Camera model) Intrinsic parameters I extrinsic parameters I projection Perspective World Coordinates Projective Modelmat t=l On=10.0.0 (World center) (,Y, Z) V-aXIs image R Yc-axis Camera u Coordinates Zc-axis Principal axis≤- 0,0,0) c(Image center(Camera center) u-aXIs length C-aXIs Ch2. Cameras v0.b2Camera model | Intrinsic parameters | extrinsic parameters | projection Perspective Projective • Model M at t=1 c (Image center, ox ,oy ) F=focal length image Oc=(0,0,0) (Camera center) Yc-axis Zc-axis Xc-axis v-axis u-axis (X,Y,Z) (u,v) Camera Coordinates. World Coordinates Z Yw w Xw Rc , Tc Principal axis OW=(0,0,0) (World center) Ch2. Cameras v.0.b2 5