络病理论【OpenCV 】DLT 算法（Directlineartransformation ）
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OpenCV 计算外参的函数 , ⽤到了 DLT ⽅法来计算初始的外参参数. Intro
from wikipedia:
蛋白酶抑制剂Direct linear transformation (DLT) is an algorithm which solves a set of variables from a set of similarity relations:船长教学设计
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 主要⽤来解决两组相似分布的变量的对应关系, ⼀般求解的是⽐例关系, 确定了系数还可以变为等式关系. 系数矩阵 就是要求解的变量. 这个常⽤在投影⼏何中, ⽐如 3D 物点和 2D像点之间的对应关系, 或 丙烯酸正丁酯者 Homographies.求解的就是这个 linear transformation , 特点就是直接求, 不绕弯⼦, directly.Ref : 超级详细, 超级完善: 这个博客说了为什么实际使⽤中 DLT 之前要先进⾏ 归⼀化
: 这篇博客讲解了在实际 3D 重建中使⽤ DLT 的场景x ∝k Ay for k =k 1,...,N几何画板实验报告
x k y k ∝A A
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