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Welcome back to Computer Vision.
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I hope it's welcome back because if you're jumping in now
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you missed some really good jokes and some of the better lectures.
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the, this one's okay, actually.
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Anyway, today we're going to talk about extrinsic camera calibration.
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We'll define what that means in a minute.
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We took a little hiatus to talk about stereo so
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you guys could get working on your stereo, and
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stereo was our first look at multiview geometry, multiview cameras.
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And we talked about how, in order to do real depth reconstruction,
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we have to understand the geometry of what's gong on between the cameras, and
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that's what we're going to start talking about today.
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So, before the stereo thing, the stereo sections,
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we introduced a projection, perspective projection.
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And here is the model that we used.
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In particular, we had a system where we went, where we had a center of
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projection that was located at the origin of a three-dimensional camera system.
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And then we derived from simu, similar triangles the location on
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the image of the point projected down onto the image plane.
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And then in order to figure out where the point was going to land on the image,
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we just eliminated that last coordinate.
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Now we said that this was a bit of an issue because this division by Z
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was non-linear.
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And because we had to pull out the particular Z,
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it wasn't a constant Z, it was the particular Z.
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So we introduced this notion of homogeneous coordinates.
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And the homogeneous coordinates essentially added an,
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another component to the vector.
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And if it was 2D, it became a three long vector, 3D became four.
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And the idea was, that we were going to be able to convert from
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homogenous to non-homogenous when we needed it.
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But before we did that,
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all of our operations could be done through matrix multiplication.
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Which, by the way made homogenous coordinates, the whole thing,
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invariant under scale.
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I could scale a coordinate, homogenous coordinate by anything and
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when I did the, the normalization, divide by w here.
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It would go away.
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And, one of the reasons we did this is we said that perspective projection
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could now be done as a matrix multiplication.
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So, here I've written, one, one, and here, we've got 1 over f.
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And by the way, just to make life easier, I'm using the absolute value of z, so
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we don't have to worry about z being positive or negative.
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So, when I do the multiplication, I get this homogeneous coordinate.
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And when I want to normalize and
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go to unhomogeneous, I get the u v by dividing it out.
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But in all of this discussion about projection,
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we have the notion of a camera's coordinate system.
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By the way, I'm going to go like this.
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And it's not some like, weird curse in Georgia.
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It's, it's a coordinate system, one, two, three.
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Okay, so we have an origin and a coordinate system.
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And we said that we put the center of projection at the camera's
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coordinate system.
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And we have the z axis, the optic axis going down the z axis.
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So to do geometric reasoning about the world, we need to know,
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we need to be able to relate the coordinate system of the,
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I guess I'm going to have to do this.
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We have to relate the coordinate system of
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the world to the coordinate system of the camera.
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And, in fact, today, what we'll do is the coordinate system from the world to
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the camera, and then next, I don't know,
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today, I don't know when you're going to watch it, next month.
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The next lesson will be the coordinate system from the camera 3D
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coordinate system, to the image.
