Every essay — page 2
What survives Constructing a view Where to stand Surfaces that are not flat The other systems Light and mirrors Measuring from one picture Through water and glass The real instrument The second eye What a pair is for Many pictures at once The eye that moves Systems that kept the measure What each system gave up What a machine computes The rectangle behind the lens The second projection Drawn confidently
Surfaces that are not flat
A cylinder, a sphere, a fisheye. Every one of them is computed here rather than described, and every one is measured on the three things a picture surface can do to the world: bend its straight lines, turn its right angles, and change its scale. No surface escapes all three.
Six flat pictures of everything
There is one way to photograph the whole sphere and keep every straight line straight, and it is to stop using one surface. Six flat pictures at ninety degrees cover everything, each of them a perfect pinhole, and the price is paid entirely at the seams — where a straight line does not bend but kinks, by an angle that reaches 45 degrees and is exactly zero for the lines lying in the seam's own plane.
The lines a surface leaves alone
Only the plane draws every straight line straight, which this site has measured and which gets read as though a curved surface bent everything. It does not. Every curved picture surface here keeps a one-parameter family of world lines exactly straight, and the family is a curve on the sphere of lines rather than a region of it — so a grid of samples finds none of it, which is what the first version of this measurement reported.
What a pair is for
Depth from two views is a reciprocal, so a fixed error in what is read maps to an interval that is not symmetric and eventually is not bounded. What a stereo pair can and cannot measure, computed rather than described, including the range past which one pixel reaches infinity.
Depth is a reciprocal
Two eyes measure a shift in the picture, and depth is that shift divided into a constant. So a fixed error in what is read maps to an interval in what is reported that is not centred on the answer, and at forty metres runs sixteen metres nearer and eighty-six further.
The range a pair cannot see past
A stereo rig has a distance beyond which it cannot say "no further than", and the distance is fixed before anything is built. It is the focal length times the baseline divided by the reading precision, and for a human pair of eyes it is fifty-eight and a half metres.
Two rays that do not meet
Triangulation is described everywhere as the intersection of two rays, and two rays in space do not intersect. Read the same two marks to a whole pixel and they miss by 2.77 mm at seven metres, which is a real length and is the part a residual will not report.
A turn of the head is not a step sideways
The textbook says a short baseline makes reconstruction ill-conditioned. Measured, the algebra does not notice — a two-millimetre baseline recovers the courtyard to nine digits from exact marks. What fails is the ratio of baseline to reading error, and it fails without refusing.
A wrong match is not a small error
Move one correspondence of forty-four by thirty pixels and the recovered geometry is wrong for every other point — the typical one by half a pixel, from a fit that was exact to a part in ten trillion. Least squares has nowhere to put a bad row except across all of them.
What survives
A projection destroys length, angle, area and the ratio of lengths. One quantity comes through untouched, and almost everything checkable about a picture is checked with it.
What a projection destroys
A projection loses length, angle, area and the ratio in which a point divides a segment. Exactly one quantity comes through untouched, and almost everything that can be checked about a picture is checked with it — including, as it turns out, some things it cannot check at all.
Where parallel lines meet
They meet at a point that is not in the plane, and the horizon is the line made of all such points. Treating that as bookkeeping misses what it buys — a vanishing point becomes an ordinary point of the picture, findable from the drawn lines, checkable, and enterable into any calculation the others are.
Recovering the camera from the picture it drew
Draw a box from a known camera, forget the camera, and get it back from the twelve drawn edges alone. Agreement to one part in 10¹⁵ is a statement about the geometry, because the only thing that crossed between the two halves was a list of line segments.
The circle whose centre moves
The image of a circle is an ellipse, and the image of the circle's centre is not the centre of that ellipse. The gap is 3 or 4% of the ellipse's width in an ordinary view — large enough to see, small enough to be dismissed as a slip by anyone not expecting it, and the reason drawn wheels look wrong.
A projection of a projection
Photograph a photograph and the composite map is a homography — four marks determine it and every other lands where they say, to 1e-13 px. Roll the print and the same four mispredict the rest by 30.5 px, which is why straightening a page of a thick book never quite works.
The diagonals find the middle
Three taught methods for spacing a receding row are all wrong, and the best of them misplaces a post by three and a half metres. There is a fourth, it needs no measurement and no vanishing point, and it is exact at every camera and every depth — because 'the diagonals of a rectangle cross at its centre' is a statement about which lines meet where, and that is the one kind of statement a projection cannot damage.
Two triangles and the line nobody drew
Desargues' theorem is the reason a hand-drawn shadow construction closes. An object and its shadow are two figures in perspective from the lamp; the theorem says their corresponding sides meet, pairwise, on one line — which is the ground line. So the closure a draughtsman treats as confirmation that the work is accurate is a theorem they cannot violate.
What one picture of a plane determines
A photograph of a tiled floor fixes that floor's geometry up to a projectivity, and no further. Supplying the horizon buys back the midpoint — exactly, and nothing else. Supplying the image of one circle buys the right angle and the ratio of two lengths at right angles. Three stages, three prices, and a quantity a stage does not determine has no value rather than a wrong one.
Four lines have a cross-ratio
The cross-ratio is introduced as a property of four points on a line. Its dual — four lines through a point carry the same number, and any transversal reads it back — is not a second theorem. It is why the first one is true: four rays from an eye are a pencil, every picture of them is a section of that pencil, and a quantity belonging to the pencil cannot depend on which section was taken.
The centre, got back out of the picture
The image of a circle's centre is not the centre of the image ellipse — this site measured the gap four phases ago and left the obvious question unanswered. It has an exact answer, it needs a straightedge and the horizon, and it is one sentence: the image of the centre is the pole of the vanishing line with respect to the image conic.
An angle is a cross-ratio
A projection destroys angle, which every account of perspective says and this site has measured. It destroys it only in the sense that the picture no longer carries it for free — because an angle is a cross-ratio taken against two particular points, and once those two points are located in a photograph the world's angles can be read off it directly, with no rectification, no camera, and nothing measured but which lines pass through which points.
The two points a picture hides
The stratification rung says a photograph of a plane is projective, becomes affine when the vanishing line is known, and becomes metric with one more fact. The one more fact has a size and a shape: it is two points, complex conjugates on the vanishing line, and a rectification built from those two and nothing else returns every world angle to a tenth of a picodegree and every ratio of lengths to five parts in a quadrillion — and refuses to name a length.
One conic calibrates the camera
This site has recovered a focal length from two perpendicular vanishing points since its first phase, by an orthocentre construction with a square root in it. There is a second derivation with no construction and no square root — two vanishing points of perpendicular directions must be conjugate with respect to one conic in the picture — and the two agree to the last bit. They are not two methods. The conic is what a calibrated camera is.
What a flat map leaves alone
A projectivity of the plane is eight numbers in a matrix, and reading them tells a reader nothing. What it does is decided by its fixed points, and there are exactly three cases: three isolated fixed points, or a whole line of them with one point off it, or a whole line of them with the point fallen onto it. The middle case has five numbers instead of eight and every point slides along a line, and it is what most of the maps this site builds turn out to be.
Three constructions, one map
A shadow cast on a floor, an anamorph painted on one, and a reflection in a mirror were built in three different fields of this site, three phases apart, each with its own derivation and its own figure. Decomposed into their fixed points and lines, three of them are the same kind of map — a central collineation with a line of fixed points — and the fourth, a rectification, is not. That difference separates changing where a picture is seen from, from changing one picture into another.
The real instrument
A lens is a departure from the pinhole, and the departure is the largest systematic error in every measurement made here. It bends straight lines, destroys the invariant, and can be recovered from nothing but the knowledge that some edges were straight — which is the round trip again, on a harder problem.
Straight lines that are not
Everybody says the edges of a wide-angle frame bow. Nothing is special about the edge. A radial map moves every point along its own radius, so the only line it leaves straight is one through the principal point, and the bend of every other is decided by how far it passes from that one place.
A lens destroys the invariant
The cross-ratio is the one thing a projection preserves, and everything checkable on this site is checked with it. A lens returns it one and a third per cent out where the pinhole is exact to fifteen digits — and the height error that follows tracks a quantity nobody would guess.