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Cameras and Geometry

This document discusses camera geometry and image formation. It begins by describing the pinhole camera model and how an image is formed through a single point onto an image plane. It then discusses how adding an aperture reduces blurring but introduces depth of field effects. The document also covers lenses, the thin lens equation, focal length, f-number, aperture, depth of field, diffraction and its impact on sharpness. Finally, it discusses how color images are formed from a Bayer pattern sensor and algorithms for demosaicing the raw image data.

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Oscar Peters
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87 views49 pages

Cameras and Geometry

This document discusses camera geometry and image formation. It begins by describing the pinhole camera model and how an image is formed through a single point onto an image plane. It then discusses how adding an aperture reduces blurring but introduces depth of field effects. The document also covers lenses, the thin lens equation, focal length, f-number, aperture, depth of field, diffraction and its impact on sharpness. Finally, it discusses how color images are formed from a Bayer pattern sensor and algorithms for demosaicing the raw image data.

Uploaded by

Oscar Peters
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 12: Cameras and

Geometry
CAP 5415
Fall 2010
The midterm
• What does the response of a derivative
filter tell me about whether there is an edge
or not?
Things aren't working
• Did you look at the filters?
• Why not?
• Normalize the filters
How do we see the world?

Let’s design a camera


– Idea 1: put a piece of film in front of an
object
– Do we get a reasonable image?

Slide by Steve Seitz


Pinhole camera

Add a barrier to block off most of the rays


– This reduces blurring
– The opening known as the aperture
– How does this transform the image?
Slide by Steve Seitz
Pinhole camera model

Pinhole model:
– Captures pencil of rays – all rays through a single point
– The point is called Center of Projection (COP)
– The image is formed on the Image Plane
– Effective focal length f is distance from COP to Image
Plane
Slide by Steve Seitz
A little bit of history on building
cameras
Camera Obscura
• Latin for “Dark Box”
• Dark room with a pinhole in wall
• Projects image onto wall
• Allows artists to get perspective right

Image from Wikipedia


Camera Obscura
Camera Obscura, Gemma Frisius, 1558

The first camera


– Known to Aristotle
– Depth of the room is the effective focal length
Camera Obscura
• Can also be a box
We’ll use the pinhole camera model
to describe image formation

Notice how the image is inverted

(Image from Slides by Forsyth)


Projection Effects

Pinhole

• Height of objects depends on the distance from


the pinhole (O)

(Image from Slides by Forsyth)


Projection Effects: Horizon Line
• Consider two parallel lines that lie in a plane (Π)
• Will converge to a point on the horizon line(H)

Pinhole

(Image from Slides by Forsyth)


• Observe this next time you are driving on a flat
road
Vanishing points
• Each set of parallel • Good ways to spot
lines (=direction) faked images
meets at a different – scale and perspective
point don’t work
– The vanishing point for – vanishing points
this direction behave badly
• Sets of parallel lines – supermarket tabloids
on the same plane are a great source.
lead to collinear
vanishing points.
– The line is called the
horizon for that plane
(From Slides by Forsyth)
The equation of projection

(Image from Slides by Forsyth)


The equation of projection

We know:

so

(Image from Slides by Forsyth)


Lenses
• Why Lenses?
• For an ideal pinhole, only one ray of light
reaches each point
– Very Dim Image

• Why not make pinhole bigger?


Why not make pinhole bigger?
• Only one point can generate rays that strike
a particular point on the image plane
Why not make pinhole bigger?
• Now add an aperture
Pinhole too big -
many directions are
averaged, blurring the
image

Pinhole too small-


diffraction effects blur
the image

Generally, pinhole
cameras are dark, because
a very small set of rays
from a particular point
hits the screen.

(From Slides by Forsyth)


Lenses
• The lens focuses multiple rays coming
from the same point

(Image from Slides by Forsyth)


Thin Lens Equation
Focus and Defocus

“circle of
confusion”

A lens focuses light onto the film


– There is a specific distance at which objects are “in
focus”
• other points project to a “circle of confusion” in the
image
– How can we change focus distance?
Slide by Steve Seitz
More on Lenses

Canon EF 28-135mm f/3.5-5.6 IS USM Standard


Zoom Lens for Canon SLR Cameras
28-135mm is the focal length

i o

P’

Diagram by Shree Nayar


What's f/3.5-5.6?

Canon EF 28-135mm f/3.5-5.6 IS USM Standard


Zoom Lens for Canon SLR Cameras
f-number
• f is the focal length
• D is the diameter of the pupil or aperture

• f/2 is the same as N=2


• f/16 is the same as N=16
• Which has the bigger aperture?
What's f/3.5-5.6?
• This is the widest possible aperture

Canon EF 28-135mm f/3.5-5.6 IS USM Standard


Zoom Lens for Canon SLR Cameras
Why should I adjust the
aperture?
• Big aperture means more light, shorter
exposure time
• Also affects sharpness and depth of field
Here, the rays are focused on
the image plane
Now, look at a point that is
farther way

Circle of Confusion
It grows as you move farther
away

Circle of Confusion
Circle of Confusion
• Spot caused by a point that is not in focus

• You decide the tolerable limits


(Diagram from Wikipedia)
Aperture also causes blurring
• Go back to pinhole camera model
• Only one point can generate rays that strike
a particular point on the image plane
Aperture also causes blurring
• Now add an aperture
Depth of Field
• Increasing the aperture diameter increases
the size of the circle of confusion

f/22 f/5.6
Diffraction
• When light passes through a small aperture
the rays begin to interfere with each other
• For a perfectly circular aperture this leads
to the airy disc pattern

Image from http://www.cambridgeincolour.com/tutorials/diffraction-photography.htm#


This leads to a loss of sharpness

f/8 f/11 f/16

f/22
From http://www.cambridgeincolour.com/tutorials/diffraction-photography.htm#
After Light Strikes the sensor
• Engineering problem:
– I have sensor that records the amount of light
at different pixels
– How do I get a color image instead of a black
and white image?
Solutions
• Three sensors
• One sensor with a color mask
– Each pixel records one wavelength
• A common pattern for the mask is the
Bayer pattern:
Mosaicing
• So, if I took a • My sensor would
picture of this edge record this image
Demosaicing
• I have 1 color at each pixel
• I need three
• Easy solution: Interpolate

+
Problem! This smooths across
the edge
• Because the different pixels are used to
red and green, the smoothing may be
different

+
Result: Color Fringing
Color Fringing

(Results from Brainard et al)


Fast Solution
• The fringing occurs when the correlation
between the color channels is incorrectly
estimated
• One measure of this correlation is the color
difference
• Can fix errors using median filtering
Simple Demosaicing Algorithm
(Freeman)
• Use linear interpolation to get first estimate
• Compute difference images between color
channels
• Median filter these difference images
• Use filtered difference images to
reconstruct
(Slide by Freeman)

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