Camera model) Intrinsic parameters I extrinsic parameters I projection Step1: Motion of camera from world to camera coordinates Camera motion(rotation=Rcam=R, translation=T) will cause change of pixel position/x, y, See p156(1/ camera center c-aXIs cam/ TC Y =RllYI-T---(,where C-axIs W-axIs c-axis w-axIs To the camera r31732733 t3 it is p X o the world W-ax World center p=y Lp=Y Z it is p Cameras v, 3d Ch2. Cameras v0.b2 12Camera model | Intrinsic parameters | extrinsic parameters | projection Step1:Motion of camera from world to camera coordinates • Camera motion (rotation=Rcam=Rc -1 , translation=Tc ) will cause change of pixel position (x,y), See p156[1] Cameras v.3d Yc-axis Zc-axis Xc-axis Rcam,Tc World center Camera center           =           =           −           =           3 2 1 3 1 3 2 3 3 2 1 2 2 2 3 1 1 1 2 1 3 , ---(i), where t t t T r r r r r r r r r R T Z Y X R Z Y X c c c w w w c c c c Xw-axis Zw-axis Yw-axis y x z Ch2. Cameras v.0.b2 12 Pc it is To the camera, Pw it is To the world       =       = c c c c w w w w Z Y X P Z Y X P