齐次坐标

If the homogeneous coordinates of a point are multiplied by a non-zero scalar then the resulting coordinates represent the same point. Since homogeneous coordinates are also given to points at infinity, the number of coordinates required to allow this extension is one more than the dimension of the projective space being considered. For example, two homogeneous coordinates are required to specify a point on the projective line and three homogeneous coordinates are required to specify a point in the projective plane.

推导

已知条件

\begin{aligned} ^BP= \left[ \begin{matrix} B_x\\ B_y\\ B_z\\ 1 \end{matrix} \right] \end{aligned}

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