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- All equations we have derived for far are written in the camera reference frames.
(2) the image coordinates have their origin at the principal point.
- In general, the world and pixel coordinate systems are related by a set of physical
parameters such as:
Extrinsic camera parameters: the parameters that define the location and orientation
of the camera reference frame with respect to a known world reference frame.
Intrinsic camera parameters: the parameters necessary to link the pixel coordinates of
an image point with the corresponding coordinates in the camera reference frame.
extrinsic camera
parameters
Camera Coordinates (3D)
- These are the parameters that identify uniquely the transformation between the
unknown camera reference frame and the known world reference frame.
(1) finding the translation vector between the relative positions of the origins of
the two reference frames.
(2) finding the rotation matrix that brings the corresponding axes of the two
frames into alignment (i.e., onto each other)
-4-
- Using the extrinsic camera parameters, we can find the relation between the coordi-
nates of a point P in world (P w ) and camera (P c ) coordinates:
r 11 r 12 r 13
P c = R(P w − T ) where R = r 21 r 22 r 23
r 31 r 32 r 33
Xc Xw
- If P c = Y c and P w = Y w , then
Zc Zw
X c r 11 r 12 r 13 X w − T x
Y = r r 22 r 23 Y w − T y
c 21
Z c r 31 r 32 r 33 Z w − T z
or
X c = RT1 (P w − T )
Y c = RT2 (P w − T )
Z c = RT3 (P w − T )
- These are the parameters that characterize the optical, geometric, and digital charac-
teristics of the camera:
Xc RT1 (P w − T ) Yc RT2 (P w − T )
x= f = f T , y= f = f T
Zc R3 (P w − T ) Zc R3 (P w − T )
pixel frame P
x im
yim
Yc
Xc y
Camera Yw
Frame optical axis x Xw
Zc ox ,oy World
Frame
center of Zw
perspective projection image principal point
plane
frame
x = − (x im − o x )s x or x im = − x/s x + o x
y = − (y im − o y )s y or y im = − y/s y + o y
where (o x , o y ) are the coordinates of the principal point (in pixels, e.g., o x = N /2,
o y = M/2 if the principal point is the center of the image) and s x , s y correspond
to the effective size of the pixels in the horizontal and vertical directions (in mil-
limeters).
-6-
x −1/s x 0 ox x
im
y im = 0 −1/s y oy y
1 0 0 1 1
RT1 (P w − T ) RT2 (P w − T )
−(x im − o x )s x = f T , −(y im − o y )s y = f T
R3 (P w − T ) R3 (P w − T )
or
RT1 (P w − T ) RT2 (P w − T )
x im = − fs x T + ox, y im = − fs y T + oy
R3 (P w − T ) R3 (P w − T )
y = y d (1 + k 1 r 2 + k 2 r 4 )
k 1 and k 2 are intrinsic parameters too but will not be considered here...
-7-
− f /s x 0 ox
M in = 0 − f /s y oy
0 0 1
r 11 r 12 r 13 −RT1 T
M ex = r 21 r 22 r 23 −RT2 T
r 31 r 32 r 33 −RT3 T
Xw Xw m m 14
Xw
xh Yw Y w 11
m 12 m 13
Yw
y = M M =M = m 21 m 22 m 23 m 24
h in ex
Z w Z w m 31
Zw
w 1 1
m 32 m 33 m 34
1
x h m 11 X w + m 12Y w + m 13 Z w + m 14
x im = =
w m 31 X w + m 32Y w + m 33 Z w + m 34
y h m 21 X w + m 22Y w + m 23 Z w + m 24
y im = =
w m 31 X w + m 32Y w + m 33 Z w + m 34
Note: the relation of 3D points and their 2D projections can be seen as a linear trans-
formation from the projective space (X w , Y w , Z w , 1)T to the projective plane
(x h , y h , w)T .
-8-
- Assuming o x = o y = 0 and s x = s y = 1
− fr 11 − fr 12 − fr 13 fRT1 T
M p = − fr 21 − fr 22 − fr 23 fRT2 T
r 31 r 32 r 33 −RT3 T
RT1 (P w − T ) RT2 (P w − T )
x=− f T y=− f T
R3 (P w − T ) R3 (P w − T )
− fr 11 − fr 12 − fr 13 fRT1 T
M wp = − fr 21 − fr 22 − fr 23 fRT2 T
0 0 0 RT3 (P − T )
where P is the centroid of the object (i.e., object’s average distance from the camera)
- After homogenization:
RT1 (P w − T ) RT2 (P w − T )
x=− f y=− f
RT3 (P − T ) RT3 (P − T )
-9-
- The affine model does not appear to correspond to any physical camera.