Tutorial Geometric Vision - Revision history

Peter at 03:20, 25 January 2020

2020-01-25T03:20:08Z

← Older revision		Revision as of 03:20, 25 January 2020
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	See the [[Coordinate_Systems\|Coordinate Systems]] page for a detailed description of all the coordinate systems used in BoofCV. For the most part BoofCV sticks with what is the closest to a standard in computer vision. Most of the time OpenCV and BoofCV use the same standards. If using a 3rd party library to calibrate a camera pay close attention on the section on camera spatial coordinates. There is no consensus and you might need to shift the image system by 0.5 a pixel. BoofCV and OpenCV use the same coordinate system, but for unknown reasons OpenCV calibration target detectors use the same coordinate system as Matlab and are shifted.		See the [[Coordinate_Systems\|Coordinate Systems]] page for a detailed description of all the coordinate systems used in BoofCV. For the most part BoofCV sticks with what is the closest to a standard in computer vision. Most of the time OpenCV and BoofCV use the same standards. If using a 3rd party library to calibrate a camera pay close attention on the section on camera spatial coordinates. There is no consensus and you might need to shift the image system by 0.5 a pixel. BoofCV and OpenCV use the same coordinate system, but for unknown reasons OpenCV calibration target detectors use the same coordinate system as Matlab and are shifted.

	~~BoofCV follows standard practices in computer vision for it's coordinate systems. All 3D coordinate systems will be right handed.~~

	=== World Coordinates ===		=== World Coordinates ===

Peter at 03:14, 25 January 2020

2020-01-25T03:14:24Z

← Older revision		Revision as of 03:14, 25 January 2020
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	== Coordinate Systems ==		== Coordinate Systems ==

			See the [[Coordinate_Systems\|Coordinate Systems]] page for a detailed description of all the coordinate systems used in BoofCV. For the most part BoofCV sticks with what is the closest to a standard in computer vision. Most of the time OpenCV and BoofCV use the same standards. If using a 3rd party library to calibrate a camera pay close attention on the section on camera spatial coordinates. There is no consensus and you might need to shift the image system by 0.5 a pixel. BoofCV and OpenCV use the same coordinate system, but for unknown reasons OpenCV calibration target detectors use the same coordinate system as Matlab and are shifted.

	BoofCV follows standard practices in computer vision for it's coordinate systems. All 3D coordinate systems will be right handed.		BoofCV follows standard practices in computer vision for it's coordinate systems. All 3D coordinate systems will be right handed.

	~~=== Image Pixel Coordinates ===~~

	~~[[File:image_coordinates.png\|200px\|thumb\|right\|Image Coordinate System]]~~

	~~The image coordinate system is the standard 2D one. Top left corner is (0,0). +x axis goes from image left to image right and +y axis from image top to image bottom.~~

	~~=== Camera Coordinate System ===~~

	~~[[File:camera_coordinates.png\|200px\|thumb\|right\|Camera Coordinate System]]~~

	~~Unless specified otherwise, the following camera coordinate system is used. The origin of the camera will be its optical center. Coordinate axises are defined as follows:~~

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

	=== World Coordinates ===		=== World Coordinates ===

Peter at 02:00, 28 May 2019

2019-05-28T02:00:58Z

← Older revision		Revision as of 02:00, 28 May 2019
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	* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]		* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]
	* [[Example_Three_View_Stereo_Uncalibrated\| Full 3-View Uncalibrated to Metric Reconstruction]]		* [[Example_Three_View_Stereo_Uncalibrated\| Full 3-View Uncalibrated to Metric Reconstruction]]

			== Videos ==
			* [https://www.youtube.com/watch?v=O_yAdsT8d84 Explanation of Camera Self Calibration]

	== Coordinate Systems ==		== Coordinate Systems ==

Peter: /* Examples */

2018-12-30T01:57:23Z

Examples

← Older revision		Revision as of 01:57, 30 December 2018
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	* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]		* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]
	* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]		* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]
			* [[Example_Three_View_Stereo_Uncalibrated\| Full 3-View Uncalibrated to Metric Reconstruction]]




	== Coordinate Systems ==		== Coordinate Systems ==

Peter: /* Algorithm List */

2018-12-30T01:55:57Z

Algorithm List

← Older revision		Revision as of 01:55, 30 December 2018
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	* Decompose Essential		* Decompose Essential
	* Decompose Homography		* Decompose Homography
	* Bundle Adjustment		* Sparse Bundle Adjustment
	** ~~Dense (inefficient/slow)~~		** Metric 3D
			** Projective 3D
			** Projective Homogenous
	* Stereo Rectification		* Stereo Rectification
	** Calibrated		** Calibrated
	** Uncalibrated		** Uncalibrated
			* Self Calibration / Auto Calibration
			** Linear Dual Quadratic
			** Linear Pure Rotation
			** Estimate Plane at Infinity Given K
			** Refine Dual Quadratic
			** Guess and Check Focus ("Practical Autocalibration" 2010)

	== Camera Model ==		== Camera Model ==

Peter: /* Image Pixel Coordinates */

2018-12-30T01:51:54Z

Image Pixel Coordinates

← Older revision		Revision as of 01:51, 30 December 2018
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	=== Image Pixel Coordinates ===		=== Image Pixel Coordinates ===

			[[File:image_coordinates.png\|200px\|thumb\|right\|Image Coordinate System]]

	The image coordinate system is the standard 2D one. Top left corner is (0,0). +x axis goes from image left to image right and +y axis from image top to image bottom.		The image coordinate system is the standard 2D one. Top left corner is (0,0). +x axis goes from image left to image right and +y axis from image top to image bottom.

Peter: /* Camera Coordinate System */

2018-12-30T01:50:57Z

Camera Coordinate System

← Older revision		Revision as of 01:50, 30 December 2018
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	=== Camera Coordinate System ===		=== Camera Coordinate System ===

			[[File:camera_coordinates.png\|200px\|thumb\|right\|Camera Coordinate System]]

	Unless specified otherwise, the following camera coordinate system is used. The origin of the camera will be its optical center. Coordinate axises are defined as follows:		Unless specified otherwise, the following camera coordinate system is used. The origin of the camera will be its optical center. Coordinate axises are defined as follows:

Peter: /* Coordinate Systems */

2017-08-11T19:25:05Z

Coordinate Systems

← Older revision		Revision as of 19:25, 11 August 2017
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	The documentation frequently mentions world coordinates. This refers to the common coordinate system that you define. The only restriction is that it must be right handed. Specific applications inside of BoofCV might define a specific coordinate system, e.g. markers/fiducials. This should be defined in the JavaDoc, e.g. [http://boofcv.org/javadoc/boofcv/alg/fiducial/square/DetectFiducialSquareBinary.html Square Binary Fiducial].		The documentation frequently mentions world coordinates. This refers to the common coordinate system that you define. The only restriction is that it must be right handed. Specific applications inside of BoofCV might define a specific coordinate system, e.g. markers/fiducials. This should be defined in the JavaDoc, e.g. [http://boofcv.org/javadoc/boofcv/alg/fiducial/square/DetectFiducialSquareBinary.html Square Binary Fiducial].

			== World Units ==

			This just refers to the standard units used in your coordinate system. If you are using meters it's meters. If you don't care about the scale of something it doesn't matter how you define it.

	== Algorithm List ==		== Algorithm List ==

Peter at 19:13, 11 August 2017

2017-08-11T19:13:47Z

← Older revision		Revision as of 19:13, 11 August 2017
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	* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]		* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]
	* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]		* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]





			== Coordinate Systems ==

			BoofCV follows standard practices in computer vision for it's coordinate systems. All 3D coordinate systems will be right handed.

			=== Image Pixel Coordinates ===

			The image coordinate system is the standard 2D one. Top left corner is (0,0). +x axis goes from image left to image right and +y axis from image top to image bottom.

			=== Camera Coordinate System ===

			Unless specified otherwise, the following camera coordinate system is used. The origin of the camera will be its optical center. Coordinate axises are defined as follows:

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

			=== World Coordinates ===
			The documentation frequently mentions world coordinates. This refers to the common coordinate system that you define. The only restriction is that it must be right handed. Specific applications inside of BoofCV might define a specific coordinate system, e.g. markers/fiducials. This should be defined in the JavaDoc, e.g. [http://boofcv.org/javadoc/boofcv/alg/fiducial/square/DetectFiducialSquareBinary.html Square Binary Fiducial].

Peter at 21:37, 19 June 2014

2014-06-19T21:37:06Z

← Older revision		Revision as of 21:37, 19 June 2014
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	* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]		* [[Example_Fundamental_Matrix\| Compute Fundamental Matrix]]
	* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]		* [[Example_Structure_from_Motion\| Multview Scene Reconstruction]]