# Lecture-4 - Lecture-4 Camera Model Revisited Section 2.4,...

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1 Lecture-4 Camera Model Revisited • Section 2.4, and 6.3 from “Introductory Techniques for 3-D Computer Vision”

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2 Camera Parameters • Extrinsic parameters – Parameters that define the location and orientation of the camera reference frame with respect to a known world reference frame • 3-D translation vector • A 3 by 3 rotation matrix • Intrinsic parameters – Parameters necessary to link the pixel coordinates of an image point with the corresponding coordinates in the camera reference frame • Perspective projection • Transformation between camera frame coordinates and pixel coordinates Camera Model Revisited: Rotation & Translation = = = = 1 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 33 32 31 23 22 21 13 12 11 33 32 31 23 22 21 13 12 11 33 32 31 23 22 21 13 12 11 Z Y X T T T r r r r r r r r r P Z Y X T r r r T r r r T r r r Z Y X r r r r r r r r r T T T TRP P z y x c z y x z y x w c = 1 Z Y X M P ext c
3 Perspective Projection: Revisited (X,Y,Z) Lens Image Plane Z y f Z fX x Z fY y Z f Y y = = = World point Camera Model Revisited: Perspective Z fY y Z fX x Z Y X f f C h = = = 1 0 0 0 0 0 0 Origin at the lens Image plane in front of the lens

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4 y y im x x im s o y y s o x x ) ( ) ( - - = - - = image coordinates camera coordinates image center (in pixels) effective size of pixels (in millimeters) in the horizontal and vertical directions . ) , ( im im y x ) , ( y x ) , ( y x s s ) , ( y x o o Camera Model Revisited: Image and Camera coordinates - - = 1 1 0 0 1 0 0 1 1 y x o s o s y x y x x x im im y y im x x im o s y y o s x x + - = + - = m x y x im y im Camera Model Revisited - - = 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 33 32 31 23 22 21 13 12 11 4 2 1 Z Y X T r r r T r r r T r r r f f o s o s Ch Ch Ch z y x y y x x h h W R T P C C = = = 1 1 4 2 1 int 4 2 1 Z Y X M Ch Ch Ch Z Y X M M Ch Ch Ch ext -
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## This note was uploaded on 06/12/2011 for the course CAP 5415 taught by Professor Staff during the Fall '08 term at University of Central Florida.

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Lecture-4 - Lecture-4 Camera Model Revisited Section 2.4,...

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