{"id":106691,"date":"2026-09-18T01:32:28","date_gmt":"2026-09-17T17:32:28","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/106691.html"},"modified":"2026-09-18T01:32:28","modified_gmt":"2026-09-17T17:32:28","slug":"openvins-%e6%ba%90%e7%a0%81%e8%a7%a3%e8%af%bb-%e7%ac%ac-06-%e7%af%87-%c2%b7-%e7%9b%b8%e6%9c%ba%e6%a8%a1%e5%9e%8b%e4%b8%8e%e5%8e%bb%e7%95%b8%e5%8f%98","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/106691.html","title":{"rendered":"OPENVINS-\u6e90\u7801\u89e3\u8bfb -- \u7b2c 06 \u7bc7 \u00b7 \u76f8\u673a\u6a21\u578b\u4e0e\u53bb\u7578\u53d8"},"content":{"rendered":"

\u00b7 \u672c\u7bc7\u4f60\u5c06\u5b66\u5230<\/h3>\n
  • \u9488\u5b54\u6295\u5f71 = \u76f8\u4f3c\u4e09\u89d2\u5f62 + \u50cf\u7d20\u5316\u4e24\u6b65\uff1az=Kzn\\\\mathbf z=\\\\mathbf K\\\\mathbf z_n<\/span><\/span>z<\/span><\/span>=<\/span><\/span><\/span><\/span>K<\/span>z<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u5176\u4e2d fx,fyf_x,f_y<\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>f<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u662f\u4ee5\u50cf\u7d20\u4e3a\u5355\u4f4d\u7684\u7126\u8ddd\u3001cx,cyc_x,c_y<\/span><\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>c<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u662f\u4e3b\u70b9\uff08\u5149\u8f74\u843d\u70b9\uff09\uff1b<\/li>\n
  • OpenVINS \u524d\u7aef\u540c\u65f6\u5b58\u4e24\u4e2a\u6d4b\u91cf\u57df\uff1a\u50cf\u7d20 uvs \u4e0e\u5f52\u4e00\u5316 uvs_norm\u2014\u2014\u4e09\u89d2\u5316\/\u521d\u59cb\u5316\u7528\u5f52\u4e00\u5316\u57df\uff08\u7b2c 13 \u7bc7\uff09\uff0cEKF \u66f4\u65b0\u6b8b\u5dee\u5728\u50cf\u7d20\u57df\uff08\u7b2c 14 \u7bc7\uff09\uff0c\u672c\u7bc7\u8bb2\u900f\u300c\u4e3a\u4ec0\u4e48\u5404\u5728\u5404\u7684\u57df\u300d\uff1b<\/li>\n
  • CamRadtan\uff1a\u5f84\u5411\u7578\u53d8\uff08\u900f\u955c\u7403\u9762\u50cf\u5dee\uff09+ \u5207\u5411\u7578\u53d8\uff08\u88c5\u914d\u504f\u5fc3\uff09\uff0cBrown\u2013Conrady \u591a\u9879\u5f0f\uff0c\u53bb\u7578\u53d8\u9760 OpenCV \u8fed\u4ee3\u53cd\u89e3\uff08\u65e0\u89e3\u6790\u9006\uff09\uff1b<\/li>\n
  • CamEqui\uff1aKannala-Brandt \u7b49\u8ddd\u6a21\u578b \u03b8d=\u03b8(1+k1\u03b82+\u22ef+k4\u03b88)\\\\theta_d=\\\\theta(1+k_1\\\\theta^2+\\\\cdots+k_4\\\\theta^8)<\/span><\/span>\u03b8<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>\u03b8<\/span>(<\/span>1<\/span><\/span>+<\/span><\/span><\/span><\/span>k<\/span><\/span>1<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03b8<\/span><\/span>2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>\u22ef<\/span><\/span>+<\/span><\/span><\/span><\/span>k<\/span><\/span>4<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03b8<\/span><\/span>8<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span>\uff0c\u9c7c\u773c\u5927\u89c6\u573a\u4e13\u7528\uff1b\u5b83\u4e0e\u5355\u4f4d\u7403 bearing \u662f\u300c\u540c\u4e00\u7ec4\u5c04\u7ebf\u7684\u4e24\u79cd\u53c2\u6570\u5316\u300d\uff1b<\/li>\n
  • compute_distort_jacobian \u7ed9\u51fa \u2202hd\/\u2202zn\\\\partial\\\\mathbf h_d\/\\\\partial\\\\mathbf z_n<\/span><\/span>\u2202<\/span>h<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\/<\/span>\u2202<\/span>z<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e0e \u2202hd\/\u2202\u03b6\\\\partial\\\\mathbf h_d\/\\\\partial\\\\boldsymbol\\\\zeta<\/span><\/span>\u2202<\/span>h<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\/<\/span>\u2202<\/span>\u03b6<\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u4e32\u8d77\u7b2c 14 \u7bc7\u91cd\u6295\u5f71\u96c5\u53ef\u6bd4\u4e0e\u7b2c 18 \u7bc7\u5728\u7ebf\u5185\u53c2\u6807\u5b9a\u3002<\/li>\n
    \n

    \u4e00\u3001\u9488\u5b54\u6295\u5f71\uff1a\u4ece\u76f8\u4f3c\u4e09\u89d2\u5f62\u5230\u5185\u53c2\u77e9\u9635<\/h3>\n

    \u5148\u7edf\u4e00\u4e09\u4e2a\u672f\u8bed\uff08\u8d2f\u7a7f\u5168\u7cfb\u5217\uff09\uff1a<\/p>\n

    \u9488\u5b54\u6a21\u578b\uff08pinhole model\uff09\uff1a\u628a\u76f8\u673a\u62bd\u8c61\u6210\u300c\u8fc7\u5149\u5fc3\u7684\u76f4\u7ebf\u6295\u5f71\u300d\u2014\u20143D \u70b9\u6cbf\u5176\u4e0e\u5149\u5fc3\u7684\u8fde\u7ebf\u843d\u5728\u50cf\u5e73\u9762\u4e0a\uff0c\u5ffd\u7565\u900f\u955c\u805a\u7126\u7b49\u5168\u90e8\u7269\u7406\u7ec6\u8282\u3002OpenVINS \u6240\u6709\u76f8\u673a\u6a21\u578b\u90fd\u4ee5\u5b83\u4e3a\u9aa8\u67b6\uff08\u6e90\u7801\u6ce8\u91ca\u539f\u6587\uff1aAll these models are pinhole cameras\uff0cCamBase.h:33-37\uff09\u3002<\/p>\n

    \u5185\u53c2\uff08intrinsics\uff09\uff1a\u76f8\u673a\u81ea\u8eab\u7684\u51e0\u4f55\u53c2\u6570\uff08\u7126\u8ddd\u3001\u4e3b\u70b9\u3001\u7578\u53d8\u7cfb\u6570\uff09\uff0c\u4e0e\u76f8\u673a\u5728\u54ea\u3001\u671d\u54ea\u65e0\u5173\uff0c\u8bb0 \u03b6\\\\boldsymbol\\\\zeta<\/span><\/span>\u03b6<\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

    \u5916\u53c2\uff08extrinsics\uff09\uff1a\u76f8\u673a\u4e0e\u522b\u7684\u5750\u6807\u7cfb\uff08IMU\/\u4e16\u754c\uff09\u4e4b\u95f4\u7684\u4f4d\u59ff\uff0cOpenVINS \u8bb0 ICR{}^C_I\\\\mathbf R<\/span><\/span><\/span><\/span>I<\/span><\/span><\/span><\/span>C<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>R<\/span><\/span><\/span><\/span><\/span>\u3001CpI{}^C\\\\mathbf p_I<\/span><\/span><\/span><\/span>C<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>p<\/span><\/span>I<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff08\u76f8\u673a-IMU \u5916\u53c2\uff0cIMU\u2192\u76f8\u673a\uff0c\u8be6\u89c1\u7b2c 1 \u7bc7\u7b26\u53f7\u7ea6\u5b9a\uff1b\u7b2c 11 \u7bc7\u8d77\u8fdb\u5165\u72b6\u6001\uff09\u3002<\/p>\n

    \u7b2c\u4e00\u6b65\uff1a\u76f8\u4f3c\u4e09\u89d2\u5f62\uff08\u7269\u7406\u4e8b\u5b9e\uff1a\u5149\u6cbf\u76f4\u7ebf\u4f20\u64ad\uff09\u3002 \u8bbe\u8def\u6807\u5728\u76f8\u673a\u7cfb\u4e0b\u5750\u6807 Cpf=[X,Y,Z]\u22a4{}^C\\\\mathbf p_f=[X,Y,Z]^\\\\top<\/span><\/span><\/span><\/span>C<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>p<\/span><\/span>f<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>[<\/span>X<\/span>,<\/span><\/span>Y<\/span>,<\/span><\/span>Z<\/span>]<\/span><\/span>\u22a4<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0cZZ<\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span> \u6cbf\u5149\u8f74\u3002\u5728\u5149\u5fc3\u524d\u65b9\u8ddd\u79bb ff<\/span><\/span>f<\/span><\/span><\/span><\/span><\/span>\uff08\u7126\u8ddd\uff0c\u7269\u7406\u5355\u4f4d mm\uff09\u5904\u653e\u4e00\u4e2a\u865a\u62df\u50cf\u5e73\u9762\uff08\u771f\u5b9e\u50cf\u9762\u6210\u5012\u50cf\uff0c\u628a\u5b83\u5bf9\u79f0\u7ffb\u5230\u524d\u65b9\uff0c\u7b26\u53f7\u5c31\u5168\u4e3a\u6b63\uff0c\u51e0\u4f55\u5b8c\u5168\u7b49\u4ef7\uff09\u3002\u8fc7\u5149\u5fc3\u7684\u6295\u5f71\u5c04\u7ebf\u4e0e\u8be5\u5e73\u9762\u7684\u4ea4\u70b9\uff0c\u6309\u6bd4\u4f8b f\/Zf\/Z<\/span><\/span>f<\/span>\/<\/span>Z<\/span><\/span><\/span><\/span><\/span> \u7f29\u653e\uff08\u76f8\u4f3c\u4e09\u89d2\u5f62\uff09\uff1a<\/p>\n

    x\u2032=fXZ,y\u2032=fYZ x\\’=f\\\\frac{X}{Z},\\\\qquad y\\’=f\\\\frac{Y}{Z} <\/span><\/span>x<\/span><\/span>\u2032<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span><\/span><\/span>X<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span>y<\/span><\/span>\u2032<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span><\/span><\/span>Y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u7b2c\u4e8c\u6b65\uff1a\u7269\u7406\u5750\u6807 \u2192 \u50cf\u7d20\u3002 \u50cf\u5e73\u9762\u5750\u6807\u7684\u5355\u4f4d\u662f mm\uff0c\u56fe\u50cf\u5b58\u50a8\u7684\u5355\u4f4d\u662f\u50cf\u7d20\uff0c\u4e8c\u8005\u5dee\u4e00\u4e2a\u6bd4\u4f8b\uff1b\u4e14\u50cf\u7d20 (0,0)(0,0)<\/span><\/span>(<\/span>0<\/span>,<\/span><\/span>0<\/span>)<\/span><\/span><\/span><\/span><\/span> \u5728\u56fe\u50cf\u89d2\u843d\u800c\u4e0d\u5728\u5149\u8f74\u843d\u70b9\u3002\u8bbe\u50cf\u7d20\u7269\u7406\u8fb9\u8ddd sx,sys_x,s_y<\/span><\/span>s<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>s<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff08mm\/px\uff09\uff0c\u5149\u8f74\u4e0e\u50cf\u5e73\u9762\u4ea4\u70b9\u2014\u2014\u4e3b\u70b9\uff08principal point\uff09\u2014\u2014\u4f4d\u4e8e\u50cf\u7d20 (cx,cy)(c_x,c_y)<\/span><\/span>(<\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>c<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span>\uff0c\u5219<\/p>\n

    u=fsx\u23dffxXZ+cx,v=fsy\u23dffyYZ+cy u=\\\\underbrace{\\\\frac{f}{s_x}}_{f_x}\\\\frac{X}{Z}+c_x,\\\\qquad v=\\\\underbrace{\\\\frac{f}{s_y}}_{f_y}\\\\frac{Y}{Z}+c_y <\/span><\/span>u<\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span><\/span><\/span><\/span><\/span><\/span>s<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>f<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span><\/span><\/span>X<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span>v<\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>f<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span><\/span><\/span><\/span><\/span><\/span>s<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>f<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span><\/span><\/span>Y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>c<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u76f4\u89c9\uff1afx=f\/sxf_x=f\/s_x<\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span>\/<\/span>s<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u662f\u4ee5\u50cf\u7d20\u4e3a\u5355\u4f4d\u7684\u7126\u8ddd\u2014\u2014\u5c0f\u89d2\u5ea6\u4e0b u\u2212cx\u2248fx\u03b8u-c_x\\\\approx f_x\\\\theta<\/span><\/span>u<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2248<\/span><\/span><\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03b8<\/span><\/span><\/span><\/span><\/span>\uff0c\u5373\u300c1 \u5f27\u5ea6\u5f20\u89d2 \u2248 fxf_x<\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e2a\u50cf\u7d20\u300d\uff1bcx,cyc_x,c_y<\/span><\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>c<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u53ea\u662f\u300c\u5149\u8f74\u843d\u5728\u56fe\u50cf\u7b2c\u51e0\u5217\/\u884c\u300d\u3002fxf_x<\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u5927 = \u540c\u4e00\u7269\u4f53\u5360\u66f4\u591a\u50cf\u7d20 = \u89c6\u91ce\u7a84\u3001\u653e\u5927\u500d\u7387\u9ad8\u3002<\/p>\n

    \u5199\u6210\u77e9\u9635\u5f62\u5f0f\uff08\u9f50\u6b21\u5750\u6807\uff0c\u4e24\u8fb9\u540c\u9664 ZZ<\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span>\uff09\uff1a<\/p>\n

    [uv1]=1Z[fx0cx0fycy001]\u23dfK[XYZ] \\\\begin{bmatrix}u\\\\\\\\v\\\\\\\\1\\\\end{bmatrix}=\\\\frac{1}{Z} \\\\underbrace{\\\\begin{bmatrix}f_x&0&c_x\\\\\\\\0&f_y&c_y\\\\\\\\0&0&1\\\\end{bmatrix}}_{\\\\mathbf K} \\\\begin{bmatrix}X\\\\\\\\Y\\\\\\\\Z\\\\end{bmatrix} <\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>u<\/span><\/span><\/span><\/span>v<\/span><\/span><\/span><\/span>1<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span><\/span><\/span><\/span>1<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>K<\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span> <\/p>\n

    <\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>f<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>0<\/span><\/span><\/span><\/span>0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>0<\/span><\/span><\/span><\/span>f<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>c<\/span><\/span>x<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>c<\/span><\/span>y<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>1<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>X<\/span><\/span><\/span><\/span>Y<\/span><\/span><\/span><\/span>Z<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <\/p>\n

    <\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u628a K\\\\mathbf K<\/span><\/span>K<\/span><\/span><\/span><\/span><\/span> \u7684\u7ebf\u6027\u90e8\u5206\u5265\u6389\uff0c\u5269\u4e0b\u7684 zn=[xn,yn]\u22a4=[X\/Z, Y\/Z]\u22a4\\\\mathbf z_n=[x_n,y_n]^\\\\top=[X\/Z,\\\\ Y\/Z]^\\\\top<\/span><\/span>z<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>[<\/span>x<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>y<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>]<\/span><\/span>\u22a4<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>[<\/span>X<\/span>\/<\/span>Z<\/span>,<\/span> <\/span><\/span>Y<\/span>\/<\/span>Z<\/span>]<\/span><\/span>\u22a4<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u5c31\u662f\u5f52\u4e00\u5316\u5750\u6807\uff1a\u865a\u62df\u50cf\u5e73\u9762 Z=1Z=1<\/span><\/span>Z<\/span><\/span>=<\/span><\/span><\/span><\/span>1<\/span><\/span><\/span><\/span><\/span>\uff08\u5f52\u4e00\u5316\u5e73\u9762\uff0cnormalized plane\uff09\u4e0a\u7684\u5750\u6807\uff0c\u5373\u300c\u53bb\u6389\u8fd9\u53f0\u76f8\u673a\u81ea\u5df1\u7684\u7126\u8ddd\u548c\u4e3b\u70b9\u4e4b\u540e\u300d\u7684\u7eaf\u51e0\u4f55\u5c04\u7ebf\u65b9\u5411\u3002\u4e8e\u662f\u5b8c\u6574\u6295\u5f71\u94fe\uff08\u4e0e\u7b2c 14 \u7bc7\u7684\u4e94\u7ea7\u94fe hph_p<\/span><\/span>h<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n","protected":false},"excerpt":{"rendered":"

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