# 使用奇异值分解(SVD)求解线性方程组
_, _, V = np.linalg.svd(A)
P = V[-1].reshape(3, 4)
return P
# 示例数据
points_3d = np.array([
[0, 0, 0],
[1, 0, 0],
[0, 1, 0],
[1, 1, 0],
[0, 0, 1],
[1, 0, 1],
[0, 1, 1],
[1, 1, 1]
])
points_2d = np.array([
[10, 20],
[20, 20],
[10, 30],
[20, 30],
[15, 15],
[25, 15],
[15, 25],
[25, 25]
])
# 使用DLT算法估计相机投影矩阵
P = dlt(points_3d, points_2d)
print("Estimated Projection Matrix:")
print(P)