ENB339 lecture 8: image formation

Newer version of this, visit robotacademy.net.au In this lecture we look at how images are formed, from light reflecting off points in the world and using a pinhole or lens to an image being created on an image plane. The pinhole has very simple geometry but in practice leads to very dim images so we use a lens to gather more light, but this leads to problems with focus. Both can be modeled using a perspective projection which maps 3 dimensions down to 2, and the consequence is that lines in the world are not necessarily parallel in the image, and circles may appear as ellipses. Finally we touch again on the problem of focus and introduce the concept of light field cameras.