Projective Geometry and Camera Models

Professor Fei-Fei Li (Stanford Vision Lab) James Hays (http://www.cs.brown.edu)

Todays class
Mapping between image and world coordinates
Projective geometry
Vanishing points and lines

Pinhole camera model Cameras & lenses Projection matrix

Todays class: Camera and World Geometry

How tall is this woman? How high is the camera? What is the camera rotation? What is the focal length of the camera?

Which ball is closer?

Projection can be tricky

Slide source: Seitz

Projection can be tricky

Slide source: Seitz

Projective Geometry
What is lost?
Length

Who is taller?

Which is closer?

Length is not preserved

A C B

Figure by David Forsyth

Projective Geometry
What is lost?
Length Angles
Parallel?

Perpendicular?

Projective Geometry
What is preserved?
Straight lines are still straight

Vanishing points and lines

Parallel lines in the world intersect in the image at a vanishing point

Vanishing points and lines

Vanishing Point Vanishing Line

Vanishing Point

Vanishing points and lines

Vertical vanishing point (at infinity) Vanishing line

Vanishing point

Vanishing point

Slide from Efros, Photo from Criminisi

Vanishing points and lines

Photo from online Tate collection

Note on estimating vanishing points

What do you need to make a camera from scratch?

Camera obscura: the pre-camera

Known during classical period in China and Greece (e.g. Mo-Ti, China, 470BC to 390BC)

Illustration of Camera Obscura

Freestanding camera obscura at UNC Chapel Hill

Photo by Seth Ilys

Camera Obscura used for Tracing

Lens Based Camera Obscura, 1568

Parallel light rays which pass through a small aperture begin to diverge and interfere with one another. This becomes more significant as the size of the aperture decreases relative to the wavelength of light passing through, but occurs to some extent for any size of aperture or concentrated light source.

In optics the refractive index or index of refraction of a substance or medium is a measure of the speed of light in that medium

n = speed of light in a vacuum / speed of light in medium Refractive index of water is 1.33; air is 1.000293

http://en.wikipedia.org/wiki/Refractive_index#Typical_values

A lens can be considered a thin lens if d << f.

Thin lens equation

If d is small compared to R1 and R2, then the thin lens approximation can be made. For a lens in air, f is then given by

28 mm lens

50 mm lens

70 mm lens

210 mm lens

Lens is described by its focal length, which is the distance in millimeters (mm) between the lens and the image it forms on the sensor or film http://photography-cameras.org/camera-lenses/focal-length-of-camera-lens
Tiu c ca my nh l thng s cho bit gc nhn ca my nh, ngha l khong phm vi m my nh c th thu tm c http://www.chuphinh.vn/may-chup-hinh-ky-thuat-so/cac-yeu-to-ky-thuat/75-tieu-cu.html

f = 5.8 17.4 mm Vi thng s ny cho bit my nh c kh nng thay i tiu c t 35 mm (gc chp rng wide) n 105 mm (gc chp tele). Optical 3X: Ly 105/35 (hay ly 17.4/5.8) ta c kt qu l 3 (thng s zoom )

Large (top) and small (bottom) apertures

Khu khng hot ng c lp, m n phi c kt hp chc ch vi di tiu c c c hiu ng nh sng tt nht.

My nh s c ch o sng t ng, cc ch chp ci sn. Nhng chng trnh ny c lp trnh sn v da vo h thng o sng, my s la chn khu ph hp vi khung cnh ti thi im chp.

This simulation shows how adjusting the angle of view of a camera, while varying the camera distance, keeping the object in frame, results in vastly differing images. At narrow angles, large distances, light rays are nearly parallel, resulting in a "flattened" image. At wide angles, short distances, the object appears distorted.

Mathematically, for a linear system, F, defined by F(x) = y, where x is some sort of stimulus (input) and y is some sort of response (output), the superposition (i.e., sum) of stimuli yields a superposition of the respective responses:

In the field of electrical engineering, where the x and y signals are allowed to be complex-valued (as is common in signal processing), a linear system must satisfy the superposition property, which requires the system to be additive and homogeneous

F (x 1 + x 2 ) = F (x 1 ) + F (x 2 )

F(ax) = aF(x)

Finally, the camera coordinate system may be skewed due to manufacturing error, so that angle q between two image axes is not equal to 90.