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Light can change the image and appearances (images from D. Jacobs) What is the relation between pixel brightness and scene radiance? What is the relation between pixel brightness and scene reflectance ?
2003 by Davi Geiger Computer Vision September 2003 L1.1
Camera Obscura
"When images of illuminated objects ... penetrate through a small hole into a very dark room ... you will see [on the opposite wall] these objects in their proper form and color, reduced in size ... in a reversed position, owing to the intersection of the rays". Da Vinci
http://www.acmi.net.au/AIC/CAMERA_OBSCURA.html (Russell Naughton)
2003 by Davi Geiger Computer Vision
September 2003
L1.2
Computer Vision
September 2003
L1.3
Cameras
First photograph due to Niepce First on record shown in the book - 1822
Computer Vision September 2003 L1.4
Pinhole cameras
Abstract camera model - box with a small hole in it Pinhole cameras work in practice
Computer Vision
September 2003
L1.5
Light
When they hit an object they: bounce off in a new direction or are absorbed (exceptions later).
2003 by Davi Geiger Computer Vision September 2003 L1.6
Irradiance, E
Light power per unit area (watts per square meter) incident on a surface. If surface tilts away from light, same amount of light strikes bigger surface (less irradiance).
light
surface
2003 by Davi Geiger Computer Vision September 2003 L1.7
Radiance, L
Amount of light radiated from a surface into a given solid angle per unit area (watts per square meter per steradian). Note: the area is the foreshortened area, as seen from the direction that the light is being emitted.
light
surface
2003 by Davi Geiger Computer Vision
September 2003
L1.8
Image Formation
A cos = R2
solid angle subtended by a small patch of area A.
A
L - radiance is the amount of light radiated from a surface per solid angle 2 1 (power per unit area per unit solid angle emitted from a surface. W m sr ) E - irradiance is the amount of light falling in a surface (power per unit area incident in a surface. W m 2 )
Computer Vision
September 2003
L1.9
n
f
A cos z = I cos f
Computer Vision
September 2003
L1.10
d f
Thus, we conclude
2
P = L A cos = LA
d 3 cos cos 4z
P A d d E= =L cos 3 cos = L I I 4 z 4 f
2003 by Davi Geiger Computer Vision
Summary
d E = L cos 4 4 f
The irradiance at the image pixel is converted into the brightness of the pixel Image Irradiance is proportional to Scene Radiance Scene distance, z, does not affect/reduce image brightness (the model is too simplified, since in practice it does.) The angle of the scene patch with respect to the view () reduces cos 4 the brightness by the . In practice the effect is even stronger.
2
Computer Vision
September 2003
L1.12
i
i
( i , i ) ( e , e )
L( e , e ) f ( i , i , e , e ) = E ( i , i )
BRDF - How bright a surface appears when viewed from one direction while light falls on it from another.
Usually f depends only on e i , i , e : true for matte surfaces and specularly reflecting surfaces.
2003 by Davi Geiger Computer Vision September 2003 L1.13
E ( i , i ) = E ( i , i ) sin i i i
Power arriving at patch A from
Foreshortening
P = =
A
0
E ( i , i ) cos i sin i i i
L( e , e ) =
f ( i , i , e , e ) E ( i , i ) cos i sin i i i
Computer Vision September 2003 L1.14
L( e , e ) = f
E ( i , i ) cos i sin i i i = f E0
p =
since
Using that L =
1 f =
Computer Vision
September 2003
L1.15
1.
L( e , e ) = E0 =
= k ( e , e ) E ( e , e ) cos e sin e
2
2
k ( i , i ) ( e i ) (e i ) E ( i , i ) cos i sin i i i
1 and for specular surfaces L = E0 k ( i , i ) = cos i sin i ( e i ) (e i ) we finally obtain f ( i , i , e , e ) = cos i sin i
2003 by Davi Geiger Computer Vision September 2003 L1.16
L =
0 0
( i , i ) ( e , e )
1 L( e , e ) = f E0 = E cos i
Familiar cosine or Lamberts law of reflection from matte surfaces (surfaces covered with finely powdered transparent materials such as barium sulfate or magnesium carbonate), and can approximate paper, snow and matte paint. Finally, for a sky of uniform radiance E we obtain
L( e , e ) =
2003 by Davi Geiger
1 E cos i sin i i i = E !
Computer Vision September 2003 L1.17
(Steve Seitz)
Lambertian+Specular
(http://graphics.cs.ucdavis.edu/GraphicsNotes/Shading/Shading.html)
2003 by Davi Geiger Computer Vision
September 2003
L1.19