14
Perspective in 2D
(Simplified)
P=(xc,yc,zc)
  =(xw,yw,zw)
3D object point
xc
yc
zw=zc
yi
Yc
Xc
Zc
xi
F
f
camera
P´=(xi,yi,f)
xi        xc
 f         zc
yi        yc
 f         zc
=
=
xi = (f/zc)xc
yi = (f/zc)yc
Here camera coordinates
equal world coordinates.
optical
axis
ray