Scribd Logo
Upload

Welcome to Scribd!

  • 2 views

    Camera Parameters

    Uploaded by

    Ammar Ajmal

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd

    Camera Parameters

    Uploaded by

    Ammar Ajmal
    2 views50 pages

    Copyright

    © © All Rights Reserved

    Available Formats

    PPT, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    2 views50 pages

    Camera Parameters

    Uploaded by

    Ammar Ajmal

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    You are on page 1of 50

    Camera Parameters

    CS485/685 Computer Vision


    Prof. George Bebis
    CCD array and frame buffer
    • The physical image plane is the CCD array of n x m
    rectangular grid of photo-sensors.
    • The pixel image plane (frame buffer) is an array of
    N x M integer values (pixels).
    CCD array and frame buffer (cont’d)
    • The position of the same point on the image plane will
    be different if measured in CCD elements (x, y) or
    image pixels (xim, yim).

    (assuming that the origin in both cases is the upper-left corner)

    (xim, yim) measured in pixels


    (x, y) measured in millimeters.
    Reference Frames
    • Five reference frames are needed in general for 3D
    scene analysis.
    – Object
    – World
    – Camera
    – Image
    – Pixel
    (1) Object Coordinate Frame
    • 3D coordinate system: (xb, yb, zb)
    • Useful for modeling objects (i.e., check if a particular
    hole is in proper position relative to other holes)
    • Object coordinates do not change regardless how the
    object is placed in the scene.

    Our notation: (Xo, Yo, Zo)T


    (2) World Coordinate Frame
    • 3D coordinate system: (xw, yw, zw)
    • Useful for interrelating objects in 3D

    Our notation: (Xw, Yw, Zw)T


    (3) Camera Coordinate Frame
    • 3D coordinate system: (xc, yc, zc)
    • Useful for representing objects with respect to the location
    of the camera.

    Our notation: (Xc, Yc, Zc)T


    (4) Image Plane Coordinate Frame (i.e., CCD plane)

    • 2D coordinate system: (x f , y f )
    • Describes the coordinates of 3D points projected on the
    image plane.

    Our notation: (x, y)T


    (5) Pixel Coordinate Frame

    • 2D coordinate system: (c, r)


    • Each pixel in this frame has integer pixel coordinates.

    Our notation: (xim, yim)T x


    Transformations between frames
    World and Camera coordinate systems
    • In general, the world and camera coordinate systems
    are not aligned.
    center of projection

    optical axis
    World and Camera coordinate systems (cont’d)
    • To simplify mathematics, let’s assume:
    (1) The center of projection coincides with the origin of the
    world coordinate system.
    (2) The optical axis is aligned with the world’s z-axis and
    x,y are parallel with X, Y

    Y
    X

    x
    y
    World and Camera coordinate systems (cont’d)
    (3) Avoid image inversion by assuming that the image plane
    is in front of the center of projection.
    (4) The origin of the image plane is the principal point.

    center of
    projection
    Terminology - Summary
    • The model consists of a plane (image plane) and a 3D
    point O (center of projection).
    • The distance f between the image plane and the center
    of projection O is the focal length (e.g., the distance
    between the lens and the CCD array).

    center of
    projection
    Terminology - Summary (cont’d)
    • The line through O and perpendicular to the image
    plane is the optical axis.
    • The intersection of the optical axis with the image
    plane is called principal point.

    center of
    projection

    Note: the principal point is not necessarily the image center.


    The equations of perspective projection

    Z
    The equations of perspective projection (cont’d)
    • Using matrix notation:
    1
    1
    or 1
    1/f

    • Verify the correctness of the above matrix


    – homogenize using w = Z
    Properties of perspective projection
    • Many-to-one mapping
    – The projection of a point is not unique
    – Any point on the line OP has the same projection
    Properties of perspective projection (cont’d)
    • Scaling/Foreshortening
    – Object’s image size is inversely proportional to the distance
    of the object from the camera.
    Properties of perspective projection (cont’d)
    • When a line (or surface) is parallel to the image plane, the
    effect of perspective projection is scaling.
    • When an line (or surface) is not parallel to the image
    plane, the effect is foreshortening (i.e., perspective
    distortion).
    Properties of perspective projection (cont’d)
    • Effect of focal length
    – As f gets smaller, more points project onto the image plane
    (wide-angle camera).
    – As f gets larger, the field of view becomes smaller (more
    telescopic).
    Properties of perspective projection (cont’d)
    • What happens to lines, distances, angles and parallelism?
    – Lines in 3D project to lines in 2D (with an exception …)
    – Distances and angles are not preserved.
    – Parallel lines do not in general project to parallel lines due
    to foreshortening (unless they are parallel to the image plane).
    Properties of perspective projection (cont’d)
    • Vanishing point:
    – Parallel lines in space project perspectively onto lines that on
    extension intersect at a single point in the image plane called
    vanishing point (or point at infinity).
    – The vanishing point of a line depends on the orientation of
    the line and not on the position of the line.

    Note: vanishing
    points might lie
    outside of the
    image plane!
    Properties of perspective projection (cont’d)
    • Alternative definition for vanishing point:
    – The vanishing point of any given line in space is located at
    the point in the image where a parallel line through the
    center of projection intersects the image plane.
    Properties of perspective projection (cont’d)
    • Vanishing line:
    – The vanishing points of all the lines that lie on the same
    plane form the vanishing line.
    – Also defined by the intersection of a parallel plane through
    the center of projection with the image plane.

    vanishing
    line
    Orthographic Projection
    • The projection of a 3D object onto a plane by a set of
    parallel rays orthogonal to the image plane.
    • It is the limit of perspective projection as
    Orthographic Projection (cont’d)
    • Using matrix notation:

    • Verify the correctness of the above matrix (homogenize


    using w=1):
    Properties of orthographic projection

    • Parallel lines project to parallel lines.

    • Size does not change with distance from the camera.


    Weak-perspective projection
    • Approximate perspective projection by scaled
    orthographic projection (i.e., linear transformation).
    • Good approximation if:
    (1) the object lies close to the optical axis.
    (2) the object’s dimensions are small compared to its average
    distance from the camera
    Weak perspective projection (cont’d)

    • The term is a scale factor now (e.g., every point is scaled


    by the same factor).

    • Using matrix notation:

    • Verify - homogenize using


    What assumptions have we made so far?
    • Camera and world coordinate systems have been aligned
    (i.e., all distances are measured in the camera’s reference
    frame).
    • The origin of the image plane is the principal point.
    World – Pixel Coordinates
    • In general, world and pixel coordinates are related by
    additional parameters such as:
    – the position and orientation of the camera
    – the focal length of the lens
    – the position of the principal point
    – the size of the pixels
    Types of parameters

    • Extrinsic: the parameters that define the location and


    orientation of the camera reference frame with respect
    to a known world reference frame.

    • Intrinsic: the parameters necessary to link the pixel


    coordinates of an image point with the corresponding
    coordinates in the camera reference frame.
    Types of parameters (cont’d)
    Extrinsic camera parameters
    • Describe the transformation between the unknown camera
    reference frame and the known world reference frame.

    • Typically, determining these parameters means:

    (1) find the translation RT , T


    vector that maps the camera’s
    origin to the world’s origin.

    (2) find the rotation matrix


    that aligns the camera’s axes
    with the world’s axes.
    R, -T
    Extrinsic camera parameters (cont’d)
    • Using the extrinsic camera parameters, we can find
    the relation between the coordinates of a point P in
    world (Pw) and camera (Pc) coordinates:
    Extrinsic camera parameters (cont’d)

    or

    where RiT corresponds to the i-th row of the rotation matrix


    Intrinsic camera parameters
    • Characterize the geometric, digital, and optical
    characteristics of the camera:

    (1) the perspective projection (focal length f ).

    (2) the transformation between image plane coordinates


    and pixel coordinates.

    (3) the geometric distortion introduced by the optics.


    Intrinsic camera parameters
    (1) From Camera Coordinates to Image Plane Coordinates:

    perspective projection:
    Intrinsic camera parameters (cont’d)
    (2) From Image Plane Coordinates to Pixel coordinates

    (ox , oy) are the coordinates of the principal point


    e.g., ox = N/2, oy = M/2 if the principal point is
    the center of the image

    sx , sy correspond to the effective size of the


    pixels in the horizontal and vertical directions
    Intrinsic camera parameters (cont’d)
    • Using matrix notation:
    Intrinsic camera parameters (cont’d)
    (3) Relating pixel coordinates to world coordinates

    or

    f/sx f/sy
    Intrinsic camera parameters (cont’d)
    Image distortions due to optics

    (1) Radial distortion:

    2 2 2
    r x  y

    k1, k2, and k3 are intrinsic parameters


    Correcting radial distortion
    Intrinsic camera parameters (cont’d)
    Image distortions due to optics

    (2) Tangential distortion:

    p1 and p2 are intrinsic parameters


    Combine extrinsic with intrinsic camera parameters

    • The matrix containing the intrinsic camera parameters


    (not including distortion parameters for simplicity):

    • The matrix containing the extrinsic camera parameters:


    Combine extrinsic with
    intrinsic camera parameters (cont’d)
    • Using homogeneous coordinates:

    • M is called the projection matrix (i.e., 3 x 4 matrix).


    Combine extrinsic with
    intrinsic camera parameters (cont’d)

    • Warning: homogenization is required to obtain the pixel


    coordinates:
    Perspective projection - revisited

    • Assuming ox = oy = 0 and sx = sy = 1

    M  Mp

    • Verify:

    Homogenize:
    √
    Weak-perspective projection - revisited

    M  Mwp

    where is the centroid of the object


    (i.e., average distance from the camera)
    • Verify:

    Homogenize: √

    You might also like