Camera model) Intrinsic parameters I extrinsic parameters I projection Relate world 3d to camera 3D coordinates Pw=a point in World 3D coordinates=[XwYw Zu]' P= the same point in Camera 3d coordinates = C)C)C R=Rotate of the camera in world coord Ton=t=translation of the camera in world coord p=Rm(P-tam)=r(p-t We will show later wh R 1722 Tcam=t2=T R is more convenient to be used r3 2 Ch2. Cameras v0.b2 11Camera model | Intrinsic parameters | extrinsic parameters | projection Relate world 3D to camera 3D coordinates • Pw=a point in World 3D coordinates=[Xw,Yw,Zw] T • Pc= the same point in Camera 3D coordinates =[Xc ,Yc ,Zc ] T • Rcam=Rotate of the camera in world coord. • Tcam =Tc=Translation of the camera in world coord. ( ) c cam c c cam w cam c w c T t t t T r r r r r r r r r R P R P T R P T =       =       = = − = − − 3 2 1 31 32 33 21 22 23 11 12 13 1 , ( ) ( ) We will show later why Rc is more convenient to be used Ch2. Cameras v.0.b2 11