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Acknowledgements
Marc Pollefeys: for allowing the use of his excellent slides on this topic
http://www.cs.unc.edu/~marc/mvg/
Richard Hartley and Andrew Zisserman, "Multiple View Geometry in Computer Vision "
Homogeneous coordinates
Homogeneous representation of lines
ax + by + c = 0
(a,b,c )T
(a,b,c )T ~ k (a,b,c )T
(ka) x + (kb) y + kc = 0, k 0
T
T
x = (x, y ) on l = (a,b,c ) if and only if ax + by + c = 0
(x,y,1)(a,b,c )T = (x,y,1)l = 0
Spring 2006
Projective Geometry 2D
Intersections of lines
The intersection of two lines l and l' is x = l l'
Example
y =1
x =1
Projective Geometry 2D
Spring 2006
l l' = (b,a,0 )
Example
x =1 x = 2
Ideal points
Line at infinity
(x1 , x2 ,0)T
T
l = (0,0,1)
P 2 = R 2 l
Spring 2006
Projective Geometry 2D
Summary
The set of ideal points lies on the line at infinity,
intersects the line at infinity in the ideal point
A line
parallel to l also intersects
point, irrespective of the value of c.
In inhomogeneous notation,
is a vector tangent to the line.
It is orthogonal to (a, b) -- the line normal.
Thus it represents the line direction.
As the lines direction varies, the ideal point
varies over
.
--> line at infinity can be thought of as the set of directions of lines in the
plane.
Spring 2006
Projective Geometry 2D
Projective Geometry 2D
Duality
x
x Tl = 0
lT x = 0
x = l l'
l = x x'
Duality principle:
To any theorem of 2-dimensional projective geometry
there corresponds a dual theorem, which may be
derived by interchanging the role of points and lines in
the original theorem
Spring 2006
Projective Geometry 2D
Conics
Curve described by 2nd-degree equation in the plane
ax 2 + bxy + cy 2 + dx + ey + f = 0
or homogenized x x1 x , y x2 x
3
b / 2 d / 2
a
e / 2
x C x = 0 with C = b / 2 c
d / 2 e / 2
f
T
5DOF:
Spring 2006
{a : b : c : d : e : f }
Projective Geometry 2D
Conics
http://ccins.camosun.bc.ca/~jbritton/jbconics.htm
Spring 2006
Projective Geometry 2D
(x , x y , y , x , y , f )c = 0
2
i
2
i
c = (a, b, c, d , e, f )
x12
2
x2
x32
2
x4
x2
5
Spring 2006
x1 y1
x2 y 2
x3 y3
x4 y 4
x5 y5
y12
y22
y32
y42
y52
x1
x2
x3
x4
x5
y1
y2
y3
y4
y5
1
1
1c = 0
1
1
Projective Geometry 2D
10
l
C
Spring 2006
Projective Geometry 2D
11
Dual conics
A line tangent to the conic C satisfies
In general (C full rank):
l T C* l = 0
C* = C 1
C* : Adjoint matrix of C.
Dual conics = line conics = conic envelopes
Spring 2006
Projective Geometry 2D
12
Degenerate conics
A conic is degenerate if matrix C is not of full rank
m
l
C = lm T + mlT
e.g. repeated line (rank 1)
C = llT
(C ) C
* *
Projective Geometry 2D
13
Projective transformations
Definition:
Theorem:
A mapping h:P2P2 is a projectivity if and only if there
exist a non-singular 3x3 matrix H such that for any point
in P2 represented by a vector x it is true that h(x)=Hx
Definition: Projective transformation
x'1 h11
x'2 = h21
x' h
3 31
h12
h22
h32
h13
x1
h23 x2
h33 x3
or
x' = H x
8DOF
projectivity=collineation=projective transformation=homography
Spring 2006
Projective Geometry 2D
14
Projective Geometry 2D
15
(linear in hij)
Projective Geometry 2D
16
x' = H x
l' = H -T l
Transformation for conics
C' = H -T CH -1
Transformation for dual conics
C'* = HC*H T
Spring 2006
Projective Geometry 2D
17
Spring 2006
Projective Geometry 2D
18
Class I: Isometries
(iso=same, metric=measure)
x'
cos
y ' = sin
1 0
sin
cos
0
t x x
t y y
1 1
= 1
orientation preserving: = 1
orientation reversing: = 1
R t
x' = H E x = T x
0 1
RTR = I
Projective Geometry 2D
19
s sin
s cos
0
sR t
x' = H S x = T
x
0 1
(isometry + scale)
t x x
t y y
1
1
RTR = I
Projective Geometry 2D
20
10
a12
a22
0
t x
x
t y y
1 1
A t
x' = H A x = T x
0 1
A = R ( )R ( )DR ( )
0
D= 1
0 2
Projective Geometry 2D
21
A
x' = H P x = T
v
t
x
v
v = (v1 , v2 )
Spring 2006
Projective Geometry 2D
22
11
A
0 T
x1 x
t
A 1
x2 = x
v 2
0 0
A
vT
x1
x
t
A 1
x
x
=
2
2
v
0 v1 x1 + v2 x2
Spring 2006
Projective Geometry 2D
23
0 I
1 v T
0 A
=
v v T
t
v
A = sRK + tv T
K upper-triangular, det K = 1
Example:
2 sin 45
2 cos 45
0
1.0 0.5 1 0 1 0 0
2.0 0 2 0 0 1 0
1 0 0 1 1 2 1
Projective Geometry 2D
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12
Overview transformations
Projective
8dof
Affine
6dof
Similarity
4dof
Euclidean
3dof
Spring 2006
h11
h
21
h31
h12
h22
h32
h13
h23
h33
a11
a
21
0
a12
tx
t y
1
a22
0
sr11 sr12 t x
sr
21 sr22 t y
0
0
1
r11 r12 t x
r
21 r22 t y
0 0 1
Projective Geometry 2D
Concurrency, collinearity,
order of contact (intersection,
tangency, inflection, etc.),
cross ratio
Parallellism, ratio of areas,
ratio of lengths on parallel
lines (e.g midpoints), linear
combinations of vectors
(centroids).
The line at infinity l
lengths, areas.
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13