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Chapter 2

Image formation

2.1 Geometric primitives and transformations ................... 29
2.1.1 Geometric primitives .......................... 29
2.1.2 2D transformations ........................... 33
2.1.3 3D transformations ........................... 36
2.1.4 3D rotations ............................... 37
2.1.5 3D to 2D projections .......................... 42
2.1.6 Lens distortions ............................. 52
2.2 Photometric image formation .......................... 54
2.2.1 Lighting ................................. 54
2.2.2 Reflectance and shading ........................ 55
2.2.3 Optics .................................. 61
2.3 The digital camera ............................... 65
2.3.1 Sampling and aliasing ......................... 69
2.3.2 Color .................................. 71
2.3.3 Compression .............................. 80
2.4 Additional reading ............................... 82
2.5 Exercises .................................... 82

R. Szeliski, Computer Vision: Algorithms and Applications, Texts in Computer Science, 27
DOI 10.1007/978-1-84882-935-0_2, © Springer-Verlag London Limited 2011