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