Projection equation
•The
projection matrix models the cumulative effect of all parameters
•Useful
to decompose into a series of operations
projection
intrinsics
rotation
translation
identity matrix
Camera parameters
A camera is described by several parameters
•Translation
T of the optical center from the origin of world
coords
•Rotation
R of the image plane
•focal
length f, principle point (x’c, y’c), pixel size (sx, sy)
•blue
parameters are called “extrinsics,”
red are “intrinsics”
•The
definitions of these parameters are not completely standardized
–especially
intrinsics—varies from one book to another
