(Thresholding) g ( x, y ) 1 f ( x, y ) > T 0 f ( x, y ) < T T=8 T= 1. (dilation) + AB A B 2. (erosion) AB A B 3. (open) AB= ( ) A B + B AB AB + B 4. (close) AB = ( ) A B + B AB + (AB) B The pinhole imaging model Pinhole perspective equation NOTE: z is always negative.. is the magnification. When the scene depth is small compared its distance from the Camera, m can be taken constant Weak-perspective projection Orthographic projection When the camera is at a (roughly constant) distance from the scene, take m=-1. Reflection and Refraction ( ) 1 where Real lenses Chromatic Aberration Distortion