8
The camera model handles the rigid body transformation from world coordinates to camera coordinates plus the perspective transformation to image coordinates.
1.     CP   =    T R  WP
2.      IP    =    p(f)  CP
s Ipx
s Ipy
s
1    0    0    0
0    1    0    0
0    0   1/f   1
CPx
CPy
CPz
1
=
perspective
transformation
image
point
3D point in
camera
coordinates