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”

Projection equation • The projection matrix models the cumulative effect of all parameters • Useful to decompose into a series of operations