.. _ImageFormation:

***************************************
Image Formation
***************************************

.. topic:: Reading Assignment

   Please read appendix C.2 and chapter 11 of [RVC]_.

.. topic:: Video Resources

    * Projective geometry, homgeneous coordinates, and image formation
      are introduced by Peter Corke in these Robot Academy videos
      series on `How Images are Formed 
      <https://robotacademy.net.au/masterclass/how-images-are-formed/>`_, 
      and on the `geometry of image formation
      <https://robotacademy.net.au/masterclass/the-geometry-of-image-formation/?lesson=773>`_.

    * This material is also covered very well in two lectures by Aaron
      Bobick of Georgia Tech. It is available as a series of videos from
      Udacity. Watch lecture series `3A-L1
      <https://classroom.udacity.com/courses/ud810/lessons/2984798536/concepts/29432285730923>`_
      and `3A-L2
      <https://classroom.udacity.com/courses/ud810/lessons/2947768566/concepts/29736185660923>`_
      from the Udacity course *Introduction to Computer Vision*.

    * Stereo cameras and 3D active sensors are covered in the set of videos
      from Peter Corke titled `3D Vision
      <https://robotacademy.net.au/masterclass/3d-vision/>`_.

    * If you'd like more information on vectors, matrices, matrix
      multiplication, and transforming vectors, look at the following Khan
      Academy videos:

        * `Vector introduction for linear algebra
          <https://www.khanacademy.org/math/linear-algebra/vectors-and-spaces/vectors/v/vector-introduction-linear-algebra>`_

        * `Introduction to matrices
          <https://www.khanacademy.org/math/precalculus/precalc-matrices/intro-to-%20matrices/v/introduction-to-the-matrix>`_

        * `Introduction to matrix multiplication
          <https://www.khanacademy.org/math/precalculus/precalc-matrices/multiplying-matrices-by-matrices/v/matrix-multiplication-intro>`_

        * `Introduction to identity matrix
          <https://www.khanacademy.org/math/precalculus/precalc-matrices/properties-of-matrix-multiplication/v/identity-matrix>`_

        * `Transforming vectors using matrices
          <https://www.khanacademy.org/math/precalculus/precalc-matrices/matrices-as-transformations/v/transforming-position-vector>`_

**Contents:**

.. toctree::
   :maxdepth: 2

   cameras
   projection
   homography
   stereoCams
   3d_sensors