---
title: Lecture Notes - AIS2204 Maskinsyn
categories: Module
---


# Introduction (two weeks?)


| # | Topic  | Reading | Keywords |
|---|---------------|-------------------|-----------------------------|
| 1 | [Introduction]() | Ma 2004:Ch 1  | Quick examples - software installation |
| 2 | [3D Modelling]() | Ma 2004:Ch 2, App A (SZ 2) | 3D modelling, motion |
| 3 | [3D Objects in Python]() | Tutorials |
| 4 | [3D Modelling II]() | | More mathematics - quaternions? | 
| 5 | [Image Formation]()    | Ma 2004:Ch 3-3.3.1 (SZ 6) | projection, lens/camera |
| 6 | [Camera Mathematics]() | Ma 2004:Ch 3.3-3.4        | Calibration, Radial Distortion etc. |
| 7 | [Distortion in Practice]() | [Calibration in OpenCV](https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html) | Radial Distortion, Tangential Distortion |



+ Session 8.  Programming with Python OpenCV ??
    - [Getting Started with Videos](https://docs.opencv.org/4.5.1/dd/d43/tutorial_py_video_display.html)
    - [Core Operations](https://docs.opencv.org/4.5.1/d7/d16/tutorial_py_table_of_contents_core.html)
	  on images

## Learning Objectives

+ Session 1.
    - how to work with the subject
    - history, motivation, purpose
    - (debrief) basic linear algebra
+ Session 2-4. (3-4 sessions total)
    - Rotation, Translation
    - Exponential Form
    - Change of basis
    - Homogenous Co-ordinates
    - Mathematical properties
    - Mathematical and insrumental formulations
+ Session 5-7
    - Project from 3D to 2D image
    - Calibrate camera

# Project 1.  Feature Tracking (three weeks?)

**Keywords** Signal Processing, 2D

| # | Topic  | Reading | Keywords |
|---|---------------|-------------------|-----------------------------|
| 1 | [Corner Detection]() | Ma 2004:Ch 4-4.2 (SZ 4) | Calculate Gradient.  Harris Feature Detector. |
| 2 | [Corner Detection in Python]() | 
| 3 | [Tracking Features]() | Ma 2004:Ch 4.3-4.5 | Tracking of Features. Tracking of Edges. |
| 4 | [Tracking Features in Python]() |


+ OpenCV/Python Tutorial
    - Background: [Understanding Features](https://docs.opencv.org/master/df/d54/tutorial_py_features_meaning.html)
    - [Harris Corner Detection](https://docs.opencv.org/master/dc/d0d/tutorial_py_features_harris.html)
    - Overview
      [Feature Detection and Description](https://docs.opencv.org/master/db/d27/tutorial_py_table_of_contents_feature2d.html)
+ Ma 2004 Chapter 11.1-2.


# Project 2.  Projective Reconstruction (three weeks)

**Keywords** 3D, calibration, projection

1. Ma 2004 Chapter (5)-6.
1. Ma 2004 Chapter 11.3.

# Project 3.  Euclidean Reconstruction

1. Ma 2004 Chapter 10.  Partial Scene Knowledge
1. Ma 2004 Chapter 11.4.

# Project 4.  Visualisation

**Keywords** texture, visualisation

1. Ma 2004 Chapter 11.5.