Camera model Intrinsic parameters extrinsic parameters projection A revision of basic matrix operations in case%matlab you forgot them A=[138 62-9 1075] a=d e f=6 9 LB B=[210 1075 p q 346 7-2-1 g 346 A'=A=transpose of A=b e h=327 A AB note: transposition means rows become columns and columns become rows A+B A*B=d*j+e*m+f*pd*k+e*n+∫*qd*1+e·0+f*r Answer:>> gj+h'm+ip g'k+h'n+ig 81+h*0+i*r a= 138T210 1*2+3*7+8*31*1+3°(-2)+8*41*0+3*(-1)+8*6 1610 62-97-2-1=6*2+2*7+(-9)*36*1+2*(-2)+(-9)*46*0+2*(-1)+(-9)*6 327 10751346」L10*2+7*7+5*310+1+7*(-2)+5*410°*0+7*(-1)+5*6 8-95 472745 A*B= 472745 1-34-56 1+23+18+01348 841623 A+B=6+72 A+B= 10+37+45+6131111 348 130-10 If r a 3 x 3 rotation matrix, RT=R- andR*R=R*R=1=0 1 0 131111 Ch2. cameras v0.b2 10Camera model | Intrinsic parameters | extrinsic parameters | projection A revision of basic matrix operations in case you forgot them      = = = =     = −     + + + + − − − + + + + =     = −     + + + − + + − + + + − + − + − + − + − + + + − + + − + =     − −     = −     + + + + + + + + + + + + + + + + + + =     − =     = = =     = − −     =     = −     = − − 0 0 1 0 1 0 1 0 0 If is a 3 3 rotation matrix, , and * * 13 11 11 13 0 10 3 4 8 10 3 7 4 5 6 6 7 2 2 9 1 1 2 3 1 8 0 84 16 23 1 - 34 - 56 47 27 45 10*2 7*7 5*3 10*1 7*( 2) 5*4 10*0 7*( 1) 5*6 6*2 2*7 ( 9) *3 6*1 2*( 2) ( 9) *4 6*0 2*( 1) ( 9) *6 1*2 3*7 8*3 1*1 3*( 2) 8*4 1*0 3*( 1) 8*6 3 4 6 7 2 1 2 1 0 10 7 5 6 2 9 1 3 8 * * * * * * * * * * * * * * * * * * * * * * * * * * * * note : transposition means rows become columns and columns become rows , 8 9 5 3 2 7 1 6 10 transpose of A 3 4 6 7 2 1 2 1 0 , 10 7 5 6 2 9 1 3 8 1 1 ' R R R R R R R I A B g j h m i p g k h n i q g l h o i r d j e m f p d k e n f q d l e o f r a j b m c p a k b n c q a l b o c r A B c f i b e h a d g A A p q r m n o j k l B g h i d e f a b c A T T T %matlab A=[1 3 8 6 2 -9 10 7 5] B=[2 1 0 7 -2 -1 3 4 6] A’ A*B A+B Answer:>> A’= 1 6 10 3 2 7 8 -9 5 A*B= 47 27 45 -1 -34 -56 84 16 23 A+B= 3 4 8 13 0 -10 13 11 11 Ch2. Cameras v.0.b2 10