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Mathematics of the Simple Camera

Mathematics of the Simple Camera. Overview. Simple Camera Scenes with spheres COP on +z COP = Centre Of Projection. Simple Camera (Cross Section). COP = Centre Of Projection. Y. d. y max. Z. -Z. COP. y min. View From the Camera. (x max , y max ). (x min , y min ).

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Mathematics of the Simple Camera

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  1. Mathematics of the Simple Camera

  2. Overview • Simple Camera • Scenes with spheres • COP on +z COP = Centre Of Projection

  3. Simple Camera (Cross Section) COP = Centre Of Projection Y d ymax Z -Z COP ymin

  4. View From the Camera (xmax, ymax) (xmin, ymin)

  5. Forming the Rays • Map screen pixels (M by N window) to points in camera view plane (xmax, ymax) (M-1, N-1) (0,0) (xmin, ymin)

  6. Forming the Rays • Consider pixel i,j • It corresponds to a rectangle width = (xmax-xmin)/M height = (ymax-ymin)/N • Our ray goes through the centre of the pixel • Thus the ray goes through the point (xmin + width*(i+0.5), ymin + height*(j+0.5), 0.0)

  7. Forming the Rays • Thus the ray from the COP through pixel i,j is defined by p(t) = (x(t), y(t), z(t)) = (t*(xmin + width*(i+0.5)), t*(ymin + height*(j+0.5)), d - t*d)

  8. Ray Casting • Intersection of Sphere and line (sphere at origin) • Substitute the ray equation in the sphere equation and solve! • Get an equation in t of the form At2 + 2Bt + C = 0

  9. Ray Casting If B2 – AC < 0 then the ray doesn’t intersect the sphere. If B2 -AC = 0 the ray is tangent to the sphere If B2 – AC > 0 then there are two roots given by t = (-B  (B2 – AC))/A chose the lowest value one (the one closest to the COP)

  10. Ray Casting • Intersection of Sphere and line (general case) • Sphere is centred at (a,b,c) • Translate the start of the ray by (-a,-b,-c) • Proceed as before

  11. The Image - Detection

  12. Conclusions • We can now draw images • Forming rays from the camera • Intersecting those rays with objects (spheres) in the scene • But • No colour – merely binary detection operation • Camera is static - at the moment we must move the objects in front of the camera to be able to see them • Need more interesting scenes!

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