The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.
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In order to determine the size and distance of objects in the scene our brain uses a number of highly evolved tricks. Let’s look at some of these.
Let’s recap the important points from the topics we have covered about image formation and perspective projection.
The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.
The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?