Solving for camera parameters
Projection equation
Edittex Edittex
Recap: 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”
Edittex Edittex Edittex
K