CAP5415 Fall 2004 Lecture 02

CAP5415 Fall 2004 Lecture 02 - Alper Yilmaz, CAP5415, Fall...

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Unformatted text preview: Alper Yilmaz, CAP5415, Fall 2004 1 CAP 5415 Computer Vision Fall 2004 Dr. Alper Yilmaz Univ. of Central Florida Alper Yilmaz, CAP5415, Fall 2004 2 Imaging Geometry Alper Yilmaz, CAP5415, Fall 2004 3 Pin hole Camera Alper Yilmaz, CAP5415, Fall 2004 4 Perspective Projection Objects farther appear smaller Points go to Points Lines go to Lines Planes go to whole image or Half-planes Polygons go to Polygons H o r i z o n Alper Yilmaz, CAP5415, Fall 2004 5 Perspective Projection (Origin at lens center) Z Y f y =- Z X f x- = Z Y f y- = Image plane 3D world Pin hole camera Z f (X,Y,Z) y ) ( O Alper Yilmaz, CAP5415, Fall 2004 6 Perspective Projection (Origin at image center) Image plane 3D world Pin hole camera Z f (X,Y,Z) y O f Z Y f y- =- f Z Y f y-- = Z f fY y- = Z f fX x- = Alper Yilmaz, CAP5415, Fall 2004 7 Homogenous Coordinates A A A A A A A AA AA A s corrdinate world homogenous s coordinate world cartesian ) , , , ( ) , , ( k kZ kY kX Z Y X s coordinate world cartesian 4 3 4 2 4 1 s corrdinate world homogenous 4 3 2 1 ) , , ( ) , , , ( C C C C C C C C C C Alper Yilmaz, CAP5415, Fall 2004 8 Camera Parameters Image coordinates ( x image , y image ) Image center ( o x , o y ) Camera coordinates ( x camera , y camera ) Real world coordinates ( X, Y, Z ) Focal length f Effective size of pixel in millimeter ( k x , k y ) Alper Yilmaz, CAP5415, Fall 2004 9 Camera Parameters y camera y image x camera x image o y k y o x k x + = + = = 1 1 1 camera camera y y x x image image y x o k o k y x...
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CAP5415 Fall 2004 Lecture 02 - Alper Yilmaz, CAP5415, Fall...

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