The Camera Computational Photographycs.haifa.ac.il/hagit/courses/CP/Lectures/CP01_IntroX4.pdf ·...

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Computational PhotographyComputational PhotographyComputer Science 203.4790Semester B 2009-2010Lecture: Sunday 12:00-15:00 Room: 303

Dr. Hagit [email protected]: 415Office Hours: by appointment

Course Internet Site: http://cs.haifa.ac.il/courses/compPhoto

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The CameraThe Camera

• A camera is a device that takes photos of images • Camera Obscura (Latin = "dark chamber")

19th century camera Sony’s smile recognition camera

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Camera DevelopmentsCamera Developments

1825 19901913

permanent capturing

(wet plates)

1850

exposuretime and

motion capture(dry plates)

digital sensors

quality and size (35 mm)

1885

portability(film-Kodak)

1933

optics (SLR)

1950

instancy(polaroid)

2000

computationalphotography

1826 - Earliest surviving photograph. This image required an eight-hour exposure.

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Computational PhotographyComputational Photography

Wikipedia:

Computational photography refers broadly to computational imaging techniques that enhance or extend the capabilities of digital photography. The output of these techniques is an ordinary photograph, but one that could not have been taken by a traditional camera.

Steve Mann: The Cyberman

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Goal: Record a richer, multiGoal: Record a richer, multi--layered visual experiencelayered visual experience1.1. Overcome limitations of todayOvercome limitations of today’’s camerass cameras

2.2. Support better postSupport better post--capture processingcapture processing

3.3. Enables new classes of recording the visual signal Enables new classes of recording the visual signal

4.4. Synthesize Synthesize ““impossibleimpossible”” photosphotos

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TopicsTopics

• Project presentation

• Light Field

• Single View Modeling

• Segmentation and Matting

• Data Driven Synthesis

• Multi exposure enhancement

• Multi exposure enhancement

• Appearance-based registration

• Blending and Composition

• Panoramas and feature-based registration

• Single exposure enhancement

• Acquisition and camera model

• Intro and image formation

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AdministrationAdministration

• Pre-requisites / prior knowledge• Course Home Page:

– http://cs.haifa.ac.il/courses/compPhoto– Messages – Lecture slides and handouts – Matlab guides– Homework, Grades

• Exercises: – Programming in Matlab, ~3 Assignments– Final project

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Administration (Cont.)Administration (Cont.)

• Matlab software:– Available in PC labs– Student version

• Grading policy: – Final Grade will be based on:

Exercises (40%) , Final project (60%)– Exercises will be weighted – Exercises can be submitted in pairs

• Office Hours: by email appointment

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Further ReadingsFurther Readings

• Related papers• New book: Computational

Photography by R. Raskarand J. Tumblin

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SyllabusSyllabus• Image Formation

Image formation HVS pathwayColor models

• Acquisition and camera modelCamera model + perspective projectionsSensorsNoise models & DistortionsSampling (spatial+temporal) and quantizationCamera parametersCamera Parameters trade-offs.

• Single exposure enhancementWhite BalancingDe-mosaicingDe-noisingDe-blurringGeometrical distortion correction

• Panoramas and feature based registrationImage featuresSIFTPanoramasFeature based registrationPanoramasHomographyRANSAC Image stitching

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Syllabus Syllabus –– cont.cont.• Blending and Composition

Pyramid blendingOptimal cutSeam CarvingGraph-cutGradient domain editing

• Appearance based registrationSimilarity measures Lucas Kanade optical flowMulti-modal registrationApplications

• Multi exposure enhancement (2 weeks)HDRSuper-resolutionmulti-exposure fusion

• Data Driven SynthesisTexture synthesisVideo textureQuiltingImage analogiesSuper-ResolutionImage Completion

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Syllabus Syllabus –– cont.cont.• Segmentation and Matting

Segmentation using Graph cut.mean-shiftSpectral clusteringInteractive and semi-automatic Matting

• Single View ModelingCamera CalibrationMeasurements in affine camera3D reconstruction

• Light FieldPlenoptic function and the LumiographRe-sampling the plenoptic function

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1. Image Formation1. Image Formation

• Taking a picture• HVS pathway• Color models

Optic NerveFovea

Vitreous

Optic Disc

Lens

Pupil

Cornea

Ocular MuscleRetina

Humor

Iris

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2. Camera Model and Acquisition2. Camera Model and Acquisition

• Perspective projections• Camera pipeline and parameters• Sensors and optics• Sampling and quantization• Noise models & Distortions • Camera Parameters trade-offs.

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3. Single Exposure Enhancement3. Single Exposure Enhancement

• White Balancing• De-mosaicing• De-noising• De-blurring• Geometrical distortion correction

Difference in white point

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4. Panoramas and Feature Based Registration4. Panoramas and Feature Based Registration

• Image features• SIFT• Feature based registration• Panoramas• Homography• RANSAC • Image stitching

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5. Blending and Composition5. Blending and Composition

• Pyramid blending• Gradient domain editing• Optimal cut• Graph-cut

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6. Appearance Based Registration (warping?)6. Appearance Based Registration (warping?)

• Similarity measures • Lucas Kanade optical flow• Multi-modal registration• Applications

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7. Multi Exposure Enhancement 7. Multi Exposure Enhancement

• HDR• Super-resolution• Different-exposures fusion

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8. Data Driven Synthesis 8. Data Driven Synthesis • Texture synthesis• Video texture• Quilting• Image analogies• Super-Resolution• Image Completion

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9. Segmentation and Matting 9. Segmentation and Matting

• Segmentation using Graph cut.• Mean-shift• Spectral clustering• Interactive and semi-automatic Matting

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10. Single View Modeling10. Single View Modeling• Camera Calibration• 3D reconstruction• Metrology

Flagellation by Pietro della Francesca (1416-92, Italian Renaissance period)Animation by Criminisi et al., ICCV 99

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11. Light Field11. Light Field

• Plenoptic function and the Lumiograph• Re-sampling the plenoptic function

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Computational PhotographyComputational PhotographyTodayToday’’s Topic s Topic -- Image FormationImage Formation

• What is an image ?• What is color ?

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Computer Vision

Rendering

Image/video Processing

Model3D ObjectGeometric Modeling

2D Images

The Visual SciencesThe Visual Sciences

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What is an Image ?What is an Image ?• An image is a projection of a 3D scene into a 2D projection plane.• An image can be defined as a 2 variable function I(x,y) , where for

each position (x,y) in the projection plane, I(x,y) defines the light intensity at this point.

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The Pinhole Camera ModelThe Pinhole Camera Model

• Pinhole model:– Captures pencil of rays – all rays through a single point– The point is called Center of Projection (COP)– The image is formed on the Image Plane– Effective focal length f - distance from COP to Image Plane

Slide by Steve Seitz

COP

Image plane

Focal length

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Projection Model (where)Projection Model (where)

• The coordinate system– We will use the pin-hole model as an approximation– Put the optical center (Center Of Projection) at the origin– Put the image plane (Projection Plane) in front of the COP– The camera looks down the negative z axis

Slide by Steve Seitz

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Funny things happenFunny things happen……

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Parallel lines arenParallel lines aren’’tt……

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Lengths canLengths can’’t be trusted...t be trusted...

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The Shading Model (what)The Shading Model (what)

Shading Model: Given the illumination incident at a point on a surface, what is reflected?

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ShadingShading Model ParametersModel Parameters

• The factors determining the shading effects are:

– The light source properties:• Positions, Electromagnetic Spectrum, Shape.

– The surface properties:• Position, orientation, Reflectance properties.

– The eye (camera) properties:• Position, orientation, Sensor spectrum sensitivities.

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Newton’s Experiment, 1665 Cambridge.Discovering the fundamental spectral components of light.

Light and the Visible SpectrumLight and the Visible Spectrum

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The light SpectrumThe light Spectrum

Electromagnetic Radiation - Spectrum

Gamma X rays Infrared Radar FM TV AMUltra-violet

10-12

10-8

10-4

104

1 108

electricityACShort-

wave

400 nm 500 nm 600 nm 700 nmWavelength in nanometers (nm)

Wavelength in meters (m)

Visible light

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MonochromatorsMonochromators

Monochromators measure the power or energy at different wavelengths

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The Spectral Power Distribution (SPD) of a light is a function e(λ) which defines the energy at each wavelength.

Wavelength (λ)

400 500 600 7000

0.5

1

Rel

ativ

e P

ower

Light ParametersLight Parameters

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ExamplesExamples of Spectral Power Distributionsof Spectral Power Distributions

Blue Skylight Tungsten bulb

Red monitor phosphor Monochromatic light

400 500 600 7000

0.5

1

400 500 600 7000

0.5

1

400 500 600 7000

0.5

1

400 500 600 7000

0.5

1

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Light Spatial DistributionLight Spatial Distribution

• Point Source (A): All light rays originate at a point and radially diverge.– A reasonable approximation for sources whose dimensions are small compared to

the object size.

• Parallel source (B): Light rays are all parallel. May be modeled as a point source at infinity (the sun).

• Distributed source (C): All light rays originate at a finite area in space.– A nearby source such as a fluorescent light.

• Ambient source (D) – homogeneous non-directed, background light.

AB C D

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Specular reflectionmirror like reflection at the surface

Diffuse (lambertian) reflection reflected randomly between color particlesreflection is equal in all directions

Incident light Specular reflection

Diffuse reflection

normal

Surface ParametersSurface Parameters

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Different Types of Surfaces

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400 500 600 700

0.2

0.40.6

0.81

400 500 600 700

0.2

0.40.6

0.81

400 500 600 700

0.20.4

0.60.8

1

400 500 600 700

0.20.4

0.60.8

1

Surface Body Reflectances (albedo)

Yellow Red

Blue Gray

Wavelength (nm)

Spectral Property of Diffuse SurfacesSpectral Property of Diffuse Surfaces

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θ

NL

R

V

Ambient reflection: Iamb= K(λ) ea(λ)

Diffuse reflection: Idiff= K(λ) ep(λ) (N⋅L)

Specular reflection: Ispec= Ks(λ)ep (λ) (R⋅V)n

• ea ep - the ambient and point light intensities. • K , Ks ∈ [0,1] - the surface ambient / diffuse / specular reflectivity. • N - the surface normal, L - the light direction, V – viewing direction

Surface propertiesLight properties

geometry

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θ

NL

R

V

Ambient reflection: Iamb= K(λ) ea(λ)

Diffuse reflection: Idiff= K(λ) ep(λ) (N⋅L)

Specular reflection: Ispec= Ks(λ)ep (λ) (R⋅V)n

• ep ea - the ambient and point light intensities. • K , Ks ∈ [0,1] - the surface ambient / diffuse / specular reflectivity. • N - the surface normal, L - the light direction, V – viewing direction

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Diffusesurface

Ambientsurface

Diffuse +

Specular

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I(λ) = Iamb+Idiff+Ispec

• The final illumination equation:

• If several light sources are placed in the scene:

I(λ)= Iamb+Σk (Ikdiff+Ik

spec)

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Composition of Light SourcesComposition of Light Sources

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The Visual PathwayThe Visual Pathway

Retina

Optic Nerve

Optic Chiasm

LateralGeniculateNucleus (LGN)

Visual Cortex

The Human Visual SystemThe Human Visual System

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Optic NerveFovea

Vitreous

Optic Disc

Lens

Pupil

Cornea

Ocular MuscleRetina

Humor

Iris

The Human EyeThe Human Eye

Cornea - קרנית Pupil - אישו ן Iris - קשתית Retina - רשתית

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The Human Eye The Human Eye –– Imaging SystemImaging System

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Eye Eye v.sv.s. Camera. Camera

Yaho Wang’s slides54

light

rods cones

horizontal

amacrine

bipolar

ganglion

The Human RetinaThe Human Retina

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• Retina contains 2 types of photo-receptors– Cones:

• Day vision, can perceive color tone

– Rods: • Night vision, perceive brightness only

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Cones:• High illumination levels (Photopic vision)• Sensitive to color (there are three cone types: L,M,S)• Produces high-resolution vision• 6-7 million cone receptors, located primarily in the central

portion of the retina

Wavelength (nm)

Rel

ativ

e se

nsiti

vity

Cone Spectral Sensitivity

400 500 600 7000

0.25

0.5

0.75

1ML

SM

A side note:• Humans and some monkeys have three types of cones (trichromatic vision); most other mammals have two types of cones (dichromatic vision).• Marine mammals have one type of cone.• Most birds and fish have four types. • Lacking one or more type of cones result in color blindness.

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Rods:• Low illumination levels (Scotopic vision).• Highly sensitive (respond to a single photon).• Produces lower-resolution vision• 100 million rods in each eye.• No rods in fovea.

Wavelength (nm)

Rel

ativ

e se

nsiti

vity

400 500 600 7000

0.25

0.5

0.75

1

Rod Spectral Sensitivity

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Cone Receptor Mosaic(Roorda and Williams, 1999)

L-cones M-cones S-cones

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rodsS - Cones

L/M - Cones

Foveal Periphery photoreceptors

Photoreceptor Distribution Photoreceptor Distribution

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Distribution of rod and cone photoreceptors

Degrees of Visual Angle

Rec

epto

rs p

er s

quar

e m

m

-60 -40 -20 0 20 40 60

2

6

10

14

18x 104

rodscones

Cone’s Distribution:• L-cones (Red) occur at about ~65% of the cones throughout the retina .

• M-cones (green) occur at about ~30% of the cones.

• S-cones (blue) occur at about ~2-5% of the cones (Why so few?).

fovea

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The Cone ResponsesThe Cone Responses

IlluminantSensors

I(λ) – Fixed, point source illuminantl(λ),m(λ),s(λ) – Cone responsivities

Output∫= )()( λλ IlL

∫= )()( λλ ImM

∫= )()( λλ IsS

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Metamer - two lights that appear the same. They might have different SPDs (spectral power distributions).

400 500 600 7000

400

800

400 500 600 7000

100

200

Wavelength (nm)

Pow

er

The phosphors of the monitor were set to match the tungsten light.

Tungsten light Monitor emission

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The The TrichromaticTrichromatic Color TheoryColor Theory

Thomas Young (1773-1829) -A few different retinal receptors operating with different wavelength sensitivities will allow humans to perceivethe number of colors that they do.Suggested 3 receptors.

Helmholtz & Maxwell (1850) -Color matching with 3 primaries.

Trichromatic: “tri”=three “chroma”=colorcolor vision is based on three primaries (i.e., it is 3D).

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Color Matching ExperimentColor Matching Experiment

+ -

+ -

+ -

test match

Primaries

• Given a set of 3 primaries, one can determine for every spectral distribution, the intensity of the guns required to match the color of that spectral distribution.

• The 3 numbers can serve as a color representation.

( ) ( ) ( ) ( )λλλλ bBgGrRT ++≡

R(λ)

G(λ)

B(λ)

T(λ)

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Color matching experiment for Monochromatic lights

400 500 600 7000

0.5

1

400 500 600 7000

0.5

1

400 500 600 7000

0.5

1

Primary Intensities

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r(λ)

g(λ)b(λ)

400 500 600 700

0

1

2

3

Wavelength (nm)

Prim

ary

Inte

nsity

Stiles & Burch (1959) Color matching functions. Primaries are: 444.4 525.3 and 645.2

Problems: Some perceived colors cannot be generated. This is true for any choice of visible primaries.

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• Observation - Color matching is linear:– if (S≡P) then (S+N≡P+N) – if (S≡P) then (α S≡ α P)

• Outcome 1: Any T(λ) can be matched:

• Outcome 2: CMF can be calculated for any chosen primaries U(λ), V(λ), W(λ):

( ) ( ) ( ) ( ) ( ) ( ) λλλλλλλλλ dbTbdgTgdrTr ∫∫∫ === ;;

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

=⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

bgr

ccccccccc

wvu

bwgwrw

bvgvrv

buguru

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• The CIE (Commission Internationale d’Eclairage) defined in 1931 three hypothetical lights X, Y, and Z whose matching functions are positive everywhere:

The CIE Color StandardThe CIE Color Standard

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TristimulusTristimulus• Let X, Y, and Z be the tristimulus values.

• A color can be specified by its trichromatic coefficients, defined as

XxX Y Z

=+ +

YyX Y Z

=+ +

ZzX Y Z

=+ +

X ratio

Y ratio

Z ratio

Two trichromatic coefficients are enough to specify a color. (x + y + z = 1)

From: Bahadir Gunturk

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CIE Chromaticity DiagramCIE Chromaticity DiagramInput light spectrum

x

y

From: Bahadir Gunturk72


x

y


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x

y



Boundary

x

y

380nm

700nm


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Boundary

x

y

380nm

700nm


Input light spectrum

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CIE Chromaticity DiagramCIE Chromaticity DiagramLight composition


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CIE Chromaticity DiagramCIE Chromaticity DiagramLight composition

Light composition


Pure wavelength in chromaticity diagramPure wavelength in chromaticity diagram

• Blue: big value of Z, therefore x and y small

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• Then y increases

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• Green: y is big

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• Yellow: x & y are equal

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• Red: big x, but y is not null

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CIE Chromaticity DiagramCIE Chromaticity Diagram• The CIE chromaticity diagram is helpful to determine the range of colors

that can be obtained from any given colors in the diagram.

Source: http://hyperphysics.phy-astr.gsu.edu/hbase/vision/visioncon.html#c1

Gamut: The range of colors that can be produced by the given primaries.

http://www.brucelindbloom.com/index.html?Eqn_ChromAdapt.html

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• The sRGB is a device-independent color space. It was created in 1996 by HP and Microsoft for use on monitors and printers.

• It is the most commonly used color space.

• It is defined by a transformation from the xyz color space.

The The sRGBsRGB Color StandardColor Standard

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Color SpacesColor Spaces

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RGB Color Space (additive)RGB Color Space (additive)

• Define colors with (r, g, b) ; amounts of red, green, and blue

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CMY Color Space (subtractive)CMY Color Space (subtractive)

• Cyan, magenta, and yellow are the complements of red, green, and blue– We can use them as filters to subtract from white– The space is the same as RGB except the origin is white

instead of black

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HSV color spaceHSV color space

• Hue - the color tone (red, green, purple).• Saturation - purity (distance of color from gray ).• Value - brightness of the color.

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HSV HSV -- a more intuitive color spacea more intuitive color space

Value

Saturation

Hue

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Opponent ColorsOpponent Colors

Blue-Yellow

LMS

L+M-S

++- +- +++

L-M L+M+S

Red-Green Black-White

Opponent process - possible neural connections:

-

B-Y+

Y-B+

R-G+

G-R+

R-

G+ B-

Y+

Ganglion cells / LGN cells Cortical cells

Color Contrast detectors Color edge detectors

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The Statistics of Color ImagesThe Statistics of Color Images

• Observation: Color bands are highly correlated in high spatial frequencies

∗H

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A joint Histogram of rx v.s. gx

Red derivative

Gre

en d

eriv

ativ

e

100 200 300 400 500

50

100

150

200

250

300

350

400

450

500

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A joint Histogram of gx v.s. bx

Green derivative

Blu

e de

rivat

ive

100 200 300 400 500

50

100

150

200

250

300

350

400

450

500

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A joint Histogram of rx v.s. bx

Red derivative

Blu

e de

rivat

ive

100 200 300 400 500

50

100

150

200

250

300

350

400

450

500

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Joint histograms of R v.s. G for a low pass images.

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• Define a new color basis (l,c1,c2):

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

−−=

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛=

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

211011111

2

1 nTwhereBGR

Tccl

l – luminanceC1- red/greenC2 – blue/yellowA joint Histogram of rx v.s. gx

Red derivative

Gre

en d

eriv

ativ

e

100 200 300 400 500

50

100

150

200

250

300

350

400

450

500

L

c1

l – luminance valueC1 – Red-GreenC2 – Blue-Yellow

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Observations:– The l channel encodes the color luminance.

– C1 and C2 channels encode the chrominance.

– In the chrominance channels high freq. are attenuated.

– In the luminance channel high freq. are maintained.

– The 3 opponent channels are uncorrelated in the high freq.

– Efficient for color image encoding.

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High freq. details Low freq. details Low freq. details

Claim: The HVS’ high spatial sensitivity in the luminance domain and low spatial sensitivity in the chrominance domains is a direct outcome of the statistical properties of color images!

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Original Image

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After blurring C1 and C2 bands

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After blurring l band as well

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Opponent Color SpacesOpponent Color Spaces

• The standard representation used in TV broadcasting• Backwards compatibility with B/W TV• Low bit rate is needed in the chrominance channels• There are various opponent representations:

– YIQ - used for NTSC color TV – YUV (also called YCbCr) - used for PAL TV and video

• Question: why are S cones sparse in retina?

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Opponent Color SpacesOpponent Color Spaces

R = RH + RL

G = GH + GL

Sparse sampling

G – Dense Sampling

R = RH + RL

=

GH

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Color matching predicts matches, not appearanceColor matching predicts matches, not appearance

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Color Appearance

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Color Appearance

108

Color Appearance

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Color Appearance

Albers (1975)

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Summary Summary –– Image FormationImage Formation

Projection Model defines projection ofscene to image plane (where).

Shading Model defines color projectedonto the image plane (what).

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Shading Model involves:• Light source properties• Surface reflectance properties• Sensor properties

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0

0.25

0.5

0.75

1

L M S

Cone Absorptions

Reflectance

Illumination Color Signal

Cone Sensitivities

400 500 600 7000

0.25

0.5

0.75

1

400 500 600 7000

10

20

30

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The Camera Computational Photographycs.haifa.ac.il/hagit/courses/CP/Lectures/CP01_IntroX4.pdf ·...

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