Coordinate Systems - Revision history

Peter: /* Pixel Indices */

2021-10-10T20:07:58Z

Pixel Indices

← Older revision		Revision as of 20:07, 10 October 2021
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	Image pixels are referred in (x,y) order where x is the columns and y is the rows, this is in contrast to matrices which as mentioned above have the reverse order. This is primarily for historical reasons.		Image pixels are referred in (x,y) order where x is the columns and y is the rows, this is in contrast to matrices which as mentioned above have the reverse order. This is primarily for historical reasons.

	As with arrays and matrices, images are zero indexed. The +x axis goes from left to right and the +y axis from top to bottom. The pixel at (0,0) defines the lower-extend and is in the top-left corner of an image. The upper-extent is the bottom-right corner and has the value of (width-1, height-~~1). The range of values pixel (x,y) occupies is defined as (x,y) inclusive to (x+1,y+1) exclusive. Data is stored in a row-major format.~~		As with arrays and matrices, images are zero indexed. The +x axis goes from left to right and the +y axis from top to bottom. The pixel at (0,0) defines the lower-extend and is in the top-left corner of an image. The upper-extent is the bottom-right corner and has the value of (width-1, height-1).

	~~This is in contrast to Matlab which defines a pixel at (x,y) range to be (x-0.5, y-0.5) to (x+0.5, y+0.5) and is one indexed, i.e. top-left corner is at (1,~~1).

	= Spatial Coordinates =		= Spatial Coordinates =

Peter: /* Pixel Indices */

2021-10-10T20:06:48Z

Pixel Indices

← Older revision		Revision as of 20:06, 10 October 2021
Line 12:		Line 12:
	Image pixels are referred in (x,y) order where x is the columns and y is the rows, this is in contrast to matrices which as mentioned above have the reverse order. This is primarily for historical reasons.		Image pixels are referred in (x,y) order where x is the columns and y is the rows, this is in contrast to matrices which as mentioned above have the reverse order. This is primarily for historical reasons.

	As with arrays and matrices, images are zero indexed. The pixel (0,0) ~~refers to~~ the top-left corner and (width-1, height-1) ~~referring~~ to ~~the bottom right~~. Data is stored in a row-major format.		As with arrays and matrices, images are zero indexed. The +x axis goes from left to right and the +y axis from top to bottom. The pixel at (0,0) defines the lower-extend and is in the top-left corner of an image. The upper-extent is the bottom-right corner and has the value of (width-1, height-1). The range of values pixel (x,y) occupies is defined as (x,y) inclusive to (x+1,y+1) exclusive. Data is stored in a row-major format.

			This is in contrast to Matlab which defines a pixel at (x,y) range to be (x-0.5, y-0.5) to (x+0.5, y+0.5) and is one indexed, i.e. top-left corner is at (1,1).

	= Spatial Coordinates =		= Spatial Coordinates =

Peter: /* Spatial Coordinates */

2020-01-25T03:19:24Z

Spatial Coordinates

← Older revision		Revision as of 03:19, 25 January 2020
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	[[File:Image_spatial_coordinates.png]]		[[File:Image_spatial_coordinates.png]]

	~~Pixel~~ (i,j) is defined as the integral from (i,j) to (i+1,j+1). Note that the upper extent is exclusive and that (i+1,j+1) is not a member of (i,j) and will belong to pixel coordinate (i+1,j+1).		The pixel at coordinate (0,0) is defined from (0,0) to (1,1), with (1,1) being exclusive. Stated in more general terms, pixel (i,j) is defined as the integral from (i,j) to (i+1,j+1). Note that the upper extent is exclusive and that (i+1,j+1) is not a member of (i,j) and will belong to pixel coordinate (i+1,j+1).

			Unfortunately there is no standard for spatial coordinates and a lot of confusion here across libraries and tools. In [https://www.mathworks.com/help/vision/gs/coordinate-systems.html Matlab] pixel (1,1) is defined from (0.5,0.5) to (1.5,1.5). Please take this in account when doing camera calibration and using a tool in one library then applied it to another library.

	= Fiducial Marker Coordinate Systems =		= Fiducial Marker Coordinate Systems =

Peter: /* 3-D Coordinate System */

2020-01-25T03:09:29Z

3-D Coordinate System

← Older revision		Revision as of 03:09, 25 January 2020
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	= 3-D Coordinate System =		= 3-D Coordinate System =

	[[File::Camera_coordinates.png]]		[[File:Camera_coordinates.png]]

	BoofCV uses a right handed coordinate which matches most computer vision systems.		BoofCV uses a right handed coordinate which matches most computer vision systems.

Peter: Created page with "In this page the different standards which BoofCV follows for coordinate systems are specified. Whenever possible the most standard "standard" is used. In some cases there are..."

2020-01-25T03:08:58Z

Created page with "In this page the different standards which BoofCV follows for coordinate systems are specified. Whenever possible the most standard "standard" is used. In some cases there are..."

New page

In this page the different standards which BoofCV follows for coordinate systems are specified. Whenever possible the most standard "standard" is used. In some cases there are no standards. If you ever find code inside of BoofCV which does not follow one of these standards please report it.

= Array and Matrix Indices =

Arrays and matrix coordinates in BoofCV are all zero-indexed (unlike 1-indexed libraries like [https://www.mathworks.com/products/matlab.html Matlab]), meaning that we start counting from zero instead of one. Some variable names will start at one, i.e. point1, point2. When referencing a coordinate inside of a matrix (row,column) order is employed. For information on the data structures of matrices see [http://ejml.org EJML].

= Pixel Indices =

[[File:Image_pixel_coordinates.png]]

Image pixels are referred in (x,y) order where x is the columns and y is the rows, this is in contrast to matrices which as mentioned above have the reverse order. This is primarily for historical reasons.

As with arrays and matrices, images are zero indexed. The pixel (0,0) refers to the top-left corner and (width-1, height-1) referring to the bottom right. Data is stored in a row-major format.

= Spatial Coordinates =

Spatial image coordinates are used when using "sub-pixel" coordinates, that is floating point numbers.

[[File:Image_spatial_coordinates.png]]

Pixel (i,j) is defined as the integral from (i,j) to (i+1,j+1). Note that the upper extent is exclusive and that (i+1,j+1) is not a member of (i,j) and will belong to pixel coordinate (i+1,j+1).

= Fiducial Marker Coordinate Systems =

There is no true standard across all markers, whatever makes the most sense for a specific marker is used. In general the marker's 2D coordinate system will have the origin as the center, +y is up and +x is right. An example is shown below.

[[File:Square_fiducial_parts.png]]

= 3-D Coordinate System =

[[File::Camera_coordinates.png]]

BoofCV uses a right handed coordinate which matches most computer vision systems.

* +x axis is to the right
* +y axis is down
* +z axis is out of the camera