opencvref_cv.htm
The functions in this section use so-called pinhole camera model. That is, a scene view is formed by projecting 3D points into the image plane using perspective transformation.
s*m' = A*[R|t]*M', or [u] [fx 0 cx] [r11 r12 r13 t1] [X] s[v] = [0 fy cy]*[r21 r22 r23 t2]*[Y] [1] [0 0 1] [r31 r32 r33 t2] [Z] [1]
Projective formalism-Pinhole camera
http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/ZOGHLAMI/node1.html
Visual 3D Modeling from Images
http://www.cs.unc.edu/~marc/tutorial/tutorial02.html