7
The Camera Model
How do we get an image point IP from a world point P?
c11   c12   c13   c14
c21   c22   c23    c24
c31   c32   c33      1
s Ipr
s Ipc
s
Px
Py
Pz
1
=
image
point
camera matrix C
world
point
What’s in C?