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Formulas involving homogeneous coordinates are often simpler and more symmetric than their Cartesian counterparts. Homogeneous coordinates have a range of applications, including computer graphics and 3D computer vision, where they allow affine transformations and, in general, projective transformations to be easily represented by a matrix.
Although a translation is a non-linear transformation in a 2-D or 3-D Euclidean space described by Cartesian coordinates (i.e. it can't be combined with other transformations while preserving commutativity and other properties), it becomes, in a 3-D or 4-D projective space described by homogeneous coordinates, a simple linear transformation (a ...
The camera matrix derived in the previous section has a null space which is spanned by the vector = This is also the homogeneous representation of the 3D point which has coordinates (0,0,0), that is, the "camera center" (aka the entrance pupil; the position of the pinhole of a pinhole camera) is at O.
where ′, ′ are the homogeneous coordinates of the detected image points and , are the camera matrices. x (3D point) is the homogeneous representation of the resulting 3D point. The ∼ {\displaystyle \sim \,} sign implies that τ {\displaystyle \tau \,} is only required to produce a vector which is equal to x up to a multiplication by a non ...
Noting that any identity matrix is a rotation matrix, and that matrix multiplication is associative, we may summarize all these properties by saying that the n × n rotation matrices form a group, which for n > 2 is non-abelian, called a special orthogonal group, and denoted by SO(n), SO(n,R), SO n, or SO n (R), the group of n × n rotation ...
The essential matrix can be seen as a precursor to the fundamental matrix, .Both matrices can be used for establishing constraints between matching image points, but the fundamental matrix can only be used in relation to calibrated cameras since the inner camera parameters (matrices and ′) must be known in order to achieve the normalization.
Cayley transform of upper complex half-plane to unit disk. On the upper half of the complex plane, the Cayley transform is: [1] [2] = +.Since {,,} is mapped to {,,}, and Möbius transformations permute the generalised circles in the complex plane, maps the real line to the unit circle.
It's possible to express the above line coordinates as homogeneous coordinates = [ (+): (+)] where is the perpendicular distance of the line from the origin. This representation has numerous advantages: One advantage is that there is no need to break into different cases, such as parallel to the x {\displaystyle x} -axis and non-parallel.