M hnh camera v hiu chnh.

cc tia sang 1 bt ngun t nh sng pht ra t 1 ngun sng (chng hn nh bng

n hay t ngun nh sng mt tri), nh sng i t ngun sng xuyn qua mi
trng n khi chm vo vt th. Khi chm vo b mt vt th, phn ln nh sng
c hp th, phn cn li khng c hp th th chng ta s nhn c nh l
mu ca nh sng. Nhng tia phn x s i vo mt hay i vo cm bin trong
camera.
Mt m hnh n gin nhng thng c s dng l m hnh camera pinhole, m
hnh pinhole l 1 m hnh gm 1 bc mng tng tng v 1 l nh cho nh sng
xuyn qua tm. Thng qua m hnh camera pinhole chng ta s tm hiu mi
quan h gia cc i tng trong m hnh nh cc thng s tiu c, mo tuy
nhin, m hnh camera cng c 1 nhc im l n khng thu c nh sng
trong khong thi gian phi sng ngn. iu ny l gii ti sao mt chng ta v
camera s dng lens thu thm nh sng so vi bnh thng l 1 im.
Hiu chnh camera (camera calibration) l phn quan trng lin quan n camera
trong o c vi vic o c trong khng gian thc. chng cng c nhng khng
gian vt l vi nhng n v vt l. Hn na, mi quan h gia n v camera (pixel)
v n v trong khng gian thc (mt) l b phn quan trng trong nhng n lc
ti to m hnh 3D vt th.
Qu trnh calip cung cp cho chng ta c thng s hnh hc ca m hnh camera v
m hnh b mo ca lens. C 2 cm thng tin nh ngha thng s ni ca camera
(intrinsic parameters)
Chng ta cng nhn vo m hnh camera v nguyn nhn gy ra mo nh.t
chng ta s tm hiu c m hnh bin i h ta chun, nhng cng c ton
hc gip chng ta nm bt c nhng hiu ng c bn ca camera v mo
khc nhau cng nh iu chnh cc sai lch ny.
1. M hnh camera:
Ta quan st m hnh n gin nht ca mt camera, pinhole camera model. Trong m hnh
ny, nh sng c c i vo khung nh t mt i tng xa, nhng ch mt tia n i
vo tng ng vi im c th. Trong mt pinhole camera, im ny sau c chiu
vo mt b mt nh. Nh mt kt qu, hnh trn mt phng nh ny (cng gi l mt phng
chiu) lun lun trong tiu im, v size ca nh tng ng vi i tng xa c cho bi
mt parameter n ca camera: l focal length. Cho pinhole camera l tng ha, khong
cch t pinhole aperture n screen chnh xc l focal length. iu ny c thy trong
Figure 11-1, trong f l focal length ca camera, Z l khong cch t camera n i
tng, X l chiu di ca i tng, v x l nh i tng trn mt phng nh. Trong hnh, ta
c th thy bi cc tam gic quen thuc m x/f = X/Z, hay

x f

X
Z

Ta s by gi sp xp li pinhole camera model thnh mt dng m tng ng nhng m

trong ton hc n d dng hn. Trong Figure 11-2, ta i pinhole v mt phng nh.*
Khc bit chnh l i tng by gi xut hin cnh phi trn. im trong pinhole c
dch li nh tm php chiu. Theo cch ny ca quan st cc th, mi tia ri mt im trn
i tng xa v tin n tm php chiu. Tm giao ca ca mt phng nh v trc quang
c tham chiu nh im nguyn tc. Trb mt phng nh ng trc mi (xem Figure 112), m l tng ng ca php chiu c hay mt phng nh, nh ca i tng xa l chnh
xc cng size nh n trn mt phng nh trong Figure 11-1. nh c to bi giao nhng tia
ny vi mt phng nh, m din ra l chnh xc mt khong cch f t tm php chiu. iu
ny lm quan h cc tam gic tng t x/f = X/Z trc tip hin nhin hn trc . Du tr
i v nh i tng khng cn mt trn na.

Figure 11-1. Pinhole camera model: mt pinhole (pinhole aperture) qua ch nhng tia ny m giao
mt im c th trong khng gian; nhng tia ny sau hnh thnh mt nh bi chiu vo mt mt
phng nh

Figure 11-2. mt im Q = (X, Y, Z) c chiu vo mt phng nh bi tia i qua tm chiu, v im

kt qu trn nh l q = (z, y, f ); mt phng chiu thc s ch chiys screen y v trc pinhole
(ton hc l tng ng nhng n gin hn theo cch ny)

Bn c th ngh rng im gc l tng ng vi tm ca imager; nhng iu ny ng rng

vi g vi nhng ci nhp v mt ng keo l c th nh vo imager trong camera vi
chnh xc micron. Tht ra, tm ca chip thng khng trn trc quang. Ta do gii thiu
hai parameter mi, cx v cy, m hnh mt dch chuyn c th (ra khi trc quang) ca tm
cc ta trn screen chiu. Kt qu l mt m hnh tng i n gin m trong mt
im Q trong th gii vt l, m cc ta (X, Y, Z), c chiu trn screen t v tr pixel
c cho bi (xscreen, yscreen) theo cc phng trnh sau:*

X
Y
c x y screen f y c y
Z
Z

xscreen f x

,
Lu rng ta gii thiu hai focal length khc nhau; nguyn nhn cho iu ny l cc pixel
ring bit trn imager in hnh gi r l hnh ch nht hn hnh vung. Focal length fx (v
d) thc s l sn phm ca focal length vt l ca lens v size sx ca cc phn t imager
ring bit (iu ny nn lm v sx c cc n v theo pixel trn millimeter trong khi F c n
v millimeters, m c ngha rng fx cc n v pixek c i hi). D nhin, cc tuyn b
tng t gi cho fy v sy. iu quan trng cn nh, d, rn sx v sy khng th c o trc tip
qua bt k tin trnh camera calibration, v khng c focal length vt l F trc tip c th o.
Ch cc kt hp fx = Fsx v fy = Fsy c th c dn khng c thc s tho d camera v o
lng cc thnh phn ca trc tip.