Beruflich Dokumente
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Bobick
Camera Model
Camera Model
Administrivia
Problem set 1:
How did it go?
What would have made it better?
What is an image?
Up until now: a function a 2D pattern of intensity values
Today: a 2D projection of 3D points
Camera Model
Camera Model
Reproduction, 1952
Heliograph- a pewter plate coated with bitumen of Judea (an asphalt derivative of
petroleum); after at least a day-long exposure of eight hours, the plate was removed and
the latent image of the view from the window was rendered visible by washing it with a
mixture of oil of lavender and white petroleum which dissolved away the parts of the
bitumen which had not been hardened by light. Harry Ransom Center UT Austin
Camera Model
Projection
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Projection
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Image formation
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Pinhole camera
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Why so
blurry?
http://www.debevec.org/Pinhole/
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circle of
confusion
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Lenses
F
focal point
optical center
(Center Of Projection)
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Thin lenses
y z '
=
y
z
Computer Vision - A Modern Approach
Set: Cameras
Slides by D.A. Forsyth
Camera Model
Camera Model
y z ' y z ' f
=
=
f
y
z y
Computer Vision - A Modern Approach
Set: Cameras
Slides by D.A. Forsyth
z ' z ' f
=
z
f
Camera Model
z ' z ' f
1
1 1
1 1 1
=
=
=
z z f
z
f
z f z
Computer Vision - A Modern Approach
Set: Cameras
Slides by D.A. Forsyth
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circle of
confusion
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Varying Focus
Ren Ng
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Depth of field
f / 5.6
f / 32
http://en.wikipedia.org/wiki/Depth_of_field
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Dolly Zoom
stationary
Pioneered by Hitchcock in Vertigo (1958)
Original(YouTube link) (2:07)
Widely used (YouTube link)
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Geometric Distortion
No distortion
Pin cushion
Barrel
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Chromatic Aberration
Rays of different wavelength
focus in different planes
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Vignetting
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Lens systems
Retreat to academia!!!
We will assume a pinhole model
No distortion (yet)
No aberrations
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as an approximation
Put the optical center (Center Of
COORDINATE SYSTEM
Put the image plane (Projection
negative z axis
we need this if we want right-
handed-coordinates
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Modeling projection
Projection equations
Compute intersection with
Distant objects
are smaller
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Homogeneous coordinates
Is this a linear transformation?
No division by Z is non-linear
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Perspective Projection
Projection is a matrix multiply using homogeneous
coordinates:
0
1 0
0 1
0
0 0 1/ f
x
0 x
y
f x, f y
y
=
0
z
z
z
0 z / f
1
( u, v )
Camera Model
Perspective Projection
How does scaling the projection matrix change the transformation?
0
1 0
0 1
0
0 0 1/ f
f
0
0
f
0
x
0 x
y
x
0 = y f , f
z
z
0 z / f
1
x
0 0
y
0 0
z
1 0
1
fx
= fy
z
x y
f , f
z z
S. Seitz
Degenerate cases:
line in the world through focal point yields point
plane through focal point yields line
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Camera Model
x(t ) = x0 + at
y (t ) = y0 + bt
z (t ) = z0 + ct
In the limit as t
we have (for c 0 ):
fx f (x 0 + at)
=
x'(t) =
z0 + ct
z
fy f (y 0 + bt)
=
y'(t) =
z0 + ct
z
fa
fb
x '(t ) , y '(t )
c
c
Camera Model
Vanishing points
Each set of parallel lines
(=direction) meets at a
different point
The vanishing point for this
direction
images
work
vanishing points behave
badly
supermarket tabloids are a
great source.
Camera Model
Vanishing points
H VPL
VPR
VP2
VP1
VP3
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http://www.michaelbach.de/ot/sze_muelue/index.html
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( x, y , z ) ( x, y )
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Orthographic projection
Special case of perspective projection
Distance from the COP to the PP is infinite
Image
World
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fx fy
( x, y, z ) ,
z0 z0
1 0 0
0 1 0
0 0 0
0
y
0 =
z
1
s 1
x
y ( sx, sy )
1 s
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(1) Perspective:
(2) Weak perspective:
(3) Orthographic:
fx fy
( x, y , z ) ,
z z
fx fy
( x, y, z ) ,
z0 z0
( x, y , z ) ( x, y )