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1 - Camera Projection

The document discusses the representation of images through pixels and their intensity values, highlighting the importance of bits per pixel in determining color depth. It explains perspective transformation, which converts 3D scenes into 2D images, and outlines the different coordinate frames (object, world, camera, image, and pixel) used in this process. Additionally, it covers the alignment of the world and camera coordinate systems and the significance of the optical axis and principal point in image formation.

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14 views23 pages

1 - Camera Projection

The document discusses the representation of images through pixels and their intensity values, highlighting the importance of bits per pixel in determining color depth. It explains perspective transformation, which converts 3D scenes into 2D images, and outlines the different coordinate frames (object, world, camera, image, and pixel) used in this process. Additionally, it covers the alignment of the world and camera coordinate systems and the significance of the optical axis and principal point in image formation.

Uploaded by

ahmad.qidwai1404
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Camera and Perspective

projection
Prof. Jyotsna Singh
Multimedia Research Lab, Division of ECE
Netaji subhas University of Technology
Sector 3, Dwarka, New Delhi-78
Perspective
• An image can be represented by a two
dimensional signal or matrix.
• Pixel is the smallest element of an image.
• Total number of pixels = Number of rows x
Number of columns
• The value of a pixel at any point correspond to
the intensity of the light photons striking at that
point.
• The value of each pixel is proportional to the
light intensity at that particular location. The
value 0 means absence of light (Dark).
• In an 8-bit gray scale image, the value of the
pixel between 0 and 255.
• For the calculation of total number of combinations that can
be made from bit, would be bpp denotes bits per pixel.
• the number of different colors depend on the number of bits Bits per pixel Number of colors
per pixel.
1 bpp 2 colors
• The famous gray scale image is of 8 bpp , means it has 256
different shades. 2 bpp 4 colors
3 bpp 8 colors
• Color images are usually of the 24 bpp format, or 16 bpp.
4 bpp 16 colors
• White color is denoted by levels:

• If it 1bpp: 0 represents black and 1 represents white.


• In case 8 bpp: 0 denotes black, and 255 denote white.
• The formula for calculating the size is given as
Size of an image = Rows * Cols * bpp
• When human eyes see near things they look bigger as compare to those who
are far away. This is called perspective in a general way.
• The perspective transformation deals with the conversion of 3d world into 2d
image.
• Frame of reference is basically a set of values in relation to which we measure
something.
• In order to analyze a 3d world/image/scene,
5 different frame of references are required.
• Object
• World
• Camera
• Image
• Pixel
3D scene transformation into 2D
• Object coordinate frame (3D coordinate system)
Object coordinate frame is used for modeling objects.

• World coordinate frame (3D Coordinate System)


World coordinate frame is used for co-relating objects in a 3d world.

• Camera coordinate frame (3D Coordinate System)


Camera co-ordinate frame is used to relate objects with respect of the camera.

• Image coordinate frame (2D Coordinate System)


It is used to describe how 3d points are mapped in a 2d image plane.

• Pixel coordinate frame (2D System)


Each pixel has a value of pixel co ordinates.
• In general, the world and camera
coordinate systems are not
aligned.

center of projection

optical axis
World and Camera coordinate systems (cont’d)
To simplify mathematics, let’s assume:
(1) The center of projection coincides with the origin of the world coordinate system.
(2) The optical axis is aligned with the world’s z-axis and x, y are parallel with X, Y

y
World and Camera coordinate systems (cont’d)
(3) Avoid image inversion by assuming that the image plane is in front of the
center of projection.
(4) The origin of the image plane is the principal point.

center of
projection
• The model consists of a plane (image plane) and a 3D point O (center of
projection).
• The distance f between the image plane and the center of projection O
is the focal length (e.g., the distance between the lens and the CCD
array).

center of
projection
• The line through O and perpendicular to the image plane is the
optical axis.
• The intersection of the optical axis with the image plane is called
principal point.

center of
projection

Note: the principal point is not necessarily the image center.


World to Camera Transformation
Rotation
Rotation

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