●●● ●●●● Perspective ●●●● Wod● Projective Coordinates Zw XW Rc. TC Modelmat t=l image XYZ v-aXIs XC-axis Camera u Coordinates Zc-axis Principal axis≤- c(Image center,(0,0, 0) Camera center u-aXIs F=focal length Yc-axis (0,0)of image plane 3D computer vsion techniques v 4b3D computer vision techniques v.4b2 10 Perspective Projective ⚫ Model M at t=1 c (Image center, ox ,oy ) F=focal length image Oc= (0,0,0) (Camera center) Xc-axis Zc-axis Yc-axis v-axis u-axis X,Y,Z (u,v) (0,0) of image plane Camera Coordinates. World Coordinates Zw Yw Xw Rc,Tc Principal axis