Camera Geometry and Single View Geometry Overview

Chapter 3
Camera Geometry and

Single View Geometry
Version 11.05.2015
Professur Digital- und Schaltungstechnik

Prof. Dr.-Ing. Gangolf Hirtz
Computer Vision
Version vom 11.05.2015
1-1
Content
3.1 Geometrical Imaging Process

3.1.1 Introduction
3.1.2 Extrinsic Model
3.1.3 Extrinsic Model Matlab Example
3.1.4 Intrinsic Model Projection
3.1.5 Intrinsic Model Affine Transformation
3.1.6 Summary
3.2 Pinhole Camera Model
3.2.1 The Geometrical Model of a Pinhole Camera
3.2.2 The Geometrical Model of a Pinhole Camera Matlab
Example
3.2.3 Intrinsic Model Camera Calibration Matrix K
3.3 Projective Camera Model
3.3.1 Intrinsic Model Camera Calibration Matrix K
3.3.2 The Projection Matrix P
3.3.2 The Projection Matrix P Matlab Example
3.3.3 The Projection Matrix P Example Basler acA630100gc

Computer Vision
1-2

3.1.1 Introduction
An imaging device or camera usually maps an observed
3D scene to a 2D image by projection.
Several projection principles are known and vitally
characterize a camera: parallel projection, perspective
projection, orthographic projection, oblique projection,
Projection principles can be mathematically approximated

by an appropriate model which is commonly known as
camera model or projection model.
Most commonly known imaging devices follows the

perspective projection principle and is known as pinhole
camera model
Focal length f
Camera (box)
Optical axis/principle axis
Sensor Plane/Image Plane
Principle Point / Camera Center / Optical Center / Pinhole

Computer Vision
1-3

3.1.1 Introduction
Mathematically the image that has been projected upsidedown can be flipped using the principle point
Focal length f
Principle Plane
Sensor Plane/Image Plane
Computer Vision
1-4

3.1.1 Introduction
The principle of the pinhole camera was already
discovered by Aristoteles (384-322 B.C.).
First steps with the pinhole camera was taken by the Arab
Alhazen in 980 as he investigates the human eye.
At the end of the 13th century astronomics used the
pinhole camera to observe sunspots.

Computer Vision
1-5

3.1.1 Introduction
The first published picture of a pinhole camera obscura is apparently a drawing in Gemma Frisius' De Radio Astronomica et
Geometrica (1545).
The very term camera obscura ("dark room") was coined by Johannes Kepler (15711630).
The first photography was taken by a pinhole camera in 1816 by Joseph Nicphore Nipcecht. Unfortunately he wasnt
able to fix it. But a few months later he presents the first photo of the world, a view out of his studyroom.

Computer Vision
1-6

3.1.1 Introduction
The geometrical relationship between 3D scene points
Xwrld and the resulting 2D image points Ximg is often quite
complex due to the physical construction of the imaging
device.
X wrld
xwrld
y
wrld
zwrld
w
wrld
By employing a finite amount of numerical parameters,

the actual process of projection can be replaced by an
appropriate mathematical relationship of bearable
computational cost.
Geometrical imaging process
Ximg
ximg
yimg
wimg
3D scene point
Camera
zwrld
Ximg
X wrld
ywrld
xwrld
Observed scene
2D
Image point
Image
World coordinate system

Computer Vision
1-7

3.1.1 Introduction
The overall imaging process that transfers a scene point
Xwrld to an image point Ximg successively utilizes an
extrinsic and an intrinsic model
X wrld
xwrld
y
wrld
zwrld
w
wrld
Extrinsic model
Xcam
Xcam
xcam
y
cam
zcam
w
cam
Intrinsic model
Ximg
ximg
yimg
wimg
xcam
zcam
ximg
Image coordinate system
Camera
zwrld
ycam
X wrld
xwrld
yimg
ywrld
Camera coordinate system
Ximg
Observed scene

Computer Vision
1-8

Transformation from world points Xwrld to camera points Xcam in multiple camera environments
Incorporates the distinct geometrical relationship Hi of each camera with respect to WCS
xcam
zcam
R 0 C0
Camera
Xcam,0
Xcam,1
xcam
zcam
R1 C1
Camera
zwrld
X wrld
xwrld
Observed scene

ywrld
H1
H0
R
Hi i
0
R iCi
1
Xcam,0 H 0 1 X wrld
Xcam,1 H11 X wrld
Ci
origin of the camera coordinate
frame provided in world frame
coordinates
Ri
3x3 rotation matrix representing the
orientation of the
camera
coordinate frame with respect to
the world frame
R results out of three angles
discribing a sequence of three
elementary rotations around x, y, zaxis respectively (each performed
clockwise)
Computer Vision
1-9

3.1.3 Extrinsic Model - Matlab Example
Example: Optical sensor network to observe a complex indoor environment (e.g. domestic home environment)
Camera 3
WCS
Camera 2
Camera 1

Computer Vision
1-10

0001 clear all; close all; clc;
0002
0003 %% Extrinsic Camera Parameter
0004 % Camera centres
0005 C1 = [ 2.6607;
0.1006; 2.4089]; % Smart Sensor 605
0006 C2 = [-1.6157;
2.7995; 2.4119]; % Smart Sensor 601
0007 C3 = [-1.8482; -1.7443; 2.3955]; % Smart Sensor 602

0008
0009 % Rotation matrices
0010 R1 = [
-0.7770
0.6286
0.0339
0011
0.3719
0.5018
-0.7809
0012
-0.5079
-0.5942
0014 R2 = [
-0.5233
-0.8521
0.0080
0015
-0.5388
0.3236
-0.7778
0016
0.6602
-0.4113
0018 R3 = [
-0.4861
-0.8670
0.1097
0019
-0.6689
0.2884
-0.6852
0020
0.5624
-0.4065
-0.6237];
0013
-0.6285];
0017
-0.7201];
0021

Computer Vision
1-11

0022 % Translation vectors
0023 T1 = -R1*C1;
0024 T2 = -R2*C2;
0025 T3 = -R3*C3;
0026
0027 %% Setup Homographies
0028 H1 = [R1 T1; 0 0 0 1];
0029 H2 = [R2 T2; 0 0 0 1];
0030 H3 = [R3 T3; 0 0 0 1];
0031
0032 %% Plot WCS
0033 h1 = figure(1); hold on; grid on; axis equal;
0034 xlabel('x [m]'); ylabel('y [m]'); zlabel('z [m]'); view(70, 20);
0035 axis([-3 +3 -3 +3 0 3]);
0036
0037 i = [1; 0; 0];
0038 j = [0; 1; 0];
0039 k = [0; 0; 1];
0040 o = [0; 0; 0];
0041
0042 plot3([o(1) i(1)], [o(2) i(2)], [o(3) i(3)], 'r-', 'MarkerSize', 5);
0043 plot3([o(1) j(1)], [o(2) j(2)], [o(3) j(3)], 'g-', 'MarkerSize', 5);
0044 plot3([o(1) k(1)], [o(2) k(2)], [o(3) k(3)], 'b-', 'MarkerSize', 5);
Computer Vision
1-12

0045
0046 %% Plot camera coordinate systems
0047 i1 = H1^-1*[i; 1];
0048 j1 = H1^-1*[j; 1];
0049 k1 = H1^-1*[k; 1];
0050 o1 = H1^-1*[o; 1];
0051
0052 plot3([o1(1) i1(1)], [o1(2) i1(2)], [o1(3) i1(3)], 'r-', 'MarkerSize', 1);
0053 plot3([o1(1) j1(1)], [o1(2) j1(2)], [o1(3) j1(3)], 'g-', 'MarkerSize', 1);
0054 plot3([o1(1) k1(1)], [o1(2) k1(2)], [o1(3) k1(3)], 'b-', 'MarkerSize', 1);
0055
0056 i2 = H2^-1*[i; 1];
0057 j2 = H2^-1*[j; 1];
0058 k2 = H2^-1*[k; 1];
0059 o2 = H2^-1*[o; 1];

0060

Computer Vision
1-13

Observed Indoor Scene
H0
H1
WCS
H2
0064
0065 i3 = H3^-1*[i; 1];

0066 j3 = H3^-1*[j; 1];
0067 k3 = H3^-1*[k; 1];
Floor (z == 0 m)
0068 o3 = H3^-1*[o; 1];

0069

Computer Vision
1-14

3.1.4 Intrinsic Model - Projection
The Projection process from Xcam to normalized sensor
coordinates Xnorm is modelled by a projection function F
The cameras sensor plane is assumed to have unit
length from the principle point
Xcam
xcam
y
cam
zcam
w
cam
Projection
X norm
xnorm
ynorm
1
Camera sensor plane
ynorm
Xnorm
xnorm
Normalized sensor coordinate system
Xcam
Observed scene
Focal length f normalized

to unit length
ycam
zcam
xcam
Camera centre/Principle point

Computer Vision
1-15

The camera coordinate Xcam is considered as incident
light ray (, , )
Xcam
xcam

ycam
zcam

The radial projection of an incoming light ray (, , )

onto a virtual image plane with a distance of f = 1 to the
projection center can be modelled with the radial
projection function F():
x
X norm norm F ( ) ( ) u r
ynorm
cos
with u r
sin
elevation
ynorm
Xnorm ()
ur
xnorm
distance
Xcam
Observed scene

azimuth
ycam
zcam
xcam
Computer Vision
1-16

Projection
Type
Function F
Properties and Applications
Perspective
projection
= tan
Applied
in
conventional
cameras that follow the pinhole
principle with < 2
Stereographic
projection
= 2 tan 2
Commonly
used
for
the
generation of stellar maps and
photography.
angles
are
preserved (equal angles) and
circles are imaged without
distortions (equal circles).
Equidistance
projection
It is the most popular model for

describing fisheye projection
lenses. Incidence angles of rays
are imaged linearly.
Equisolid
angle
projection
= 2 sin
Orthogonal
projection
= sin
Each pixel corresponds to one

distinct solid angle which makes
the image look like the reflection
by a specular ball.
This camera principle models
the projection onto a sphere.
The projection radius is
increasing with increasing
incidence angle
until reaches pi/2. Than it is
declining again.

Computer Vision
1-17

Perspective Projection
Most commonly applied projection method
Limited field of view (FOV) to approx. 120 ()
Equiangular Projection
Applied by e.g. fish-eye cameras
FOV > 180
= tan

Computer Vision
1-18

3.1.5 Intrinsic Model Affine Transformation
The transformation from normalized sensor coordinates to
image coordinates is finally done by means of an affine
transformation matrix K
K is called camera calibration matrix
X norm
xnorm
ynorm
1
Affine
Transformation
Ximg
ximg
yimg
wimg
ynorm
Xnorm
xnorm
ximg
Normalized sensor coordinate system

yimg
Ximg
Ximg K X norm

Computer Vision
1-19

3.1.6 Summary
Geometrical imaging process is characterized by an
extrinsic and intrinsic model
Intrinsic model (camera model) is split into different
projection models F and an affine transformation K
Relevant camera models are
Pinehole camera model
Projective camera model

Computer Vision
1-20

3.2.1 The Geometrical Model of a Pinhole Camera
Central projection is mapping a point Xcam in 3D space to
a point Ximg in 2D space:
xcam , ycam , zcam
imaging process
, yimg
img
Using similar triangles one verifies that:
xcam , ycam , zcam
Xcam
f xcam / zcam , f ycam / zcam
Using homogeneous coordinates, one can put that

transformation in a matrix expression:
ximg
f xcam f
1

yimg z f ycam
cam
1
zcam
0
0
1 0
xcam
1 ycam
zcam zcam
1
normalized sensor coordinates
tan
image point in 2D
image frame
Ximg
The 3x4 transformation matrix used is called a camera

projection matrix P
Ximg P Xcam
P can be decomposed in the following manner:
object point in
3D world frame
Xcam
x
f ycam / zcam
f
P diag( f , f ,1) I | 0
The Diagonal Matrix is called the camera calibration

matrix K
K diag ( f , f ,1)
zcam
Computer Vision
1-21

3.2.2 The Geometrical Model of a Pinhole Camera - Matlab Example
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
0027
0028
%% Camera Matrix
% Intrinsic Camera Parameter
f = 4;
% Focal Length
% Setup Projection matrix
P = diag([f f 1])*[eye(3) zeros(3, 1)];
%% Project World Point
Xw = [4; 5; 9];
% Object Point (World Frame)
% X = 4, Y = 5, Z = 9
Xw_h = [Xw; 1];
% Transform to homogeneous Coordinates
Xc_h = P*Xw_h;
% Project!
Xc = 1/Xw(3)*Xc_h;% Image Point (Camera Frame)
%% Plot Principal Point
figure_01 = figure; hold on; grid on;
plot3(0, 0, 0, 'm.', 'Markersize', 20);
%% Draw Image Plane
[X, Y, Z] = meshgrid(-5:0.1:5, -5:0.1:5, -5:0.1:5);
data = 0*X+0*Y+1*Z-f; % Normal from for a plane
p = patch(isosurface(X, Y, Z, data, 0)); hold on;
set(p, 'FaceColor', 'red', 'EdgeColor', 'none')
alpha(0.5); view(17,24);
axis([-5 5 -5 5 0 10]);

Computer Vision
1-22

3.2.2 The Geometrical Model of a Pinhole Camera - Matlab Example
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0041
0042
0043
0044
0045
0046
%% Draw Object and Image Point

plot3(Xw(1), Xw(2), Xw(3), 'b*', 'Markersize', 10);
plot3(Xc(1), Xc(2), f, 'b*', 'Markersize', 5);
plot3([0 Xw(1)], [0 Xw(2)], [0 Xw(3)], 'b--');
%% Add some text

text(0.5, 0.5, 0,...
'Principal Point', 'FontSize', 10,...
'FontWeight', 'bold', 'Color', 'magenta');
text(Xw(1) - 3.0, Xw(2) - 3.0, Xw(3),...
'Object Point',
'FontSize', 10, 'FontWeight', 'bold', 'Color', 'blue');
text(Xc(1) + 0.5, Xc(2) + 0.5, f,...
'Image Point',
'FontSize', 10,...
'FontWeight', 'bold', 'Color', 'blue');
text(-2, -2, f,...
'Image Plane',
'FontSize', 10,...
'FontWeight', 'bold', 'Color', 'red');

Computer Vision
1-23

ximg
3.2.3 Intrinsic Model - Camera Calibration Matrix K

It is common for images to have only positive coordinates
(image coordinates start at the upper left corner of the
image), so a further adaption has to be done
ximg ximg cx
yimg yimg c y
The principal point (cx, cy) is the offset with respect to the
image frame and enhances the camera calibration matrix
f
K

yimg
Ximg
ximg
Principal Point (cx, cy)
yimg
cx
c y
1
K is an upper triangle matrix with 3 dof

A camera is denoted as a calibrated camera so soon as
K is known
The pinhole camera model is a ideal one assuming that
image coordinates are Euclidean coordinates having
equal scales in both axial directions

Computer Vision
1-24

Every single cameras position C is described by a
rotation R and a translation T with respect to the world
coordinate system
A Point Xwrld can be translated into a point Xcam by the
following mathematical relationship
H0
Xcam R X wrld C
H1
H2
WCS
Homogeneous coordinates let us use this relation in a
more compact matrix form
R RC
Xcam
X wrld
1
The overall imaging process is now as follows:

Ximg P X cam
Ximg K I | 0 X cam
R RC
Ximg K I | 0
X wrld
1
With the new relationship one can determine the image

coordinates of a point given in world coordinates as
follows:
Ximg P X wrld
with P KR I | C
P can be computed from point correspondences Xwrld

Ximg
Ximg K R |
RC X wrld
Translation vector T
Ximg K R I | C X wrld

Computer Vision
1-25

0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
%% Camera Matrix
f = 2;
% Focal Length
K = diag([f f 1]); % Intrinsic camera Parameter
% Extrinsic Camera Parameter
C1 = [-3; +4; -3];
% Camera Centre Cam 1
C2 = [3; -4; 1];
C3 = [3; -5; -5];
% Rotate Cam 1 by 0, Cam2
% arround the x-axis
R1 = [1.0000
0
0
1.0000
0
0
R2 = [1.0000
0
0
-0.7071
0
0.7071
R3 = [1.0000
0
0
0
0
1.0000
t1 = -R1*C1;
t2 = -R2*C2;
t3 = -R3*C3;
by 45 and Cam3 by 90
0
0
1.0000];
0
0.7071
0.7071];
0
1.0000
0];
% Translation vector with respect to R and C


Computer Vision
1-26

0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
0044
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054

P1 = K*[R1 t1];
P2 = K*[R2 t2];
P3 = K*[R3 t3];
%% Plot Principal Points
plot3(C1(1), C1(2), C1(3), 'r.', 'Markersize', 20);
plot3(C2(1), C2(2), C2(3), 'g.', 'Markersize', 20);
plot3(C3(1), C3(2), C3(3), 'b.', 'Markersize', 20);
%% Draw Image Plane Camera 1
[X, Y, Z] = meshgrid(
(C1(1)-3):0.1:(C1(1)+3),...
(C1(2)-3):0.1:(C1(2)+3),...
(C1(3)-3):0.1:(C1(3)+3));
plane = P1(3, :);
data = plane(1)*X + plane(2)*Y + plane(3)*Z + (plane(4)-f)*1;
set(p, 'FaceColor', 'red', 'EdgeColor', 'none');
(C2(1)-3.0):0.1:(C2(1)+3.0),...
(C2(2)-4.2):0.1:(C2(2)+4.2),...
(C2(3)-4.2):0.1:(C2(3)+4.2));
plane = P2(3, :);
set(p, 'FaceColor', 'green', 'EdgeColor', 'none');

Computer Vision
1-27

0055
0056
0057
0058
0059
0060
0061
0062
0063
0064
0065
0066

(C3(1)-3):0.1:(C3(1)+3),...
(C3(2)-3):0.1:(C3(2)+3),...
(C3(3)-3):0.1:(C3(3)+3));
plane = P3(3, :);
set(p, 'FaceColor', 'blue', 'EdgeColor', 'none');
alpha(0.5); view(140, 35);

axis([C(1)-10 C(1)+10 C(2)-10 C(2)+10 C(3)-10 C(3)+10]);

Computer Vision
1-28

ximg
3.3.1 Intrinsic Model - Camera Calibration Matrix K

In the case of CCD cameras there is the possibility to
have non-square pixels and hence having unequal scale
factors for both image directions.
yimg
Ximg
Imagine a pixel density (no. of pixels per unit length) of

mx (x-direction) and my (y-direction), the calibration matrix
K changes to
x s
K
y
cx
c y with x f mx , y f m y , s f
1
where x and y represent the focal length with respect

to the pixel dimensions in both directions.
Although it is very seldom for some rare cases it is
necessary to introduce the skew factor s, defining the
geometrical dependency of the y-dimension in pixel
frame from the x-axis:
s>0
s=0
A camera having P as described above is known as finite

projective camera.and has 11 degrees of freedom

Aspect Ratio
The ratio of x and y is often called aspect ratio and is

very close to 1.
x/y =<1
x/y = =1
mxno. of pixel per m along the x-axis, hor. pixel density,

[px/m]
myno. of pixel per m along the y-axis,vert. pixel density,
[px/m],
Shear angle between the image axes; is encoded
within s
(x, y)
focal length, with respect to pixel dimensions
Computer Vision
1-29

The imaging process of a camera is completely described
by the projection matrix P
Ximg P X wrld
The projection matrix P is a 3x4 matrix performing the

transformation from projective space in 3D to a 2D plane
x1 p11

x2 p21
x p
3 31
p12
p22
p32
p13
p23
p33
x
p14 1
x
p24 2
x
p34 3
x4
Note that P has only eleven degrees of freedom, though

it has twelf components. In other words, P is determined
up to an unknown scale factor
P can be decomposed in the following manner
p1R
P p 2R
p 3R
|
p1C
|
p 2C
p 3C
|
p 4C
|

Computer Vision
1-30

Rows
Rows of P can be seen as planes in the projective space
P3 (Principal Plane, Planes orthogonal to x-, y-axis
containing principal point and origin of image coordinate
system)
The line formed by the intersection of the rows p2R and
p3R connects the principal point and the origin of the
image coordinate system
Columns
Columns of P denote special points within the projection
plane
p1C, p2C, p3C are the projections of the axis directions of
x-, y- and z-axis.
p4C is the projection of the origin of the world frame.
Projection Centre/Principal Point
P C 0

Computer Vision
1-31

3.3.3 The Projection Matrix P - Matlab Example
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
%% Camera Matrix
f = 2;
% Focal Length
K(1, 3) = 0;
K(2, 3) = 0;
C = [0; 0; 0];
% Camera Centre
R = [1 0 0
0 0 1
0 1 0];
% We change x and y coordinates
t = -R*C;
P = K*[R t];
%% Graphical Sketch
plot3(C(1), C(2), C(3), 'm.', 'Markersize', 20);
%% Draw all Planes encoded in P
(C(1)-5):0.1:(C(1)+5),...
(C(2)-0):0.1:(C(2)+5),...
(C(3)-5):0.1:(C(3)+5));
0043
0044
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
0060

% The Image Plane is the Principal Plane with an offset of f!
plane = P(3, :);
alpha(0.5); view(110, 15);
axis([C(1)-5 C(1)+5 C(2)-0 C(2)+5 C(3)-5 C(3)+5]);
% Save Image
print(figure_01, '-r600', '-dtiff',...
'..\Images\16_Example_Projection_Matrix_01.tif');
% Convert document to rtf
highlight('m05_Example_Camera_Matrix.m', 'rtf', ...
'm05_Example_Camera_Matrix.rtf')
P=
2
0
0
0
0
1
0
2
0
0
0
0
% The x-axis Plane is the 1rd row of P!

plane = P(1, :);
data = plane(1)*X + plane(2)*Y + plane(3)*Z + plane(4)*1;
set(p, 'FaceColor', 'yellow', 'EdgeColor', 'none');
% The y-axis Plane is the 2rd row of P!
plane = P(2, :);
% The Principal Plane is the 3rd row of P!
plane = P(3, :);

Computer Vision
1-32

3.3.3 The Projection Matrix P - Matlab Example
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
%% Camera Matrix
f = 2;
% Focal Length
K(1, 3) = 3;
K(2, 3) = 2;
C = [3; 2; 1];
% Camera Centre
R = [1 0 0
0 0 1
0 1 0];
% We change x and y coordinates
t = -R*C;
P = K*[R t];
%% Graphical Sketch
plot3(C(1), C(2), C(3), 'm.', 'Markersize', 20);
%% Draw all Planes encoded in P
(C(1)-5):0.1:(C(1)+5),...
(C(2)-0):0.1:(C(2)+5),...
(C(3)-5):0.1:(C(3)+5));
0043
0044
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
0060

% The Image Plane is the Principal Plane with an offset of f!
plane = P(3, :);
alpha(0.5); view(110, 15);
axis([C(1)-5 C(1)+5 C(2)-0 C(2)+5 C(3)-5 C(3)+5]);
% Save Image
print(figure_01, '-r600', '-dtiff',...
'..\Images\16_Example_Projection_Matrix_01.tif');
% Convert document to rtf
highlight('m05_Example_Camera_Matrix.m', 'rtf', ...
'm05_Example_Camera_Matrix.rtf')
P=
2
0
0
3
2
1
0
2
0
-12
-6
-2
% The x-axis Plane is the 1rd row of P!

plane = P(1, :);
set(p, 'FaceColor', 'yellow', 'EdgeColor', 'none');
% The y-axis Plane is the 2rd row of P!
plane = P(2, :);
% The Principal Plane is the 3rd row of P!
plane = P(3, :);

Computer Vision
1-33

3.3.4 The Projection Matrix P - Example Basler acA640-100gc

Computer Vision
1-34

3.3.4 The Projection Matrix P - Example Basler acA640-100gc
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
%% Example Projection Matrix (Computed)
P (computed)
fx = 4.5e-3;
fy = 4.5e-3;
mx = 1/6.5e-6;
my = 1/6.5e-6;
x0 = 640/2;
y0 = 480/2;
ax = fx*mx;
ay = fy*my;
s = 0;
692,3076923076
0
0
692,3076923076
0
0
1
K = [
ax
0
0
s
ay
0
%
%
%
%
Focal
Focal
no of
no of
Length
Length
pixels
pixels
4.5mm
4.5mm
per mm
per mm
320
240
0
0
0
% skew factor
x0;
y0;
1 ];
C = [0; 0; 0];
R = eye(3);
t = -R*C;
P = K*[R t];
disp(P);

P (estimated by calibration procedure)

8.275244814e+02
0
0
0
8.2706873781e+02
0
0
0
1
3.2435919943e+02
2.4445479377e+02
0
Computer Vision
1-35
Literature
[1] Richard Hartley, Andrew Zisserman. Multiple View Geometry in

computer vision. Cambridge university press, 2003

Computer Vision
1-55

Camera Geometry and Single View Geometry Overview

Cargado por

Información del documento

Descripción original:

Título original

Derechos de autor

Formatos disponibles

Compartir este documento

Compartir o incrustar documentos

Opciones para compartir

¿Le pareció útil este documento?

¿Este contenido es inapropiado?

Copyright:

Formatos disponibles

Camera Geometry and Single View Geometry Overview

Cargado por

Copyright:

Formatos disponibles

Chapter 3

Camera Geometry and

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Projection principles can be mathematically approximated

Most commonly known imaging devices follows the

Optical axis/principle axis

Sensor Plane/Image Plane

Principle Point / Camera Center / Optical Center / Pinhole

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

By employing a finite amount of numerical parameters,

Geometrical imaging process

World coordinate system

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Camera coordinate system

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

0.1006; 2.4089]; % Smart Sensor 605

2.7995; 2.4119]; % Smart Sensor 601

0007 C3 = [-1.8482; -1.7443; 2.3955]; % Smart Sensor 602

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

3.1 Geometrical Imaging Process

0059 o2 = H2^-1*[o; 1];

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

0065 i3 = H3^-1*[i; 1];

0068 o3 = H3^-1*[o; 1];

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Camera sensor plane

Focal length f normalized

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

The radial projection of an incoming light ray (, , )

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Properties and Applications

It is the most popular model for

Each pixel corresponds to one

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Normalized sensor coordinate system

Image coordinate system

Professur Digital- und Schaltungstechnik

3.1 Geometrical Imaging Process

Professur Digital- und Schaltungstechnik