【OpenCV】 DLT 演算法 (Direct linear transformation)
阿新 • • 發佈:2018-12-11
Intro
from wikipedia:
Direct linear transformation (DLT) is an algorithm which solves a set of variables from a set of similarity relations:
where and are known vectors, denotes equality up to an unknown scalar multiplication, and is a matrix(or linear transformation) which contains the unknown to be solved.
This type of relation appears frequently in projective geometry
. Practical examples include the relation between 3D points in a scene and their projection onto the image plane of a pinhole camera, and homographies.
DLT 主要用來解決兩組相似分佈的變數的對應關係, 一般求解的是比例關係, 確定了係數還可以變為等式關係. 係數矩陣 就是要求解的變數. 這個常用在投影幾何
中, 比如 3D 物點和 2D像點之間的對應關係, 或者 Homographies.
求解的就是這個 linear transformation
, 特點就是直接求, 不繞彎子, directly.