Computer Vision (Cs708) : Lecture02 - Image Formation and Opencv

Computer Vision (CS708)
Lecture02 - Image formation and OpenCV
Dr. Abdul Basit
Assistant Professor - CSIT

University of Balochistan
September 29, 2016
Dr. Abdul Basit (CSIT - UoB) Computer Vision September 29, 2016 1 / 54
Contents
The contents of this lecture are taken form

Computer Vision: Algorithms and Applications (Richard Szeliski )
Introduction to computer vision CS
Learning OpenCV Computer Vision in C++ with OpenCV library Adrian
Kaebler & Gary Bradski
Contents
1 Computer vision techniques
2 Image formation
Pinhole camera
3 Projective geometry
2D geometry
Homogeneous coordinates
3D projection
Vanishing points and lines
4 OpenCV Installation
Computer vision overview
Overview of vision, examples of the state of the art, preview of
projects
Figure: Computer vision overview.

Computer vision algorithms
Figure: A pictorial summary of the computer vision algorithms. Reprinted form

Szeliski (2011).
Computer vision algorithms (Cond)
Figure: A pictorial summary of the computer vision algorithms. Reprinted form

Szeliski (2011).
Contents overview
Figure: Relationship between images, geometry, and photometry, as well as a

taxonomy of the topics covered in this book. Szeliski (2011).
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
A camera
What do we need to make a camera from scratch?
Image formation
This lecture
Mapping between image and world coordinates

Pinhole camera model
Projective geometry
Projection matrix
Image formation
Camera and world geometry
Camera and world geometry
How tall is the woman?

How high the camera is?
What is the camera rotation?
What is the focal length of the camera?
Which ball is closer?
Image formation
Let’s design a camera
Idea 1: put a piece of film in front of an object
Do we get a reasonable image?
Figure: Image formation understanding.
Image formation
Idea 2: add a barrier to block off most of the rays
This reduce blurring
The opening known as the aperture
Figure: Image formation understanding.
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
Image formation
Pinhole camera
Figure: A pinhole camera.

Image formation
Dimensionality Reduction Machine (3D to 2D)
Figure: A pinhole camera.
Projective geometry
What is lost?
What is lost?
Length
Which one is closer?
Dr. Abdul Basit (CSIT - UoB) Figure: What weVision

Computer lost after projection. September 29, 2016 17 / 54
Projective geometry
Length cannot be preserved?
Figure: Lenght is lost.

Projective geometry
Length cannot be preserved?
What is lost?
Length
Angles
Projective geometry
What is preserved?
What is preserved?
Straight lines are still straight
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
2D Modeling Transformation
2D Translation
Translation is a simple straight line movement of the object
Figure: 2D translation.
old coordinates are (x, y) and the new coordinates are (x’, y’)
0
x = x + Tx
0
y = y + Ty
2D Translation
Consider the following equation

0
x =x +3
0
y =y +1
This can be rewritten with matrices

0
x x 3
0 = +
y y 1
2D scaling
Scaling alters the size of the object. Sx and Sy are the scaling factors:
0 0
Old coordinates are (x, y ) and the new coordinates are (x , y )
0
x = x ∗ Sx
0
y = y ∗ Sy
2D scaling
Figure: 2D scaling.
2D Rotation
Example of a 2D rotation through an angle w where the coordinates

x, y go into x’, y’.
Note that w is positive for a counterclockwise rotation and that that
rotation is about the origin (0, 0).
Figure: 2D rotation.
Formula for rotation
0 0
Old coordinates are (x, y ) and the new coordinates are (x , y )
θ = initial angle, α = angle of rotation.
x = r cos θ
y = r sin θ
0
x = r cos(θ + α) = r cos θ cos α − r sin θ sin α
0
y = r sin(θ + α) = r sin θ cos α + r cos θ sin α
hence,
0
x = x cos α − y sin α
0
y = y cos α + x sin α
Martix representation of transformations
0 0
Scaling: x = x ∗ Sx , y = y ∗ Sy , which can be written as:
T
0 0 x S 0
× x

x y =
y 0 Sy
Rotation:
0
x = x cos α − y sin α
0
y = y cos α + x sin α
which can be written as:

T
0 0 x cos α sin α
x y = ×
y − sin α cos α
Martix representation of transformations
So if we wanted to scale and then rotate the object we could do the

following:
T
0 0 x S 0
× x

x y =
y 0 Sy
0 T
00 00 x cos α sin α
x y = 0 ×
y − sin α cos α
Matrix representation of transformations
But this is the same as:
T
00 00 x Sx 0 cos α sin α
x y = × ×
y 0 Sy − sin α cos α
T
x Sx cos α Sx sin α
= ×
y −Sy sin α Sy cos α
2D Transformations
Matrix representation of transformations
What about translation?

0
x = x ∗ Tx
0
y = y ∗ Ty
There is no way to express this as a multiplicative transformation with

a 2D matrix.
Therefore we go into hyperspace (N + 1 dimensions) , i.e., we embed
2D space into 3D space.
We express all coordinates as (xh, yh, z). This is called a
”Homogeneous” coordinate system.
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
2D transformations
Translation (represented by T = (Tx , Ty )):

 T  
0 x 1 0 0
0
x y 1 = y  ×  0 1 0
1 Tx Ty 1
which gives
0
x = x + 1 ∗ Tx
0
y = y + 1 ∗ Ty
1=1
2D transformations
Scaling (represented by S = (Sx , Sy ))

 T  
0 x Sx 0 0
0
x y 1 = y  ×  0 Sy 0
1 0x 0 1
which gives
0
x = x ∗ Sx
0
y = y ∗ Sy
2D transformations
Rotation (represented by R(q):

 T  
0 x cos q sin q 0
0
x y 1 = y  × − sin q cos q 0
1 0 0 1
which gives
0
x = x cos q − y sin q
0
y = y cos q + x sin q
Projection world to image coordinates
Figure: Projection from world to image coordinates.

Scaling
Invariant to scaling
Point in Cartesian is ray in Homogeneous
Projection Matrix
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
Projection Matrix
Projection Matrix
Remove assumption: known optical center
Projection Matrix
Remove assumption: square pixels
Oriented and translated camera
Figure: Oriented and translated camera.
Projection Matrix
Allow camera translation
Projection Matrix
3D rotation of points
Rotation around the coordinate axes, counter-clockwise:
Projection Matrix
Allow camera rotation
Projection
Degrees of freedom
Projection
Field of View (Zoom, focal length)
Projection Matrix
Beyond Pinholes: Radial Distortion
Figure: Radial distortion. Reprinted from
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
Projective geometry
Parallel lines in the world intersect in the image at a “vanishing point”
Projective geometry
Figure: Vanishing points and lines.

Projective geometry
Figure: Vanishing points and lines.
Things to remember
Contents
2 Image formation
Pinhole camera
2D geometry
3D projection
The End
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Computer Vision (CS708)

Lecture02 - Image formation and OpenCV

Dr. Abdul Basit

Assistant Professor - CSIT

September 29, 2016

The contents of this lecture are taken form

1 Computer vision techniques

Figure: Computer vision overview.

Figure: A pictorial summary of the computer vision algorithms. Reprinted form

Figure: A pictorial summary of the computer vision algorithms. Reprinted form

Figure: Relationship between images, geometry, and photometry, as well as a

1 Computer vision techniques

What do we need to make a camera from scratch?

Mapping between image and world coordinates

How tall is the woman?

Figure: Image formation understanding.

Figure: Image formation understanding.

1 Computer vision techniques

Figure: A pinhole camera.

Figure: A pinhole camera.

Dr. Abdul Basit (CSIT - UoB) Figure: What weVision

Figure: Lenght is lost.

1 Computer vision techniques

1 Computer vision techniques

Translation is a simple straight line movement of the object

Consider the following equation

This can be rewritten with matrices

Example of a 2D rotation through an angle w where the coordinates

which can be written as:

So if we wanted to scale and then rotate the object we could do the

But this is the same as:

What about translation?

There is no way to express this as a multiplicative transformation with

1 Computer vision techniques

Translation (represented by T = (Tx , Ty )):

Scaling (represented by S = (Sx , Sy ))

Rotation (represented by R(q):

Figure: Projection from world to image coordinates.

Point in Cartesian is ray in Homogeneous

1 Computer vision techniques

Figure: Oriented and translated camera.

Rotation around the coordinate axes, counter-clockwise:

Figure: Radial distortion. Reprinted from

1 Computer vision techniques

Parallel lines in the world intersect in the image at a “vanishing point”

Figure: Vanishing points and lines.

Figure: Vanishing points and lines.

1 Computer vision techniques

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