The heart of this algorithm is to track at least four fiducial points from frame to frame that construct the affine frame , and thus the occlusion contours between virtual and real objects can be reconstructed and reprojected 算法的核心是在每一帧图像中追踪至少四个基准点,构成仿射基,进而对虚拟物体与真实物体之间的遮挡轮廓进行重建和重投影。
In affine geometry, a branch of mathematics, an affine frame in an affine space A consists of a choice P of origin of A along with a basis of the space of vectors based at P.