Camera model Intrinsic parameters extrinsic parameters projection To learn more about rotation and translation The advantage of Z 313×l using the homogenous where R33=h21123,T=|2 coordinates 73173273 is to make the X X transform =RY R c3×3 c3×x3c3×l from world to camera 3×x1」3×l coordinates a X X inear one Raa*Tess )by, add l at the bottom for both sides/ Note: now Z the 3D X coordinates R T Yy of a point is ∥ this is the same as(i) 0 4x1, instead l×l 4×4 of 3x1 The 4xl vector[x Y z I] is in 3-D homogeneous Coordinates 13Camera model | Intrinsic parameters | extrinsic parameters | projection To learn more about : Rotation and Translation • ( ) ( ) The 4x1 vector X Y Z 1 isin 3- D homogeneous coordinates. , // thisis the same as 1 0 1 1 ,add1at the bottom for both sides where , ( ) T 4 1 1 3 1 1 4 4 3 1 3 3 3 3 4 1 3 3 3 1 3 1 3 1 3 1 3 3 3 1 3 3 3 1 3 1 3 3 3 1 3 1 3 1 3 3 3 1 3 3 1 2 1 31 32 33 3 3 21 22 23 11 12 13 3 3 3 1 3 1 3 1 3 3 3 1 3 1 3 1 3 1 (i) Z YX R R T Z YX R T Z YX R Z YX R T Z YX T R Z YX R Z YX t t t T r r r r r r r r r R T i Z YX R Z YX w w w c c c c c c c c w w w c c c c c c w w w c c w w w c c c c c c c w w w c c c c                                             −  =       −              =       −       =             −       =             =       = − − −             −       =          The advantage of using the homogenous coordinates is to make the transform from world to camera coordinates a linear one. Note: now the 3D coordinates of a point is 4x1, instead of 3x1 Ch2. Cameras v.0.b2 13