9.2  Appendix. Test sequences and images


9.2.1  Appendix. “Breakdancers” and “Ballet”


Figure 9.1 and Figure 9.2 illustrate the multi-view sequences “Breakdancers” and “Ballet”, respectively. These test sequences were acquired by Microsoft Research [111]. Table 9.1 and Table 9.2 provide the camera calibration parameters. The resolution of both sequences is 1024 × 768 pixels and the frame rate is 15 frames per second. The calibration parameters were converted into a right-handed coordinate system with the origin of the image located at the top left of the image (see Section 2.2.3).

PIC
Figure 9.1 Camera 3 of the sequence “Breakdancers”.



PIC
Figure 9.2 Camera 3 of the sequence “Ballet”.







K R t = -RC




Camera 0
1876.800
-2.018
580.603
0
1883.930
371.586
0
0
0.999
0.982
-0.005
-0.186
0.003
0.999
-0.008
0.186
0.007
0.982
11.3065
0.14609
-1.0407




Camera 1
1873.190
-1.057
578.622
0
1880.050
380.481
0
0
0.999
0.991
0.015
-0.129
-0.016
0.999
-0.009
0.129
0.0115
0.991
7.647
0.0123
-0.270




Camera 2
1871.210
-0.733
540.098
0
1877.300
354.338
0
0
0.999
0.998
0.017
-0.0431
-0.017
0.999
0.009
0.0432
-0.008
0.999
3.858
-0.069
0.606




Camera 3
1877.360
-0.415
579.467
0
1882.430
357.388
0
0
1
1
0
0
0
1
0
0
0
1
0
0
0




Camera 4
1872.910
-0.682
546.980
0
1877.090
386.771
0
0
0.999
0.996
0.007
0.0802
-0.006
0.999
-0.013
-0.080
0.012
0.996
3.841
0.0894
-0.083




Camera 5
1904.830
-0.425
497.943
0
1908.140
381.943
0
0
0.999
0.987
0.009
0.160
-0.007
0.999
-0.010
-0.160
0.009
0.987
-7.555
-0.0008
1.245




Camera 6
1897.980
-0.267
517.893
0
1900.800
384.172
0
0
0.999
0.975
0.026
0.216
-0.022
0.999
-0.016
-0.217
0.011
0.976
-11.316
0.167
0.701




Camera 7
1884.130
0.656
513.679
0
1887.490
371.371
0
0
0.999
0.962
0.000
0.272
-0.004
0.999
-0.007
-0.272
0.005
0.962
-14.833
-0.0930
-0.005





Table 9.1 Calibration parameters of the multi-view sequence “Breakdancers”.






K R t = -RC




Camera 0
1929.070
-0.832
585.516
0
1937.2
350.050
0
0
0.999
0.975
-0.032
-0.217
0.033
0.999
0.002
0.217
-0.009
0.975
11.142
-0.201
-0.230




Camera 1
1910.560
-0.784
578.130
0
1916.27
362.528
0
0
0.999
0.988
-0.037
-0.146
0.037
0.999
-0.006
0.146
0.001
0.989
7.602
0.045
-0.044




Camera 2
1915.780
-1.210
527.608
0
1921.730
372.544
0
0
0.999
0.998
-0.028
-0.052
0.028
0.999
-0.006
0.053
0.005
0.998
3.849
-0.041
0.428




Camera 3
1908.250
-0.335
560.336
0
1914.160
357.404
0
0
1
1
0
0
0
1
0
0
0
1
0
0
0




Camera 4
1909.910
-0.568
545.067
0
1915.890
372.693
0
0
0.999
0.996
-0.026
0.08
0.026
0.999
-0.009
-0.081
0.011
0.996
-3.903
0.040
0.168




Camera 5
1914.060
-0.345
564.639
0
1918.490
338.576
0
0
0.999
0.989
-0.004
0.146
0.004
0.999
-0.003
-0.146
0.003
0.989
-7.784
0.431
1.392




Camera 6
1913.680
0.145
533.299
0
1918.160
368.824
0
0
0.999
0.972
-0.010
0.231
0.012
0.999
-0.009
-0.231
0.012
0.972
-11.589
0.355
1.045




Camera 7
1918.250
-2.492
494.075
0
1922.570
319.255
0
0
0.999
0.949
-0.046
0.310
0.042
0.998
0.021
-0.310
-0.007
0.950
-15.094
-0.189
1.383





Table 9.2 Calibration parameters of the multi-view sequence “Ballet”.

9.2.2  Appendix. “Livingroom”


Figure 9.3 illustrates the multi-view images “Livingroom” and Table 9.3 provides the camera calibration parameters. The data set was acquired and calibrated by the author. The acquisition of the images was performed using a low cost digital still camera. The radial lens distortion parameters are k1 = 8.06244e - 08, ox = 512 and oy = 384.

PIC
Figure 9.3 Camera 3 of the multi-view images “Livingroom”.







K R t = -RC




Camera 0
1196.530
1.464
504.831
0
1228.550
407.943
0
0
1
1
0
0
0
1
0
0
0
1
0
0
0




Camera 1
1195.470
1.302
505.175
0
1227.760
406.939
0
0
1
0.999
-0.014
0.040
0.014
0.999
0.005
-0.040
-0.004
0.999
-12.060
-1.241
-0.434




Camera 2
1196.670
1.372
504.956
0
1228.720
407.877
0
0
1
0.996
-0.028
0.078
0.027
0.999
0.004
-0.078
-0.002
0.996
-16.240
-1.296
0.969




Camera 3
1197.850
1.560
504.606
0
1229.600
408.975
0
0
1
0.987
-0.053
0.145
0.052
0.998
0.009
-0.145
-0.001
0.989
-25.298
-3.044
4.765




Camera 4
1198.220
1.650
504.456
0
1229.860
409.380
0
0
1
0.973
-0.077
0.214
0.076
0.996
0.014
-0.214
0.002
0.976
-37.010
-4.009
7.947




Camera 5
1198.540
1.641
504.426
0
1230.130
409.569
0
-4.426
1
0.965
-0.092
0.243
0.090
0.995
0.020
-0.24
0.002
0.969
-50.5975
-6.59824
11.1911




Camera 6
1199.080
1.920
503.949
0
1230.350
410.596
0
0
1
0.947
-0.112
0.298
0.109
0.993
0.026
-0.299
0.007
0.954
-58.607
-7.458
14.924





Table 9.3 Calibration parameters of the multi-view images “Livingroom”.

9.2.3  Appendix. “Cones” and “Teddy”


Figure 9.4 illustrates the multi-view images “Cones” and “Teddy”, respectively. These multi-view images are available at the Stereo Vision research page [85] and are provided without calibration parameters. The resolution of the images is 450 × 375 pixels.
PIC
(a)
PIC
(b)

Figure 9.4 Leftmost view of the multi-view images (a) “Cones” and (b) “Teddy”.