Document 1: Perspective Transformation
Let’s consider a simple example of a perspective transformation. Suppose you
have the following matrix representing the perspective transformation:
2 0 1
0 3 2
0.1 0.2 1
And you want to apply this transformation to a point (u, v) = (3, 4).
The transformed point (u′ , v ′ , 1) can be calculated as follows:
′
u 2 0 1 3
v ′ = 0 3 2 4
1 0.1 0.2 1 1
This results in:
′
u 8
v ′ = 14
1 2.6
To obtain the normalized homogeneous coordinates, you divide by the third
component:
u′
2.6
v′
2.6
1
This gives the final result in normalized homogeneous coordinates.
Document 2: Applying Projective Transforma-
tion
Let’s consider an example of a 3 × 3 matrix representing a projective transfor-
mation:
2 0 1
0 3 2
0.1 0.2 1
And let’s apply this transformation to a point (u, v) = (3, 4). The trans-
formed point (x′ , y ′ , w) can be calculated as follows:
′
x 2 0 1 3
y ′ = 0 3 2 4
w 0.1 0.2 1 1
Calculating this results in:
1
′
x 8
y ′ = 14
w 2.6
To obtain the final normalized homogeneous coordinates, you divide by w:
8 2.6
2.6 8
14 = 2.6
2.6 14
1 1
This gives the transformed point in normalized homogeneous coordinates
after applying the projective transformation.
Now, let’s use the given projective transformation matrix and apply it to
the point (u, v) = (3, 4):
x 2 0 1 2·3+0·4+1
y = 0 3 2 0.1 · 3 + 0.2 · 4 + 1
1 0.1 0.2 1 0·3+3·4+2
Simplifying the expressions:
x 7 2.692
y = 2.6 ≈ 5.385
1 14 1
So, the transformed Cartesian coordinates (x, y) are approximately (2.692, 5.385).
Document 3: Inverse Transformation of a Matrix
The inverse transformation of a matrix M is obtained using the formula:
1
M−1 = · adj(M)
|M|
Here, |M| represents the determinant of M, and adj(M) is the adjugate (or
adjoint) matrix of M.
The adjugate matrix is calculated by taking the transpose of the cofactor
matrix of M. The cofactor matrix is obtained by replacing each element of M
with its corresponding cofactor and sign.
This formula allows you to find the inverse of a matrix, assuming that the
determinant |M| is non-zero, as division by zero is undefined.
Let’s take a 2 × 2 matrix as an example:
2 1
M=
3 4
First, calculate the determinant |M|:
|M| = (2 × 4) − (1 × 3) = 5
2
Next, find the cofactor matrix:
4 −1
Cofactor(M) =
−3 2
Now, transpose the cofactor matrix to get the adjugate matrix:
4 −3
Adjugate(M) =
−1 2
Finally, calculate the inverse matrix M−1 :
−1 1 1 4 −3
M = · Adjugate(M) = ·
5 5 −1 2
So, the inverse of the matrix M is:
0.8 −0.6
M−1 =
−0.2 0.4
This process can be generalized for larger matrices as well.
Document 4: Estimation of Projective Transfor-
mation Matrix
Let’s consider a simple example with two corresponding points:
Source Image: (u1 , v1 ) = (2, 3)
Destination Image: (x1 , y1 ) = (5, 7)
Now, we want to estimate the projective transformation matrix M using the
provided equations:
(a31 u + a32 v + a33 ) · x − (a11 u + a12 v + a13 ) = 0
(a31 u + a32 v + a33 ) · y − (a21 u + a22 v + a23 ) = 0
Substitute the corresponding points:
(a31 · 2 + a32 · 3 + a33 ) · 5 − (a11 · 2 + a12 · 3 + a13 ) = 0
(a31 · 2 + a32 · 3 + a33 ) · 7 − (a21 · 2 + a22 · 3 + a23 ) = 0
This leads to a system of linear equations. Let’s simplify:
1
2a31 + 3a32 + a33 = (2a11 + 3a12 + a13 )
5
1
2a31 + 3a32 + a33 = (2a21 + 3a22 + a23 )
7
This simple system of equations represents the estimation process for the
projective transformation matrix M . The solution can be found using linear
algebra techniques, such as solving the system or using optimization methods.
