Images rendered with traditional computer graphics techniques, such as scanline rendering and ray tracing, appear focused at all depths. However, there are advantages to having blur, such as adding realism to a scene or drawing attention to a particular place in a scene. In this paper we describe the optics underlying camera models that have been used in computer graphics, and present object space techniques for rendering with those models. In our companion paper [3], we survey image space techniques to simulate these models. These techniques vary in both speed and accuracy.
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