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FUNDAMENTAL TECHNIQUES
FOR 3D COMPUTER VISION
A Tutorial for Entry Level Researcher
version AUTHOR YEAR Apart from any fair dealing for the purposes of research or private study, or
1.0
criticism or review, this publication may only be reproduced, stored or
transmitted, in any form or by any means, with the prior permission in
SUNU WIBIRAMA 2011 writing of the author. Citing is expected when part or whole content of
this material is used in academic publication
FUNDAMENTAL TECHNIQUES FOR 3D COMPUTER VISION
A Tutorial for Entry Level Researcher
Written by:
Sunu Wibirama, M.Eng
Department of Electrical Engineering and Information Technology,
Faculty of Engineering,
Gadjah Mada University
INDONESIA
Copyright Statement
This tutorial is taken from a research report entitled Real-time 3D Eye Movements Tracking and
Visualization using Dual Cameras Acquisition funded by AUN/Seed-Net-JICA Programme
in 2008-2010. Apart from any fair dealing for the purposes of research or private study, or criticism or
review, this publication may only be reproduced, stored or transmitted, in any form or by any means, with
the prior permission in writing of the author. Please cite the following paper when part or whole
content of this tutorial is used in academic publication:
S. Wibirama, S. Tungjitkusolmun, C. Pintavirooj, and K. Hamamoto, “Real Time Eye Tracking using Initial
Centroid and Gradient Analysis,” in Proceeding of The 2009 6th International Conference of Electrical
Engineering/Electronics, Computer, Telecommunications, and Information Technology (ECTI). ISBN:
978-1-4244-3388-9. Pattaya, Thailand. 6-8 May 2009, pp. 1058-1061.
ρ3 ρ2
XS YS
xi = f yi = f
ZS ZS
v
XS
v = YS
Z S
v v
XS
Y
v= S
ZS
1
f 0 0 0
P = 0 f 0 0
0 0 1 0
w = Pv
fX S
w = fYS
Z S
zs
XS
f ZS
w=
YS
f
ZS
w
p ( x , y )
0 0
( x p ix , y p ix )
x pix = k x xi + syi + x0
XS Y
= kx f + sf S + x0
ZS ZS
y pix = k y yi + y0
YS
= ky f + y0
ZS
k k s
x y
( x , y ) u
p ix p ix
u = [u v w] , where x pix =
T u
and y pix =
v
w w
X
u α x s x0 0 S
v = G.v = 0 αy y0
Y
0 S
Z
w 0 S
0 0 1
1
α = k f α = k f
x x y y
f
α x s x0 0 α x s x0 1 0 0 0
G = 0 α y y0 0 = 0 α y y0 0 1 0 0 = K [ I3 | O3 ]
0 0 1 0 0 0 1 0 0 1 0
.
w = Pv
v w
P
w = PTG v
1 0 0 −XG
0 1 0 −YG
TG =
0 0 1 − ZG
0 0 0 1
w = PRTG v
R = R β Rα
cos β 0 − sin β 0
0 0
Rβ =
1 0
sin β 0 cos β 0
0 0 0 1
1 0 0 0
0 cosα sin α 0
Rα =
0 − sin α cosα 0
0 0 0 1
w = PTC RTG v
1 0 0 −XO
1 0 −YO
TC =
0
0 0 1 −Z O
0 0 0 1
XS
u
v = K I | O R −T YS
[ 3 3 ] T
O3 1 ZS
w
1
R −T
T
O3 1
X v = [ X Y Z 1]
W S S S
T
X
W
X
XW = W
1
u = [u v w]
T
u = K R ( X W − t )
u
X X
u = [ KR | − KRt ] W = M W = M
XW
1 1
X
W
α
α M α ≠ 0
r = [ x pix y pix ]T = [ p q]
T
X n
r
n
X
α n rn = M n
1
ρ3 to
ρ2
X = [ X Y Z ] T
r = [ p q] m
T
ij
X
α p m11 m12 m13 m14
α q = m m22 m23
Y
m24
21 Z
α m31 m32 m33 m34
1
α p m11 X + m12Y + m13 Z + m14
α q = m X + m Y + m Z + m
21 22 23 24
α m31 X + m32Y + m33 Z + m34
α ( m 31 X + m32Y + m33 Z + m34 ) [α p αq α ]
p ( m31 X + m32Y + m33 Z + m34 ) = m11 X + m12Y + m13 Z + m14
q ( m31 X + m32Y + m33 Z + m34 ) = m21 X + m22Y + m23 Z + m24
m ,....., m
11 34
m
X Y Z 1 0 0 0 0 − pX − pY − pZ − p 11
0 0 0 0 X Y Z 1 − qX −qY −qZ
m
− q 12 = 0
m34
AM = 0
Amn = U mm DmnVnnT
M = [K R | − K R t ] = [ A | b ]
A = KR b = −KRt
t = − A−1b
( X , Y , Z )
k k
1 2
k
3
p p
1 2
( x pix , y pix )
( X , Y , Z )
S S S
x pix = k x xi + sy i + x0
XS Y
= kx f + sf S + x0
ZS ZS
y pix = k y yi + y0
YS
= ky f + y0
ZS
( x , y ) f k k
0 0 x y
s ( x , y ) ( x , y )
d d pix pix
r ( x , y )
d d
r= (xd − x0 ) + ( yd − y0 )
2 2
x = xd − x0 ; y = yd − y0
(
cx = x k1r 2 + k2 r 4 + k3r 6 )
(
cy = y k1r 2 + k2r 4 + k3r 6 )
(
d x = 2 p1 x y + p2 r 2 + 2 x
2
)
( )
d y = p1 r 2 + 2 y + 2 p2 x y
2
( x pix , y pix )
x pix = x d + ( c x + d x )
y pix = y d + ( c y + d y )
( )
x pix = xd + x k1r 2 + k2 r 4 + k3 r 6 + 2 p1 x y + p2 r 2 + 2 x ( 2
)
( ) (
y pix = yd + y k1r 2 + k2 r 4 + k3 r 6 + p1 r 2 + 2 y + 2 p2 x y
2
)
r 2 + xk
x pix = xd + xk1
r 4 + xk
2
r 6 + 2 p x y + p r 2 + 2 x 2
3 1 2 ( )
(
y pix = yd + yk1r 2 + yk2 r 4 + yk3 r 6 + p1 r 2 + 2 y + 2 p2 x y
2
)
(x pix − xd ) − xk
r 2 − xk
1
r 4 − xk
2
r 6 − 2 p x y − p r 2 + 2 x 2 = 0
3 1 2 ( )
(
( y pix − yd ) − yk1r 2 − yk2r 4 − yk3r 6 − p1 r 2 + 2 y − 2 p2 x y = 0
2
)
AX = 0 X
A
X
1
( pix d )
x −x 2
− xr 4
− xr 6
− xr −2 x y ( )
− r 2 + 2 x k1
2
k2
( y pix − yd ) − yr 2
− yr 4 − yr 6 (
− r 2 + 2 y
2
) −2 x y = 0
k3
p
1
p2
AX = 0
Amn = Umm DmnVnnT
( x pix , y pix )
C C
1 2
W
R ' T '
R '' T ''
u ' u ''
X
m ' , m ' , m '
1
T
2
T
3
T
m '' , m '' , m ''
1
T
2
T
3
T
X '
u ' m '11 m '12 m '13 m '14 m '1T
u ' = v ' = m '21 m '24 = M ' X = m '2T X
Y'
m '22 m '23
Z '
w ' m '31 m '32 m '33 m '34 m '3T
1
X ''
u '' m ''11 m ''12 m ''13 m ''14 m ''1T
u '' = v '' = m ''
m ''24 = M '' X = m ''2T X
Y ''
21 m ''22 m ''23
Z ''
w '' m ''31 m ''32 m ''33 m ''34 m ''3T
1
u ' u ''
X
u ' : v ' : w ' = m '1T X : m '2T X : m '3T X
u '': v '': w '' = m ''1T X : m ''2T X : m ''3T X
u ' m '2T X = v ' m '1T X u '' m ''2T X = v '' m ''1T X
u ' m '3T X = w ' m '1T X u '' m ''3T X = w '' m ''1T X
v ' m ' X = w' m ' X
3
T
2
T
v '' m '' X = w '' m '' X
3
T
2
T
u ' m '2T − v ' m '1T u '' m ''2T − v '' m '1T
T T
u ' m '3 − w ' m '1 X = 0
T
u '' m ''3 − w '' m ''1 X = 0
T
v ' m '3T − w ' m '2T v '' m ''3T − w '' m ''2T
w' w''
−v' −v'
(u ' w ' m ' − v ' w ' m ' − u ' v ' m ' + v ' w ' m ' ) X = (u ' w ' m ' − u ' v ' m ' ) X = 0
2
T
1
T
3
T
1
T
2
T
3
T
( u '' w '' m '' − v '' w '' m '' − u '' v '' m '' + v '' w '' m '' ) X = ( u '' w '' m '' − u '' v '' m '' ) X = 0
2
T
1
T
3
T
1
T
2
T
3
T
( −w ' m '2
T
)
+ v ' m '3T X = 0 ( −w '' m '' 2
T
+ v '' m ''3T X = 0 )
( u ' w ' m ' − u ' v ' m ' ) X = −u ' ( − w ' m ' + v ' m ' ) X = 0
2
T
3
T
2
T
3
T
( u '' w '' m '' − u '' v '' m '' ) X = −u '' ( − w '' m '' + v '' m '' ) X = 0
2
T
3
T
2
T
3
T
(u 'm ' 3
T
)
− w ' m '1T X = 0 ( u '' m '' 3
T
− w '' m ''1T X = 0 )
(v 'm ' 3
T
− w ' m '2 T )X =0 ( v '' m '' 3
T
− w '' m ''2T )X =0
u ' m '3T − w ' m '1T
T
v ' m '3 − w ' m '2 X = AX = 0
T
u '' m ''3T − w '' m ''1T
v '' m ''3 − w '' m ''2
T T
( X ≠ 0 )
det( A) = 0
Amn = U mm DmnVnnT
u ' T3 −w ' T1
v ' 3
T
− w ' T2
u " T3 −w " T1
= = 0
v " 3
T
− w " T2
u ''' T −w ''' 1T
3
v ''' 3
T
− w ''' T2
MATLAB IMPLEMENTATION
%---------------------------------------------%
% Matlab implementation of 3D Reconstruction %
% Written by: Chuchart Pintavirooj and %
% Sorapong Aoothaphao %
% Modified by: Sunu Wibirama %
% Please use for educational purpose only %
%---------------------------------------------%
%read input
clear
for j=1:3
switch (j)
case 1
a=imread('pic1.jpg','jpg');
aa=a(:,:,1);
figure(1);imagesc(aa);colormap('gray');
case 2
a=imread('pic2.jpg','jpg');
aa=a(:,:,1);
figure(2);imagesc(aa);colormap('gray');
case 3
a=imread('pic3.jpg','jpg');
aa=a(:,:,1);
figure(3);imagesc(aa);colormap('gray');
end
hold on;
%define 2D coordinate of each point
for i=1:8
[u(i,1),u(i,2)]=ginput(1);
plot(u(i,1),u(i,2),'r+');
end
% define world coordinate of the box
xx=[0 0 0 1
10.5 0 0 1
10.5 10.5 0 1
0 10.5 0 1
0 0 10.5 1
10.5 0 10.5 1
10.5 10.5 10.5 1
0 10.5 10.5 1];
%compute matrix M
for i=1:8
G(2*i,1)=0;
G(2*i,2)=0;
G(2*i,3)=0;
G(2*i,4)=0;
G(2*i,5)=xx(i,1);
G(2*i,6)=xx(i,2);
G(2*i,7)=xx(i,3);
G(2*i,8)=1;
G(2*i,9)=-u(i,2)*xx(i,1);
G(2*i,10)=-u(i,2)*xx(i,2);
G(2*i,11)=-u(i,2)*xx(i,3);
G(2*i,12)=-u(i,2);
G((2*i)-1,1)=xx(i,1);
G((2*i)-1,2)=xx(i,2);
G((2*i)-1,3)=xx(i,3);
G((2*i)-1,4)=1;
G((2*i)-1,5)=0;
G((2*i)-1,6)=0;
G((2*i)-1,7)=0;
G((2*i)-1,8)=0;
G((2*i)-1,9)=-u(i,1)*xx(i,1);
G((2*i)-1,10)=-u(i,1)*xx(i,2);
G((2*i)-1,11)=-u(i,1)*xx(i,3);
G((2*i)-1,12)=-u(i,1);
end
[U, D, V]=svd(G);
VT=V;
M=VT(:,end); %last columm
%M = transpose(reshape(M_vector, 4, 3));
m(1,1)=M(1);
m(1,2)=M(2);
m(1,3)=M(3);
m(1,4)=M(4);
m(2,1)=M(5);
m(2,2)=M(6);
m(2,3)=M(7);
m(2,4)=M(8);
m(3,1)=M(9);
m(3,2)=M(10);
m(3,3)=M(11);
m(3,4)=M(12);
switch (j)
case 1
u1=u;
m1=m;
case 2
u2=u;
m2=m;
case 3
u3=u;
m3=m;
end
vv=m*xx';
vv=vv';
vv(:,1)=vv(:,1)./vv(:,3);
vv(:,2)=vv(:,2)./vv(:,3);
title('Re project')
for i=1:8
plot(vv(i,1),vv(i,2),'go');
end
end%for j=1:3
size(u);m=ans(1);
%3D Reconstruction using Direct Linear Transformation
for i=1:8
A(1,1:4)=u1(i,1)*m1(3,1:4)-m1(1,1:4);
A(2,1:4)=u1(i,2)*m1(3,1:4)-m1(2,1:4);
A(3,1:4)=u2(i,1)*m2(3,1:4)-m2(1,1:4);
A(4,1:4)=u2(i,2)*m2(3,1:4)-m2(2,1:4);
A(5,1:4)=u3(i,1)*m3(3,1:4)-m3(1,1:4);
A(6,1:4)=u3(i,2)*m3(3,1:4)-m3(2,1:4);
[U, D, V]=svd(A);
zz(:,i)=V(:,4);
end
ake=zz;
zz=zz';
zz(:,1)=zz(:,1)./zz(:,4);
zz(:,2)=zz(:,2)./zz(:,4);
zz(:,3)=zz(:,3)./zz(:,4);
% Plot image
figure(4);
cla reset; hold on
d = [1 2 3 4 1 5 6 7 8 5 6 2 3 7 8 4];
plot3(zz(d,1),zz(d,2),zz(d,3),'b:');
plot3(zz(:,1),zz(:,2),zz(:,3),'b.','markersize',20)
A=m1(:,2:4);
%scaling = sqrt(m1(3,2)^2 + m1(3,3)^2 + m1(3,4)^2);
%m1 = m1 ./ scaling;
A=m1(:,2:4);
[Q R]=qr(A^-1);
R1=R^-1;
R1=R1/R1(3,3)
A=m2(:,2:4);
%scaling = sqrt(m2(3,2)^2 + m2(3,3)^2 + m2(3,4)^2);
%m2 = m2 ./ scaling;
A=m2(:,2:4);
[Q R]=qr(A^-1);
R2=R^-1;
R2=R2/R2(3,3)
A=m3(:,1:3);
%scaling = sqrt(m3(3,2)^2 + m3(3,3)^2 + m3(3,4)^2);
%m3 = m3 ./ scaling;
A=m3(:,2:4);
[Q R]=qr(A^-1);
R3=R^-1;
R3=R3/R3(3,3)
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