Pinhole Camera Model


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]
Projective formalism-Pinhole camera
Visual 3D Modeling from Images

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