Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
 
 
 The Lecture Contains:
 
 
 
  6.4 Projection and Geometric Mapping
 
 
 
 
 
 
 
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_1.htm[12/30/2015 4:25:46 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
  6.4 Projection and Geometric Mapping
 
  
  For this analysis, the pin-hole camera model is used. Any point from the 3D
 
  world is mapped by the central projection equation into image plane coordinates as,
 
  ( 6.23)
 
  If the 3D world object is at far distance from the camera, the orthographic projection (parallel
  projection) can be used as an approximation. In this case, only the horizontal/vertical 3D coordinates
  X and Y are projected into image coordinates, while focal length and depth (distance) are both
compensated by a factor C which is constant over all points of an object:

(6.24)

In the sequel, the projection relationships are described for the case of changing 3D position of a
rigid object relative to the camera position. In principle, it is irrelevant if this change of relative
position incurs due to camera movement or due to movement of the object. The change of a position
  of a rigid object can entirely be described by three translational parameters (change of the object
centroid in X, Y, Z). The change of its orientation is expressed by three rotational parameters, the
rotation angles around the axes of a coordinate system with origin at the mass centroid
of the object. For a mass point belonging to the object, the resulting shift from position
into position can be described as

(6.25)

   
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_2.htm[12/30/2015 4:25:46 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
 
  Herein, the translation vector describes the shift of the centroid, and the rotation
  matrix is defined by
 
  (6.26)
 
 
  The components of the rotation matrix are in principle functions of the rotation angles
  and , which define the rotation around the object's centroid. The relative coordinate system of
  (6.4) has however its origin at the focal point of the camera. An exact description of the relationships
  between the -values and the matrix elements is beyond the scope of detail that can be given
 
here; it shall be noted however, that due to the change of the centroid relative to the camera
coordiante system, the are not only dependent on the angles, but are influenced by the -values
as well. A similar problem will be treated below in the context of a 2D rotation. From the matrix
system, the coordinates after the change of the relative position can be specified as

(6.27)
 
 
Substituting above relations into (6.23), the projection onto the image plane gives

(6.28)

   
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_3.htm[12/30/2015 4:25:46 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
  This can be resolved for direct specification of and by
 
 
 
  (6.29)
 
 
  The above equations define the image plane coordinates and after the movement, as a
  function of the image plane coordinates and before the movement. Further dependencies on
 
the parameters describing the movement, from the focal length F and the depth Z are also taken into
 
  effect. For the case of orthographic projection (6.24), a much simpler relationship expresses the
dependency of image plane coordinates before and after the movement:

In this case, no dependency exists on the focal length and on the translation in Z direction. The
entire mapping is described by linear relationships. According to (6.24), no depth-dependency is
given, such that the condition must be . These simplifications can however be
seen as a tradeoff against the less accurate modeling of the projection, which is only valid for objects
which are at far distance from the camera. A description of the relationships in (6.24) is then possible
by a total number of 6 parameters, which is the affine transform, expresses a linear relationship of
 
coordinates and by

Or

(6.30)

 
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_4.htm[12/30/2015 4:25:47 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
 
 
 
 
 
 
 
 
 
 
 
 

Fig. 6.7

  The affine transform is the most universal linear transform applicable to 2D coordinate relationships.
The single parameters of the affine transform have the following effects regarding modifications of a
2D geometry (see Fig. 6.7):
Scaling in horizontal / vertical direction
Shear in horizontal / vertical direction
Translation in horizontal / vertical direction

 
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_5.htm[12/30/2015 4:25:47 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
  Fig.6.8 shows examples of geometric modifications which result by combinations of several affine
  transform parameters. These are in particular typical for the 2D projection from rigid 3D objects with
 
planar surfaces. An overview is given in Table 6.1.
 
  These geometric modifications are directly related to effects of the projection. Regarding

  the example of a planar surface which is positioned in the 3D world in parallel to the image plane
  orientation, the following phenomena are observed:
  A 3D translation in parallel to the image plane is perceived as 2D translation;
  A 3D translation perpendicular to the image plane (distance change) is observed as 2D scaling;
  A 3D rotation around the Z coordinate axis (optical axis) is interpreted as 2D rotation;
  3D rotations exclusively around one of the X or Y coordinate axes appear as a change of the
  aspect ratio;
Mixed forms of rotations around several axes effect a mapping onto a non-orthogonal coordinate
system, which can be described as shear.

Table 6.1: Relationship between geometric modifications and typical combinations of several parameters
of the affine mapping
 
Translation by 1 0 0 1
Rotation by 0 0
Scaling by 0 0 0 0

  Change of aspect ratio by 0 0 0 0

Shear of vertical coordinate axis by 1 0 1 0 0
Shear of horizontal coordinate axis by 1 0 1 0 0
             

Fig. 6.8
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_6.htm[12/30/2015 4:25:47 PM]

Objectives_template

  Module 6: Pinhole camera model

  Lecture 33: Projective and Geometric mapping
  
 
  Analogies are obvious when compared to the coordinate and sampling system transformations
  introduced earlier. The spatial/frequency mapping relationships deduced there can be directly used to
  understand how the 2D spectrum changes in case of an affine transform: All linear geometric
  modifications can be interpreted as regular transformations into a coordinate system with different
  origin, scaling and orientation of the axes. The determinant of the matrix A in (6.30) represents the
  change of area, which is the effective scaling factor if all dimensions are regarded, and is e.g. related
  to a change of distance between the camera and the captured object. The translation corresponds to
  a change of the coordinate system reference. In total, the spectrum is modified with a mapping
  performed by the dual matrix and a linear phase shift related to the
  translation.
 
The affine transform has been shown to be the perfect model for geometric mapping in 2D if
orthographic projection (6.24) is assured. For larger rigid 3D objects which are not too far from the
camera, all changes in the projection could still be described by 6 parameters of 3D rotation and
translation. This is no longer true for the changes of image coordinates after the central projection
(6.23), as can be concluded from (6.30). For the special case of planar object surfaces, linear
relationships exist between and , which can be used to eliminate the dependency of
in (6.30). The result is the following 8-parameter model, which is also known as the perspective
mapping model:

(6.31)

  The relationship with perspective mapping is obvious. Due to the division by variables r and s, the
implementation of the perspective mapping is no longer linear, and has higher overall complexity
than affine mapping. This also makes the estimation of parameters more difficult. A simplified (but
not accurate) approximation of the perspective geometric mapping, using 8 parameters as well, is
bilinear mapping.
Here, parameters are identical with those of the affine model, however b1 and b 2 are not
identical with those of the perspective model:

 
 

file:///D|/...0(Ganesh%20Rana)/MY%20COURSE_Ganesh%20Rana/Prof.%20Sumana%20Gupta/FINAL%20DVSP/lecture%2033/33_7.htm[12/30/2015 4:25:47 PM]