Projective Geometry
Lecture slides by Steve Seitz (mostly)
Lecture presented by Rick Szeliski
CSE 576, Spring 2008 Projective Geometry 1
Final project ideas
Discussion by Steve Seitz and Rick Szeliski
…
CSE 576, Spring 2008 Projective Geometry 2
Projective geometry
Ames Room
Readings
• Mundy, J.L. and Zisserman, A., Geometric Invariance in Computer Vision, Appendix:
Projective Geometry for Machine Vision, MIT Press, Cambridge, MA, 1992,
(read 23.1 - 23.5, 23.10)
– available online: [Link]
CSE 576, Spring 2008 Projective Geometry 3
Projective geometry—what’s it good for?
Uses of projective geometry
• Drawing
• Measurements
• Mathematics for projection
• Undistorting images
• Focus of expansion
• Camera pose estimation, match move
• Object recognition
CSE 576, Spring 2008 Projective Geometry 4
Applications of projective geometry
Vermeer’s Music Lesson
Reconstructions by Criminisi et al.
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Measurements on planes
1 2 3 4
Approach: unwarp then measure
What kind of warp is this?
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Image rectification
p’
p
To unwarp (rectify) an image
• solve for homography H given p and p’
• solve equations of the form: wp’ = Hp
– linear in unknowns: w and coefficients of H
– H is defined up to an arbitrary scale factor
– how many points are necessary to solve for H?
CSE 576, Spring 2008 Projective Geometry work out on board
7
Solving for homographies
CSE 576, Spring 2008 Projective Geometry 8
Solving for homographies
A h 0
2n × 9 9 2n
Defines a least squares problem:
• Since h is only defined up to scale, solve for unit vector ĥ
• Solution: ĥ = eigenvector of ATA with smallest eigenvalue
• Works with 4 or more points
CSE 576, Spring 2008 Projective Geometry 9
The projective plane
Why do we need homogeneous coordinates?
• represent points at infinity, homographies, perspective
projection, multi-view relationships
What is the geometric intuition?
• a point in the image is a ray in projective space
-y (sx,sy,s)
(x,y,1)
(0,0,0)
-z x image plane
• Each point (x,y) on the plane is represented by a ray (sx,sy,s)
– all points on the ray are equivalent: (x, y, 1) (sx, sy, s)
CSE 576, Spring 2008 Projective Geometry 10
Projective lines
What does a line in the image correspond to in
projective space?
• A line is a plane of rays through origin
– all rays (x,y,z) satisfying: ax + by + cz = 0
x
in vector notation : 0 a b c y
z
l p
• A line is also represented as a homogeneous 3-vector l
CSE 576, Spring 2008 Projective Geometry 11
Point and line duality
• A line l is a homogeneous 3-vector
• It is to every point (ray) p on the line: l p=0
p1 p2 l1 p
l
l2
What is the line l spanned by rays p1 and p2 ?
• l is to p1 and p2 l = p1 p2
• l is the plane normal
What is the intersection of two lines l1 and l2 ?
• p is to l1 and l2 p = l1 l2
Points and lines are dual in projective space
CSE 576,• Spring
given 2008any
formula, can switch
Projective the meanings of points and
Geometry 12
lines to get another formula
Ideal points and lines
(a,b,0)
-y (sx,sy,0) -y
-z x image plane -z image plane
x
Ideal point (“point at infinity”)
• p (x, y, 0) – parallel to image plane
• It has infinite image coordinates
Ideal line
• l (a, b, 0) – parallel to image plane
• Corresponds to a line in the image (finite coordinates)
– goes
CSE 576, Spring 2008 through imageProjective
origin Geometry
(principle point) 13
Homographies of points and lines
Computed by 3x3 matrix multiplication
• To transform a point: p’ = Hp
• To transform a line: lp=0 l’p’=0
– 0 = lp = lH-1Hp = lH-1p’ l’ = lH-1
– lines are transformed by postmultiplication of H-1
CSE 576, Spring 2008 Projective Geometry 14
3D projective geometry
These concepts generalize naturally to 3D
• Homogeneous coordinates
– Projective 3D points have four coords: P = (X,Y,Z,W)
• Duality
– A plane N is also represented by a 4-vector
– Points and planes are dual in 3D: N P=0
• Projective transformations
– Represented by 4x4 matrices T: P’ = TP, N’ = N T-1
CSE 576, Spring 2008 Projective Geometry 15
3D to 2D: “perspective” projection
wx * * * * X
Matrix Projection: p wy * * * * YZ ΠP
w * * * *
1
What is not preserved under perspective projection?
What IS preserved?
CSE 576, Spring 2008 Projective Geometry 16
Vanishing points
image plane
vanishing point v
camera
center
C
line on ground plane
Vanishing point
• projection of a point at infinity
CSE 576, Spring 2008 Projective Geometry 17
Vanishing points
image plane
vanishing point v
camera
center
C
line on ground plane
line on ground plane
Properties
• Any two parallel lines have the same vanishing point v
• The ray from C through v is parallel to the lines
• An image may have more than one vanishing point
– in fact every pixel is a potential vanishing point
CSE 576, Spring 2008 Projective Geometry 18
Vanishing lines
v1 v2
Multiple Vanishing Points
• Any set of parallel lines on the plane define a vanishing point
• The union of all of vanishing points from lines on the same
plane is the vanishing line
– For the ground plane, this is called the horizon
CSE 576, Spring 2008 Projective Geometry 19
Vanishing lines
Multiple Vanishing Points
• Different planes define different vanishing lines
CSE 576, Spring 2008 Projective Geometry 20
Computing vanishing points
P0
D P P0 tD
PX tDX
P tDY
Pt Y
PZ tDZ
1
CSE 576, Spring 2008 Projective Geometry 21
Computing vanishing points
P0
D P P0 tD
PX tDX PX / t DX DX
P tDY PY / t DY D
Pt Y t P Y
PZ tDZ PZ / t DZ DZ
1 1/ t 0
Properties v ΠP
• P is a point at infinity, v is its projection
• They depend only on line direction
• Parallel lines P0 + tD, PProjective
CSE 576, Spring 2008 1 + tD intersect
Geometry
at P 22
Computing the horizon
C
l
ground plane
Properties
• l is intersection of horizontal plane through C with image plane
• Compute l from two sets of parallel lines on ground plane
• All points at same height as C project to l
– points higher than C project above l
• Provides way of comparing height of objects in the scene
CSE 576, Spring 2008 Projective Geometry 23
CSE 576, Spring 2008 Projective Geometry 24
Fun with vanishing points
CSE 576, Spring 2008 Projective Geometry 25
Perspective cues
CSE 576, Spring 2008 Projective Geometry 26
Perspective cues
CSE 576, Spring 2008 Projective Geometry 27
Perspective cues
CSE 576, Spring 2008 Projective Geometry 28
Comparing heights
Vanishing
Point
CSE 576, Spring 2008 Projective Geometry 29
Measuring height
5.4
5
Camera height
4
3.3
3 2.8
2
1
What is the height of the camera?
CSE 576, Spring 2008 Projective Geometry 30
Computing vanishing points (from lines)
q2
q1
p2
p1
Intersect p1q1 with p2q2
Least squares version
• Better to use more than two lines and compute the “closest” point of
intersection
• See notes by Bob Collins for one good way of doing this:
– [Link]
CSE 576, Spring 2008 Projective Geometry 31
Measuring height without a ruler
C Z
ground plane
Compute Z from image measurements
• Need more than vanishing points to do this
CSE 576, Spring 2008 Projective Geometry 32
The cross ratio
A Projective Invariant
• Something that does not change under projective transformations
(including perspective projection)
The cross-ratio of 4 collinear points
P4 Xi
P3 P3 P1 P4 P2 Y
Pi i
Zi
P2 P3 P2 P4 P1
P1 1
P1 P3 P4 P2
Can permute the point ordering P1 P2 P4 P3
• 4! = 24 different orders (but only 6 distinct values)
This is the fundamental invariant of projective geometry
CSE 576, Spring 2008 Projective Geometry 33
Measuring height
TB R H
RB T R
scene cross ratio
T (top of object)
t t b vZ r H
r R (reference point) r b vZ t R
C H
b R image cross ratio
vZ B (bottom of object)
ground plane X
Y x
scene points represented as P image points as p y
Z
CSE 576, Spring 2008 Projective Geometry
1 34
1
Measuring height vz
r
vanishing line (horizon)
t0 t
vx v vy
H R H
b0
t b vZ r b
H
r b vZ t R
image cross ratio
CSE 576, Spring 2008 Projective Geometry 35
Measuring height vz
r
t0
vanishing line (horizon)
t0
vx v vy
m0
t1
b0
b1
b
What if the point on the ground plane b0 is not known?
• Here the guy is standing on the box, height of box is known
• Use one side of the box to help find b0 as shown above
CSE 576, Spring 2008 Projective Geometry 36
Computing (X,Y,Z) coordinates
CSE 576, Spring 2008 Projective Geometry 37
3D Modeling from a photograph
CSE 576, Spring 2008 Projective Geometry 38
Camera calibration
Goal: estimate the camera parameters
• Version 1: solve for projection matrix
wx * * * * X
x wy * * * * YZ ΠX
w * * * *
1
• Version 2: solve for camera parameters separately
– intrinsics (focal length, principle point, pixel size)
– extrinsics (rotation angles, translation)
– radial distortion
CSE 576, Spring 2008 Projective Geometry 39
Vanishing points and projection matrix
* * * *
Π * * * * π1 π2 π3 π4
* * * *
π1 π2 π3 π4
π1 Π 1 0 0 0
T
= vx (X vanishing point)
similarly, π 2 v Y , π 3 v Z
π 4 Π0 0 0 1 projection of world origin
T
Π v X vY vZ o
Not So Fast! We only know v’s and o up to a scale factor
Π a v X bvY cv Z do
• Spring
CSE 576, Need2008
a bit more workProjective
to getGeometry
these scale factors… 40
Finding the scale factors…
Let’s assume that the camera is reasonable
• Square pixels
• Image plane parallel to sensor plane
• Principal point in the center of the image
r11 r12 r13 0 1 0 0 t1
0 0 0 t 2
1 0 0 1 0 0 0
Π 0 1 0 0 1 0 0 r21 r22
r23 1
r r r33 0 0 0 1 t3
0 0 1 / f 0 0 1 0 31 32
0 0 0 1 0 0 0 1
r11 r12 r13 t '1
r21 t '2
t '1 r11 r12 r13 t1
r22 r23 t ' r r r23 t2
2 21 22
r31 / f r32 / f r33 / f t '3 / f t '3 r31 r32 r33 t3
a v X bvY cv Z do
CSE 576, Spring 2008 Projective Geometry 41
Solving for f
v x1 v y1 v z1 o1 r11 / a r12 / b r13 / c t '1 / d
v x 2 vy2 vz 2 o2 r21 / a r22 / b r23 / c t '2 / d
v x 3 vy3 vz 3 o3 r31 / af r32 / bf r33 / cf t '3 / df
vX vY vZ o
vx1 v y1 v z1 o1 r11 / a r12 / b r13 / c t '1 / d
vx 2 vy2 vz 2 o2 r21 / a r22 / b r23 / c t '2 / d
fvx 3 fvy 3 fvz 3 fo3 r31 / a r32 / b r33 / c t '3 / d
Orthogonal Orthogonal
vectors vectors
v x1v y1 v x 2 v y 2
vx1vy1 vx 2vy 2 f vx3vy 3 0
2
f
v x 3v y 3
CSE 576, Spring 2008 Projective Geometry 42
Solving for a, b, and c
vx1 / f v y1 / f v z1 / f o1 / f r11 / a r12 / b r13 / c t '1 / d
v x 2 / f vy2 / f vz 2 / f o2 / f r21 / a r22 / b r23 / c t '2 / d
vx3 vy3 vz 3 o3 r31 / a r32 / b r33 / c t '3 / d
Norm Norm
= 1/a = 1/a
Solve for a, b, c
• Divide the first two rows by f, now that it is known
• Now just find the norms of the first three columns
• Once we know a, b, and c, that also determines R
How about d?
• Need a reference point in the scene
CSE 576, Spring 2008 Projective Geometry 43
Solving for d
0
wu r11 r12 r13 t '1 / d
wv r r r23
t '2 / d 0
21 22 H
w r31 r32 r33 t '3 / d
1
Suppose we have one reference height H
• E.g., we known that (0, 0, H) gets mapped to (u, v)
r13 H t '1 / d t '1 ut '3
u d
r33 H t '3 / d ur33 H r13 H
Finally, we can solve for t
t1 r11 r12 r13 T t '1
t r r23 t '2
2 21 r22
t3 r31 r32 r33 t '3
CSE 576, Spring 2008 Projective Geometry 44
Calibration using a reference object
Place a known object in the scene
• identify correspondence between image and scene
• compute mapping from scene to image
Issues
• must know geometry very accurately
• Spring
CSE 576, must2008
know 3D->2D correspondence
Projective Geometry 45
Chromaglyphs
Courtesy of Bruce Culbertson, HP Labs
[Link]
CSE 576, Spring 2008 Projective Geometry 46
Estimating the projection matrix
Place a known object in the scene
• identify correspondence between image and scene
• compute mapping from scene to image
CSE 576, Spring 2008 Projective Geometry 47
Direct linear calibration
CSE 576, Spring 2008 Projective Geometry 48
Direct linear calibration
Can solve for mij by linear least squares
• use eigenvector trick that we used for homographies
CSE 576, Spring 2008 Projective Geometry 49
Direct linear calibration
Advantage:
• Very simple to formulate and solve
Disadvantages:
• Doesn’t tell you the camera parameters
• Doesn’t model radial distortion
• Hard to impose constraints (e.g., known focal length)
• Doesn’t minimize the right error function
For these reasons, nonlinear methods are preferred
• Define error function E between projected 3D points and image positions
– E is nonlinear function of intrinsics, extrinsics, radial distortion
• Minimize E using nonlinear optimization techniques
– e.g., variants of Newton’s method (e.g., Levenberg Marquart)
CSE 576, Spring 2008 Projective Geometry 50
Alternative: multi-plane calibration
Images courtesy Jean-Yves Bouguet, Intel Corp.
Advantage
• Only requires a plane
• Don’t have to know positions/orientations
• Good code available online!
– Intel’s OpenCV library: [Link]
– Matlab version by Jean-Yves Bouget:
[Link]
CSE 576, Spring 2008 Projective Geometry 51
– Zhengyou Zhang’s web site: [Link]
Some Related Techniques
Image-Based Modeling and Photo Editing
• Mok et al., SIGGRAPH 2001
• [Link]
Single View Modeling of Free-Form Scenes
• Zhang et al., CVPR 2001
• [Link]
Tour Into The Picture
• Anjyo et al., SIGGRAPH 1997
• [Link]
CSE 576, Spring 2008 Projective Geometry 52