opencvgeometryhomographyhomogenous-transformation

What does s_i stands for in OpenCV findHomography() function?

The doc of findHomography() states that the transformation this function estimates is:


(source: opencv.org)

Why is there a s_i? What does it stands for?

Shouldn't homography transformation be just x' = Hx?

Solution

  • As stated later in the documentation:

    Homography matrix is determined up to a scale. Thus, it is normalized so that h_{33}=1.

    so s_i is the scale.