{"id":14134,"date":"2023-02-19T15:22:36","date_gmt":"2023-02-19T07:22:36","guid":{"rendered":"http:\/\/139.9.1.231\/?p=14134"},"modified":"2023-06-26T11:00:22","modified_gmt":"2023-06-26T03:00:22","slug":"camera-internal","status":"publish","type":"post","link":"http:\/\/139.9.1.231\/index.php\/2023\/02\/19\/camera-internal\/","title":{"rendered":"\u76f8\u673a\u5185\u53c2\/\u5916\u53c2&#8211;\u5750\u6807\u8f6c\u6362"},"content":{"rendered":"\n<p class=\"has-text-align-center has-light-pink-background-color has-background\"><strong>\u6458\u81ea\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/389653208\">https:\/\/zhuanlan.zhihu.com\/p\/389653208<\/a><\/strong><\/p>\n\n\n\n<p class=\"has-bright-blue-background-color has-background\">                  <strong>  <a href=\"https:\/\/blog.csdn.net\/zb1165048017\/article\/details\/71104241\">https:\/\/blog.csdn.net\/zb1165048017\/article\/details\/71104241<\/a><\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center has-bright-blue-background-color has-background\"><strong>demo\u6f14\u793a\uff1a<a href=\"http:\/\/ksimek.github.io\/perspective_camera_toy.html\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/ksimek.github.io\/perspective_camera_toy.html<\/a><\/strong><\/p>\n\n\n\n<p>         demo\u4e2d\u63d0\u4f9b\u4e86\u4e09\u79cd\u5916\u53c2\u63a5\u53e3(\u4e16\u754c\u5750\u6807\u7cfb\uff0c\u76f8\u673a\u5750\u6807\u7cfb\uff0clook-at)\uff0c\u4e09\u79cd\u4ea4\u4e92\u6548\u679c\u4e0d\u540c\uff0c\u524d\u4e24\u79cd\u7684\u65b9\u5411\u76f8\u53cd\uff0c\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u5411\u5de6\u79fb\u52a8\u8868\u793a\u76f8\u673a\u5750\u6807\u7cfb\u4e2d\u5411\u53f3\u79fb\u52a8\uff0c\u4f46\u662f\u5b83\u4eec\u90fd\u6709\u516d\u4e2a\u53c2\u6570\u63a7\u5236:<\/p>\n\n\n\n<p>tx\u8868\u793a\u6cbf\u7740\u6c34\u5e73\u65b9\u5411\u79fb\u52a8\u76f8\u673a<br>ty\u8868\u793a\u6cbf\u7740\u5782\u76f4\u65b9\u5411\u79fb\u52a8\u76f8\u673a<br>tz\u8868\u793a\u6cbf\u7740\u524d\u540e\u65b9\u5411\u79fb\u52a8\u76f8\u673a<br>px\u8868\u793a\u955c\u5934\u4e0d\u5e73\u79fb\uff0c\u4f46\u662f\u7ed5x\u8f74\u505a\u4fef\u4ef0\u65cb\u8f6c<br>py\u8868\u793a\u955c\u5934\u4e0d\u5e73\u79fb\uff0c\u4f46\u662f\u7ed5\u5782\u76f4\u8f74y\u8f74\u505a\u5de6\u53f3\u6447\u5934\u65cb\u8f6c<br>pz\u8868\u793a\u955c\u5934\u4e0d\u5e73\u79fb\uff0c\u4f46\u662f\u7ed5z\u8f74\u505a\u987a\u65f6\u9488(\u6216\u8005\u9006\u65f6\u9488)\u65cb\u8f6c<br>\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014<\/p>\n\n\n\n<p>demo\u4e5f\u63d0\u4f9b\u4e86\u5185\u53c2\u7684\u63a5\u53e3\uff0c\u5305\u62ec\u56db\u4e2a\u53c2\u6570\u63a7\u5236\uff1a<\/p>\n\n\n\n<p>\u7126\u8ddd(Focal length):\u955c\u5934\u7684\u524d\u540e\u7f29\u8fdb(\u4e0d\u662f\u7f29\u653e)<br>\u8f74\u503e\u659c(Axis Skew):\u53ef\u4ee5\u5bfc\u81f4\u7403\u53d8\u5f62\uff0c\u5e73\u9762\u4e0a\u663e\u793a\u692d\u7403\u5f62<br>x0\u8868\u793a\u4e3b\u70b9\u504f\u79fb\uff0c\u76f8\u673a\u4e0d\u52a8\uff0c\u5de6\u53f3\u79fb\u52a8\u6210\u50cf\u5e73\u9762<br>y0 \u8868\u793a\u4e3b\u70b9\u504f\u79fb\uff0c\u76f8\u673a\u4e0d\u52a8\uff0c\u4e0a\u4e0b\u79fb\u52a8\u6210\u50cf\u5e73\u9762<br>\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014<\/p>\n\n\n\n<p>\u76f8\u673a\u53c2\u6570\u90fd\u6709\u54ea\u4e9b\uff1f\u4f30\u8ba1\u5b83\u4eec\u9700\u8981\u7684\u6761\u4ef6\uff1f\u8bc4\u4f30\u6240\u4f30\u7b97\u7684\u76f8\u673a\u53c2\u6570\u597d\u574f\u7684\u6807\u51c6\uff1f<\/p>\n\n\n\n<p>\u2460\u4e3b\u8981\u5305\u542b\u5185\u53c2(intrinsics)\u3001\u5916\u53c2(extrinsics)\u3001\u7578\u53d8\u7cfb\u6570(distortion coefficients)<\/p>\n\n\n\n<p>\u2461\u4f30\u8ba1\u53c2\u6570\u9700\u89813D\u4e16\u754c\u5750\u6807\u53ca\u5176\u5bf9\u5e94\u76842D\u56fe\u50cf\u70b9\u3002\u6bd4\u5982\u5728\u91cd\u67843D\u59ff\u6001\u7684\u65f6\u5019\uff0c\u9700\u8981\u540c\u65f6\u8f93\u5165\u56fe\u7247\u53ca\u56fe\u7247\u4e2d\u5bf9\u5e94\u7684\u4eba\u7684\u9aa8\u9abc2D\u5750\u6807\u70b9\u3002<\/p>\n\n\n\n<p>\u2462\u8bc4\u4f30\u6240\u4f30\u8ba1\u76f8\u673a\u53c2\u6570\u7684\u65b9\u6cd5\u5c31\u662f\uff1a\u9996\u5148\u753b\u51fa\u76f8\u673a\u548c\u6821\u51c6\u6a21\u5f0f\u7684\u76f8\u5bf9\u4f4d\u7f6e\uff1b\u968f\u540e\u8ba1\u7b97\u6295\u5f71\u8bef\u5dee\uff1b\u6700\u540e\u8ba1\u7b97\u53c2\u6570\u7684\u4f30\u7b97\u8bef\u5dee\u3002\u5728matlab\u4e2d\u6709Camera Calibrator\u6765\u8fdb\u884c\u76f8\u673a\u6821\u51c6\u548c\u8bc4\u4f30\u53c2\u6570\u7cbe\u786e\u5ea6\u3002<\/p>\n\n\n\n<p class=\"has-light-gray-background-color has-background\">\u5916\u53c2\u6570\uff08[R|t]\uff09\u63cf\u8ff0\u4e16\u754c\u5750\u6807\u7cfb\u4e0e\u76f8\u673a\u5750\u6807\u7cfb\u7684\u53d8\u6362\u5173\u7cfb\uff0c\u53c2\u6570\u5305\u62ec\uff1a\u65cb\u8f6cR\uff0c\u5e73\u79fbT\u3002<\/p>\n\n\n\n<p class=\"has-light-blue-background-color has-background\">\u5185\u53c2\u6570\uff08K\uff09\u63cf\u8ff0\u76f8\u673a\u5750\u6807\u7cfb\uff0c\u56fe\u50cf\u5750\u6807\u7cfb\uff0c\u50cf\u7d20\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u53d8\u6362\u5173\u7cfb\uff0c\u53c2\u6570\u5305\u62ec\u4e3b\u70b9\u5750\u6807\uff0c\u7126\u8ddd\uff0c\u5355\u4f4d\u50cf\u7d20\u5bbd\u4e0e\u9ad8\u3002<\/p>\n\n\n\n<h2>\u76f8\u673a\u6210\u50cf\u4e3b\u8981\u67094\u4e2a\u5750\u6807\u7cfb\uff1a<\/h2>\n\n\n\n<p>\u6210\u50cf\u7684\u8fc7\u7a0b\u5b9e\u8d28\u4e0a\u662f\u51e0\u4e2a\u5750\u6807\u7cfb\u7684\u8f6c\u6362\u3002\u9996\u5148\u7a7a\u95f4\u4e2d\u7684\u4e00\u70b9\u7531<strong>\u4e16\u754c\u5750\u6807\u7cfb<\/strong>\u8f6c\u6362\u5230&nbsp;<strong>\u6444\u50cf\u673a\u5750\u6807\u7cfb<\/strong>&nbsp;\uff0c\u7136\u540e\u518d\u5c06\u5176\u6295\u5f71\u5230\u6210\u50cf\u5e73\u9762 (&nbsp;<strong>\u56fe\u50cf\u7269\u7406\u5750\u6807\u7cfb<\/strong>&nbsp;) \uff0c\u6700\u540e\u518d\u5c06\u6210\u50cf\u5e73\u9762\u4e0a\u7684\u6570\u636e\u8f6c\u6362\u5230\u56fe\u50cf\u5e73\u9762 (<strong>\u56fe\u50cf\u50cf\u7d20\u5750\u6807\u7cfb<\/strong>&nbsp;) \u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"325\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-398-1024x325.png\" alt=\"\" class=\"wp-image-14245\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-398-1024x325.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-398-300x95.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-398-768x244.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-398.png 1236w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3>\u5bf9\u5e94\u7684\u5de6\u4e58\u77e9\u9635\u516c\u5f0f<\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-399-1024x543.png\" alt=\"\" class=\"wp-image-14248\" width=\"525\" height=\"277\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-399-1024x543.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-399-300x159.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-399-768x407.png 768w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><\/figure><\/div>\n\n\n\n<p>\u6458\u8981\uff1a\u672c\u6587\u4ecb\u7ecd\u4e86\u76f8\u673a\u7684\u5185\u53c2\u548c\u5916\u53c2\u4ee5\u53ca\u63a8\u5bfc\u8fc7\u7a0b\uff0c\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u7b2c\u4e00\u90e8\u5206\uff0c\u76f8\u673a\u5185\u53c2\uff1b \u7b2c\u4e8c\u90e8\u5206\uff0c\u76f8\u673a\u5916\u53c2\uff1b\u7b2c\u4e09\u90e8\u5206\uff0c\u603b\u7ed3\u3002<\/p>\n\n\n\n<h2>1 \u76f8\u673a\u5185\u53c2<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-b7e496c4e2f9250b3705880fe2858c3d_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u5de6\u56fe\u4e2d\uff0c\u6211\u4eec\u628a\u76f8\u673a\u770b\u4f5c\u662f\u9488\u5b54\uff0c\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u70b9P\u7ecf\u8fc7\u76f8\u673a\u7684\u5149\u5fc3O\uff0c\u6295\u5f71\u5230\u7269\u7406\u6210\u50cf\u5e73\u9762\u4e0a\uff0c\u53d8\u4e3a\u70b9P&#8217;\u3002<\/p>\n\n\n\n<p>\u5728\u53f3\u56fe\u4e2d\uff0c\u5bf9\u8fd9\u4e2a\u6a21\u578b\u8fdb\u884c\u4e86\u4e00\u4e2a\u7b80\u5316\uff0c\u5c06\u5176\u770b\u4f5c\u662f\u4e00\u4e2a\u76f8\u4f3c\u4e09\u89d2\u5f62\u3002<\/p>\n\n\n\n<p>\u4e0b\u9762\u6211\u4eec\u6765\u5bf9\u8fd9\u4e2a\u6a21\u578b\u8fdb\u884c\u5efa\u6a21\u3002<\/p>\n\n\n\n<p>\u8bbeO\u2212x\u2212y\u2212z\u4e3a\u76f8\u673a\u5750\u6807\u7cfb\uff0c\u4e60\u60ef\u4e0a\u6211\u4eec\u628az\u8f74\u6307\u5411\u76f8\u673a\u524d\u65b9\uff0cx\u5411\u53f3\uff0cy\u5411\u4e0b\u3002O\u4e3a\u6444\u50cf\u673a\u7684<strong>\u5149\u5fc3<\/strong>\uff0c\u4e5f\u662f\u9488\u5b54\u6a21\u578b\u4e2d\u7684\u9488\u5b54\u3002<\/p>\n\n\n\n<p>\u8bbe\u771f\u5b9e\u4e16\u754c\u70b9\u4e2d\u7684P\u7684\u5750\u6807\u4e3a[X,Y,Z]<sup>T<\/sup>\uff0c\u6210\u50cf\u7684\u70b9P&#8217;\u7684\u5750\u6807\u4e3a[X&#8217;, Y&#8217;, Z&#8217;]<sup>T<\/sup>\uff0c \u7269\u7406\u6210\u50cf\u5e73\u9762\u548c\u5149\u5fc3\u7684\u8ddd\u79bb\u4e3af\uff08\u5373\u4e3a\u7126\u8ddd\uff09\u3002<\/p>\n\n\n\n<p>\u6839\u636e\u53f3\u56fe\u4e2d\u7684\u4e09\u89d2\u5f62\u76f8\u4f3c\u5173\u7cfb\uff0c\u6709\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-400.png\" alt=\"\" class=\"wp-image-14252\" width=\"171\" height=\"44\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-400.png 344w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-400-300x78.png 300w\" sizes=\"(max-width: 171px) 100vw, 171px\" \/><\/figure><\/div>\n\n\n\n<p>\u5176\u4e2d\uff0c\u6709\u8d1f\u53f7\u662f\u56e0\u4e3a\u5750\u6807\u8f74\u65b9\u5411\uff0c\u4e5f\u5c31\u8868\u793a\u4e86\u6210\u7684\u50cf\u662f\u5012\u7acb\u7684\u3002\u4e3a\u4e86\u8868\u793a\u8d77\u6765\u66f4\u65b9\u4fbf\uff0c\u6211\u4eec\u628a\u6210\u50cf\u5e73\u9762\u4ece\u76f8\u673a\u7684\u540e\u9762\u5bf9\u79f0\u5230\u524d\u9762\u53bb\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u8fd9\u6837\uff0c\u8d1f\u53f7\u5c31\u6ca1\u6709\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"229\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-401-1024x229.png\" alt=\"\" class=\"wp-image-14256\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-401-1024x229.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-401-300x67.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-401-768x172.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-401.png 1406w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u5bf9\u79f0\u540e\uff0c\u6709\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-402.png\" alt=\"\" class=\"wp-image-14258\" width=\"156\" height=\"55\"\/><\/figure><\/div>\n\n\n\n<p>\u6574\u7406\u89e3\u51faP&#8217;\u7684\u5750\u6807\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-403.png\" alt=\"\" class=\"wp-image-14261\" width=\"94\" height=\"102\"\/><\/figure><\/div>\n\n\n\n<p>       \u4e0a\u9762\u4e24\u4e2a\u5f0f\u5b50\u5c31\u63cf\u8ff0\u4e86<strong>P\u70b9\u4e0e\u5b83\u6240\u6210\u50cf\u7684\u5750\u6807\u5173\u7cfb<\/strong>\uff0c\u53ef\u4ee5\u770b\u5230\uff0cX\u5bf9\u5e94\u7684X&#8217;\u4e0e\u7126\u8dddf\u6709\u5173\uff0c\u4e0e\u8ddd\u79bbZ\u6709\u5173\u3002\u6620\u5c04\u5230\u6210\u50cf\u5e73\u9762\u4e0a\u8fd8\u4e0d\u591f\uff0c\u6211\u4eec\u8fd8\u9700\u8981\u5c06\u8fd9\u4e2a\u50cf\u7ed9\u653e\u5230\u50cf\u7d20\u5750\u6807\u7cfb\u5185\u3002<br>\u6211\u4eec\u8bbe\u5728\u7269\u7406\u6210\u50cf\u5e73\u9762\u4e0a\u56fa\u5b9a\u7740\u50cf\u7d20\u5e73\u9762o-u-v\u3002<\/p>\n\n\n\n<p>\u8bbeP&#8217;\u5728\u50cf\u7d20\u5e73\u9762\u5750\u6807\u7cfb\u4e0a\u7684\u5750\u6807\u662f[u, v]<sup>T<\/sup>\u3002<\/p>\n\n\n\n<p><strong>\u50cf\u7d20\u5750\u6807\u7cfb<\/strong>\u901a\u5e38\u5b9a\u4e49\u65b9\u5f0f\u662f\uff1a\u539f\u70b9o&#8217;\u4f4d\u4e8e\u56fe\u50cf\u7684\u5de6\u4e0a\u89d2\uff0cu\u8f74\u5411\u53f3\u4e0ex\u8f74\u5e73\u884c\uff0cv\u8f74\u5411\u4e0b\u4e0ey\u8f74\u5e73\u884c\u3002\u6211\u4eec\u8bbe\u50cf\u7d20\u5750\u6807\u5728u\u8f74\u4e0a\u7f29\u653e\u03b1\u500d\uff0c\u5728v\u8f74\u4e0a\u7f29\u653e\u4e86\u03b2\u500d\u3002\u540c\u65f6\uff0c\u539f\u70b9\u5e73\u79fb\u4e86[c<sub>x<\/sub>, c<sub>y<\/sub>]<sup>T<\/sup>\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u53ef\u4ee5\u5f97\u5230<strong>P&#8217;\u4e0e\u50cf\u7d20\u5750\u6807<\/strong>\u7684\u5173\u7cfb\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404-1024x634.png\" alt=\"\" class=\"wp-image-14267\" width=\"395\" height=\"244\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404-1024x634.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404-300x186.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404-768x476.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404-825x510.png 825w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-404.png 1027w\" sizes=\"(max-width: 395px) 100vw, 395px\" \/><\/figure><\/div>\n\n\n\n<p>\u7528\u9f50\u6b21\u5750\u6807\uff0c\u628a\u4e0a\u5f0f\u5199\u51fa\u77e9\u9635\u7684\u5f62\u5f0f\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-405.png\" alt=\"\" class=\"wp-image-14272\" width=\"400\" height=\"269\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-405.png 862w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-405-300x202.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-405-768x517.png 768w\" sizes=\"(max-width: 400px) 100vw, 400px\" \/><\/figure><\/div>\n\n\n\n<p>\u4e0a\u5f0f\u4e2d\uff0cK\u5373\u4e3a\u76f8\u673a\u7684\u5185\u53c2\u77e9\u9635(Intrinsics)\u3002\u901a\u5e38\u6765\u8bf4\uff0c\u76f8\u673a\u7684\u5185\u53c2\u5728\u51fa\u5382\u4e4b\u540e\u5c31\u662f\u56fa\u5b9a\u7684\u4e86\u3002<\/p>\n\n\n\n<h2>2 \u76f8\u673a\u5916\u53c2<\/h2>\n\n\n\n<h3>\u76f8\u673a\u5916\u53c2\u7684\u4f5c\u7528\u662f\u628a\u5750\u6807\u4ece\u3010\u4e16\u754c\u5750\u6807\u7cfb\u3011\u8f6c\u6362\u5230\u3010\u76f8\u673a\u5750\u6807\u7cfb\u3011\u4e2d<\/h3>\n\n\n\n<p>\u5728\u4e0a\u9762\u7684\u63a8\u5bfc\u4e2d\uff0c\u6211\u4eec\u7528\u7684\u662fP\u5728\u76f8\u673a\u5750\u6807\u7cfb\u7684\u5750\u6807\uff08\u4e5f\u5c31\u662f\u4ee5\u76f8\u673a\u4e3aO\u70b9\uff09\uff0c\u6240\u4ee5\u6211\u4eec\u5e94\u8be5\u5148\u5c06\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684P<sub>w<\/sub>\u7ed9\u53d8\u6362\u5230\u76f8\u673a\u5750\u6807\u7cfb\u4e2d\u7684P\u3002<\/p>\n\n\n\n<p>\u76f8\u673a\u7684\u4f4d\u59ff\u7531\u65cb\u8f6c\u77e9\u9635R\u548c\u5e73\u79fb\u5411\u91cft\u6765\u63cf\u8ff0\uff0c\u56e0\u6b64\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-406.png\" alt=\"\" class=\"wp-image-14277\" width=\"414\" height=\"212\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-406.png 1015w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-406-300x154.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-406-768x394.png 768w\" sizes=\"(max-width: 414px) 100vw, 414px\" \/><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"569\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-11-1024x569.png\" alt=\"\" class=\"wp-image-15256\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-11-1024x569.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-11-300x167.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-11-768x427.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-11.png 1354w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-yellow-background-color has-background\"><strong>\u65cb\u8f6c\u77e9\u9635\uff1aR<\/strong> \u3010<a href=\"https:\/\/www.wikiwand.com\/zh-sg\/%E6%AC%A7%E6%8B%89%E8%A7%92\" target=\"_blank\" rel=\"noreferrer noopener\">\u6b27\u62c9\u89d2\uff1awiki\u767e\u79d1<\/a>\u3011<\/p>\n\n\n\n<p>        Rot(x,&nbsp;\u03b8\uff09&nbsp; &nbsp;\u8868\u793a\u7ed5X\u8f74\u65cb\u8f6c&nbsp; \u03b8\u8868\u793a\u65cb\u8f6c\u7684\u89d2\u5ea6&nbsp; \u5176\u5b83\u540c\u7406\u3002\u77e9\u9635\u53f3\u4e0b\u89d2\u7684\u8868\u793a\u653e\u5927\u500d\u6570\uff0c\u77e9\u9635\u7b2c4\u884c\u548c\u7b2c4\u5217\u53ef\u4ee5\u4e0d\u8981<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"599\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-13-1024x599.png\" alt=\"\" class=\"wp-image-15260\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-13-1024x599.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-13-300x176.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-13-768x450.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/06\/image-13.png 1341w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2>3 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class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-409.png\" alt=\"\" class=\"wp-image-14288\" width=\"451\" height=\"209\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-409.png 870w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-409-300x139.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-409-768x357.png 768w\" sizes=\"(max-width: 451px) 100vw, 451px\" \/><\/figure><\/div>\n\n\n\n<p>\u6210\u50cf\u4eea\u5149\u8f74\u4e2d\u5fc3\u7684\u7578\u53d8\u4e3a0\uff0c\u6cbf\u7740\u955c\u5934\u534a\u5f84\u65b9\u5411\u5411\u8fb9\u7f18\u79fb\u52a8\uff0c\u7578\u53d8\u8d8a\u6765\u8d8a\u4e25\u91cd\u3002\u7578\u53d8\u7684\u6570\u5b66\u6a21\u578b\u53ef\u4ee5\u7528\u4e3b\u70b9\uff08principle point\uff09\u5468\u56f4\u7684\u6cf0\u52d2\u7ea7\u6570\u5c55\u5f00\u5f0f\u7684\u524d\u51e0\u9879\u8fdb\u884c\u63cf\u8ff0\uff0c\u901a\u5e38\u4f7f\u7528\u524d\u4e24\u9879\uff0c\u5373k1\u548ck2\uff0c\u5bf9\u4e8e\u7578\u53d8\u5f88\u5927\u7684\u955c\u5934\uff0c\u5982\u9c7c\u773c\u955c\u5934\uff0c\u53ef\u4ee5\u589e\u52a0\u4f7f\u7528\u7b2c\u4e09\u9879k3\u6765\u8fdb\u884c\u63cf\u8ff0\uff0c\u6210\u50cf\u4eea\u4e0a\u67d0\u70b9\u6839\u636e\u5176\u5728\u5f84\u5411\u65b9\u5411\u4e0a\u7684\u5206\u5e03\u4f4d\u7f6e\uff0c\u8c03\u8282\u516c\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-410.png\" alt=\"\" class=\"wp-image-14291\" width=\"359\" height=\"90\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-410.png 727w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-410-300x76.png 300w\" sizes=\"(max-width: 359px) 100vw, 359px\" \/><\/figure><\/div>\n\n\n\n<p>\u516c\u5f0f\u91cc\uff08x0\uff0cy0\uff09\u662f\u7578\u53d8\u70b9\u5728\u6210\u50cf\u4eea\u4e0a\u7684\u539f\u59cb\u4f4d\u7f6e\uff0c\uff08x\uff0cy\uff09\u662f\u7578\u53d8\u8f83\u771f\u540e\u65b0\u7684\u4f4d\u7f6e\uff0c\u4e0b\u56fe\u662f\u8ddd\u79bb\u5149\u5fc3\u4e0d\u540c\u8ddd\u79bb\u4e0a\u7684\u70b9\u7ecf\u8fc7\u900f\u955c\u5f84\u5411\u7578\u53d8\u540e\u70b9\u4f4d\u7684\u504f\u79fb\u793a\u610f\u56fe\uff0c\u53ef\u4ee5\u770b\u5230\uff0c\u8ddd\u79bb\u5149\u5fc3\u8d8a\u8fdc\uff0c\u5f84\u5411\u4f4d\u79fb\u8d8a\u5927\uff0c\u8868\u793a\u7578\u53d8\u4e5f\u8d8a\u5927\uff0c\u5728\u5149\u5fc3\u9644\u8fd1\uff0c\u51e0\u4e4e\u6ca1\u6709\u504f\u79fb\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-411.png\" alt=\"\" class=\"wp-image-14294\" width=\"512\" height=\"443\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-411.png 825w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-411-300x260.png 300w\" sizes=\"(max-width: 512px) 100vw, 512px\" \/><\/figure><\/div>\n\n\n\n<ol start=\"2\"><li>\u5207\u5411\u7578\u53d8<br>\u5207\u5411\u7578\u53d8\u662f\u7531\u4e8e\u900f\u955c\u672c\u8eab\u4e0e\u76f8\u673a\u4f20\u611f\u5668\u5e73\u9762\uff08\u6210\u50cf\u5e73\u9762\uff09\u6216\u56fe\u50cf\u5e73\u9762\u4e0d\u5e73\u884c\u800c\u4ea7\u751f\u7684\uff0c\u8fd9\u79cd\u60c5\u51b5\u591a\u662f\u7531\u4e8e\u900f\u955c\u88ab\u7c98\u8d34\u5230\u955c\u5934\u6a21\u7ec4\u4e0a\u7684\u5b89\u88c5\u504f\u5dee\u5bfc\u81f4\u3002\u7578\u53d8\u6a21\u578b\u53ef\u4ee5\u7528\u4e24\u4e2a\u989d\u5916\u7684\u53c2\u6570p1\u548cp2\u6765\u63cf\u8ff0\uff1a<\/li><\/ol>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-412.png\" alt=\"\" class=\"wp-image-14297\" width=\"404\" height=\"95\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-412.png 718w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-412-300x71.png 300w\" sizes=\"(max-width: 404px) 100vw, 404px\" \/><\/figure><\/div>\n\n\n\n<p>\u4e0b\u56fe\u663e\u793a\u67d0\u4e2a\u900f\u955c\u7684\u5207\u5411\u7578\u53d8\u793a\u610f\u56fe\uff0c\u5927\u4f53\u4e0a\u7578\u53d8\u4f4d\u79fb\u76f8\u5bf9\u4e8e\u5de6\u4e0b\u2014\u2014\u53f3\u4e0a\u89d2\u7684\u8fde\u7ebf\u5bf9\u79f0\u7684\uff0c\u8bf4\u660e\u8be5\u955c\u5934\u5728\u5782\u76f4\u4e8e\u8be5\u65b9\u5411\u4e0a\u6709\u4e00\u4e2a\u65cb\u8f6c\u89d2\u5ea6\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-413.png\" alt=\"\" class=\"wp-image-14299\" width=\"405\" height=\"373\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-413.png 783w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-413-300x276.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-413-768x707.png 768w\" sizes=\"(max-width: 405px) 100vw, 405px\" \/><\/figure><\/div>\n\n\n\n<p>\u5f84\u5411\u7578\u53d8\u548c\u5207\u5411\u7578\u53d8\u6a21\u578b\u4e2d\u4e00\u5171\u67095\u4e2a\u7578\u53d8\u53c2\u6570\uff0c\u5728Opencv\u4e2d\u4ed6\u4eec\u88ab\u6392\u5217\u6210\u4e00\u4e2a5*1\u7684\u77e9\u9635\uff0c\u4f9d\u6b21\u5305\u542bk1\u3001k2\u3001p1\u3001p2\u3001k3\uff0c\u7ecf\u5e38\u88ab\u5b9a\u4e49\u4e3aMat\u77e9\u9635\u7684\u5f62\u5f0f\uff0c\u5982Mat 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height=\"108\"\/><\/figure><\/div>\n\n\n\n<p>\u91cc\u9762\u7684\u53c2\u6570\u4e00\u822c\u90fd\u662f\u76f8\u673a\u51fa\u5382\u5c31\u5b9a\u4e0b\u6765\u7684\uff0c\u53ef\u4ee5\u901a\u8fc7\u76f8\u673a\u6807\u5b9a\u7684\u65b9\u5f0f\u4eba\u4e3a\u8ba1\u7b97\u51fa\u6765\u3002<\/p>\n\n\n\n<p>\u76f8\u673a\u5916\u53c2\u662f\u65cb\u8f6c\u77e9\u9635R\u548c\u5e73\u79fb\u5411\u91cft\u6784\u6210,\u4e00\u822c\u6765\u8bf4\u5199\u6210\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/02\/image-408.png\" alt=\"\" class=\"wp-image-14285\" width=\"111\" height=\"75\"\/><\/figure><\/div>\n\n\n\n<p>\u8fd9\u4e2a\u77e9\u9635\u51b3\u5b9a\u4e86\u76f8\u673a\u7684\u4f4d\u59ff\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6458\u81ea\uff1ahttps:\/\/zhuanlan.zhihu.com\/p\/389653208 https:\/\/blog. &hellip; <a 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class=\"screen-reader-text\">\u76f8\u673a\u5185\u53c2\/\u5916\u53c2&#8211;\u5750\u6807\u8f6c\u6362<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[4,35,31,33],"tags":[],"_links":{"self":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/14134"}],"collection":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/comments?post=14134"}],"version-history":[{"count":81,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/14134\/revisions"}],"predecessor-version":[{"id":15269,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/14134\/revisions\/15269"}],"wp:attachment":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/media?parent=14134"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/categories?post=14134"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/tags?post=14134"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}