Projective Geometry
Projective Geometry
Overview
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Projective Geometry
a x1 + b x2 + c x3 = 0
x = ( x1 , x2 , x3 )
x2
O
x1
n = ( a, b, c )
Projective Geometry
(a , b , c )
Projective Geometry
(a , b, c) = x x'
x = ( x1 , x2 , x3 )
x' = ( x1 ' , x2 ' , x3 ' )
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(a , b , c )
Projective Geometry
Projective Geometry in 2D
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n
L = ( a, b, c )
x3
x = ( x1 , x2 , x3 )
m
l
x2
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Projective Geometry
x1
Projective Geometry in 2D
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L = ( a, b, c )
x = ( x1 , x2 , x3 )
m
(a , b , c )
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Projective Geometry
Properties
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x = ( x1 , x2 , x3 )
L = ( a, b, c )
m
l
(a , b, c )
Projective Geometry
How do we land back from the projective world to the 2D world of the plane?
For point, consider intersection of ray x = ( x1 , x2 , x3 )
with plane x3 = 1 => = 1 / x3 , m = ( x1 / x3 , x2 / x3 )
For line, intersection of plane a x1 + b x2 + c x3 = 0
with plane x3 = 1 is line l: a x1 + b x2 + c = 0
L = ( a, b, c )
x = ( x1 , x2 , x3 )
m
(a , b , c )
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Projective Geometry
x = L L'
L = x x'
The line through 2 points x and x is
Duality principle: To any theorem of 2D projective geometry, there corresponds a
dual theorem, which may be derived by interchanging the roles of points and lines
in the original theorem
x
x = (x , x , x )
1
L
L
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( a, b, c )
Projective Geometry
l
1
(0,0,1)
Projective Geometry
x = ( x1 , x2 ,0)
Projective Geometry
Projectivity
Mapping from points in plane to points in plane
3 aligned points are mapped to 3 aligned points
Also called
Collineation
Homography
Projective Geometry
Projectivity Theorem
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Projective Geometry
Projectivity Matrix
x1' h11
'
x2 = h21
'
x3 h31
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n
n
n
h12
h22
h32
h13 x1
h23 x2
h33 x3
x' = H x
Projective Geometry
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P
M
P
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M
y
P
x
M
y
so xi = H H-1 x i
Projective Geometry
h 33
Example of Application
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Projective Geometry
Special Projectivities
Projectivity
8 dof
h11 h12
h
h
21 22
h31 h32
h13
h23
h33
a11 a12 t x
Affine transform
a
a
t
6 dof
21 22 x
0
0 1
Similarity
4 dof
s r11
s r
21
0
r11
Euclidean transform
r21
3 dof
0
Projective Geometry
s r12
s r22
0
r12
r22
0
tx
t y
1
tx
t y
1
Invariants
Collinearity,
Cross-ratios
Parallelism,
Ratios of areas,
Length ratios
Angles,
Length ratios
Angles,
Lengths,
Areas
Projective Space Pn
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n
xi = yi
The correspondence between points and coordinate vectors is not one
to one.
Projective Geometry
Projective Geometry in 1D
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x2
1
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Projective Geometry
x = ( x1 , x2 )
a
m
x = (1, 0)
x1
Projectivity in 1D
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x'1 h11
=
x'2 h21
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n
h12 x1
h22 x2
x' = H x
x = ( x1 , x2 )
a
1
O
Projective Geometry
x = (1, 0)
Cross-Ratio Invariance in 1D
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AB CB
x A1
Cross( A,B,C,D ) =
with AB = det
AD CD
xA 2
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x B1
x B 2
a b c b
Cross( A,B,C,D ) =
ad cd
n
x = ( x1 , x2 )
A
1
Projective Geometry
x = (1, 0)
Cross-Ratio Invariance in 1D
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For the 4 sets of collinear points in the figure, the cross-ratio for
corresponding points has the same value
Projective Geometry
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C
Projective Geometry
Projective Geometry in 3D
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xi = 0
Projective Geometry
Central Projection
If world and image points are represented by homogeneous
vectors, central projection is a linear mapping between P3 and P2:
xs
xi = f
zs
ys
yi = f
zs
u f
v = 0
w 0
0
f
0
xs
0 0
ys
0 0
zs
1 0
1
y
center of
projection
xi = u / w, yi = v / w
C
f
Projective Geometry
References
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Projective Geometry